// Update on every frame
void Update()
{
if (_leap.IsConnected)
{
var frame = _leap.Frame();
if (frame.Hands.Count > 0)
{
// The Leap Motion can see a hand, so get its palm position
Leap.Vector leapPalmPosition = frame.Hands[0].PalmPosition;
// Convert to our vector class, and then convert to our coordinate space
Ultrahaptics.Vector3 uhPalmPosition = _alignment.fromTrackingPositionToDevicePosition(LeapToUHVector(leapPalmPosition));
// Create a control point object using this position, with full intensity, at 200Hz
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(uhPalmPosition, 1.0f, 200.0f);
// Output this point
_emitter.update(new List <AmplitudeModulationControlPoint> {
point
});
}
else
{
Debug.LogWarning("No hands detected");
_emitter.stop();
}
}
else
{
Debug.LogWarning("No Leap connected");
_emitter.stop();
}
}
/// <summary>
/// this function is to update the live rendering points which comes from ultraleap live rendering feature
/// </summary>
/// <param name="updated_x"> the new x coordinate</param>
/// <param name="updated_y"> the new y coordinate</param>
public static void updateLiveRenderPoint(float updated_x, float updated_y)
{
if (emitter != null)
{
Vector3 position = new Vector3((float)(updated_x * Ultrahaptics.Units.metres), (float)(updated_y * Ultrahaptics.Units.metres), (float)(0.20 * Ultrahaptics.Units.metres));
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(position, intensity, frequency);
var points = new List <AmplitudeModulationControlPoint> {
point
};
emitter.update(points);
Console.WriteLine(updated_x + " " + updated_y);
}
if (Stop)
{
try {
emitter.update(new List <AmplitudeModulationControlPoint> {
});
emitter.Dispose();
emitter = null;
} catch (Exception e) {
Console.WriteLine(e.Message);
}
Stop = false;
return;
}
}
public static void Main(string[] args)
{
// Create an emitter, which connects to the first connected device
AmplitudeModulationEmitter emitter = new AmplitudeModulationEmitter();
// Set the position of the new control point
Vector3 position = new Vector3(0.0f, 0.0f, 0.2f);
// Set how intense the feeling at the new control point will be
float intensity = 1.0f;
// Set the frequency of the control point, which can change the feeling of the sensation
float frequency = 200.0f;
// Define the control point
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(position, intensity, frequency);
var points = new List <AmplitudeModulationControlPoint> {
point
};
// Instruct the device to stop any existing actions and start producing this control point
bool isOK = emitter.update(points);
// The emitter will continue producing this point until instructed to stop
// Wait until the program is ready to stop
Console.ReadKey();
// Stop the emitter
emitter.stop();
// Dispose/destroy the emitter
emitter.Dispose();
emitter = null;
}
// Update is called once per frame
private void FixedUpdate()
{
UpdateIntensity();
// Get the current contact points from all the haptic receivers
contactPoints.Clear();
for (var i = 0; i < _hapticReceivers.Length; i++)
{
if (_hapticReceivers[i].gameObject.activeInHierarchy)
{
var contactHits = _hapticReceivers[i].GetCurrentContactPoint();
if (contactHits != null)
{
contactPoints.AddRange(contactHits.Select(hit =>
hit.point + hit.normal * contactPointBackwardAdjust));
}
}
}
if (contactPoints.Count <= 0)
{
_amEmitter.stop();
return;
}
// Choose which points to emit if there are too many
var pointsToEmit = ChoosePointsToEmit(contactPoints);
// Store a reference to these points so they can be rendered for debugging
_debugPoints = pointsToEmit;
// Create a list to hold all the control points we want to emit this frame
var amControlPoints = new List <AmplitudeModulationControlPoint>();
// Construct control points for each of the points we want to emit
foreach (var pointToEmit in pointsToEmit)
{
// The positions are in world space so convert them to device space
var deviceSpacePosition =
_coordinateSpaceConverter.WorldToDevicePosition(pointToEmit);
// Construct a control point with the position and intensity of the point
var amControlPoint =
new AmplitudeModulationControlPoint(deviceSpacePosition, hapticStrength);
amControlPoint.setFrequency(currentFrequency * (float)Units.hertz);
amControlPoints.Add(amControlPoint);
}
// Give the list of control points to the emitter
if (contactPoints.Count > 0)
{
_amEmitter.update(amControlPoints);
}
}
/// <summary>
/// Starts the live ultrahaptics rendering
/// Note: live ultrahaptics rendering of a point always happrns in AM and is never implemented in TPS
/// </summary>
public static void RenderLive()
{
Stop = false;
emitter = new AmplitudeModulationEmitter();
Vector3 position = new Vector3((float)(0 * Ultrahaptics.Units.metres), (float)(0 * Ultrahaptics.Units.metres), (float)(0.20 * Ultrahaptics.Units.metres));
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(position, intensity, frequency);
var points = new List <AmplitudeModulationControlPoint> {
point
};
emitter.update(points);
}
public static void Render()
{
Stop = false;
string file_name = Path.Combine(Environment.CurrentDirectory, "list.csv");
emitter = new AmplitudeModulationEmitter();
for (; ;)
{
using (TextFieldParser parser = new TextFieldParser(file_name))
{
parser.TextFieldType = FieldType.Delimited;
parser.SetDelimiters(",");
while (!parser.EndOfData)
{
double x = 1000, y = 1000;
//Processing row
string[] fields = parser.ReadFields();
foreach (string field in fields)
{
//TODO: Process field
if (x == 1000)
{
x = double.Parse(field);
}
else if (y == 1000)
{
y = double.Parse(field);
}
}
Vector3 position = new Vector3((float)(x * Ultrahaptics.Units.metres), (float)(y * Ultrahaptics.Units.metres), (float)(0.20 * Ultrahaptics.Units.metres));
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(position, intensity, frequency);
var points = new List <AmplitudeModulationControlPoint> {
point
};
emitter.update(points);
//this condition will stop emitter from processing further
if (Stop)
{
emitter.update(new List <AmplitudeModulationControlPoint> {
});
emitter.Dispose();
emitter = null;
Stop = false;
return;
}
}
}
}
}
// Update on every frame
void Update()
{
// Set the position to be 20cm above the centre of the array
Ultrahaptics.Vector3 position = new Ultrahaptics.Vector3(0.0f, 0.0f, 0.2f);
// Create a control point object using this position, with full intensity, at 200Hz
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(position, 1.0f, 200.0f);
// Output this point; technically we don't need to do this every update since nothing is changing.
_emitter.update(new List <AmplitudeModulationControlPoint> {
point
});
}
public List <AmplitudeModulationControlPoint> GetPoints(float z)
{
AmplitudeModulationControlPoint point1 = new AmplitudeModulationControlPoint(x1, y1, z, i, f);
AmplitudeModulationControlPoint point2 = new AmplitudeModulationControlPoint(2 * x1 / 3 + 1 * x2 / 3, 2 * y1 / 3 + 1 * y2 / 3, z, i, f);
AmplitudeModulationControlPoint point3 = new AmplitudeModulationControlPoint(1 * x1 / 3 + 2 * x2 / 3, 1 * y1 / 3 + 2 * y2 / 3, z, i, f);
AmplitudeModulationControlPoint point4 = new AmplitudeModulationControlPoint(x2, y2, z, i, f);
var points = new List <AmplitudeModulationControlPoint> {
point1, point2, point3, point4
};
return(points);
}
public static void Main(string[] args)
{
// Width of the kit, refer to the User Guide of your device
float width = 0.210f; // meters
// affine transformation matrix placing the device half its width to the left in the global space
Transform left_tr = new Transform();
left_tr.setOrigin(new Vector3(-width / 2, 0.0f, 0.0f));
// affine transformation matrix placing the device half its width to the right in the global space
Transform right_tr = new Transform();
right_tr.setOrigin(new Vector3(width / 2, 0.0f, 0.0f));
// Create an emitter, which connects to the first connected device
// Please make sure to use the correct identifiers for your devices
AmplitudeModulationEmitter emitter = new AmplitudeModulationEmitter("USX:USX-00000000", left_tr);
emitter.addDevice("USX:USX-00000001", right_tr);
// Set the position of the new control point
Vector3 position1 = new Vector3(-0.05f, 0.0f, 0.2f);
Vector3 position2 = new Vector3(0.05f, 0.0f, 0.2f);
// Set how intense the feeling at the new control point will be
float intensity = 1.0f;
// Set the frequency of the control point, which can change the feeling of the sensation
float frequency = 200.0f;
// Define the control point
AmplitudeModulationControlPoint point1 = new AmplitudeModulationControlPoint(position1, intensity, frequency);
AmplitudeModulationControlPoint point2 = new AmplitudeModulationControlPoint(position2, intensity, frequency);
var points = new List <AmplitudeModulationControlPoint> {
point1, point2
};
// Instruct the device to stop any existing actions and start producing this control point
bool isOK = emitter.update(points);
// The emitter will continue producing this point until instructed to stop
// Wait until the program is ready to stop
Console.ReadKey();
// Stop the emitter
emitter.stop();
// Dispose/destroy the emitter
emitter.Dispose();
emitter = null;
}
[Fact] public void AquireTarget()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
Joints inp_joint = hg.newJoints();
float org_UH_INTENSITY = GBL.UH_INTENSITY;
float org_UH_FREQUENCY = GBL.UH_FREQUENCY;
float exp_UH_INTENSITY = dg.newFloat(100);
float exp_UH_FREQUENCY = dg.newFloat(200);
AmplitudeModulationControlPoint exp = new AmplitudeModulationControlPoint(
inp_joint.palm.x,
inp_joint.palm.z * -1,
inp_joint.palm.y,
exp_UH_INTENSITY,
exp_UH_FREQUENCY
);
Haptic h = new Haptic(new JointsHelper(new VectorHelper()), new AmplitudeModulationEmitter());
var act = h.AquireTarget(inp_joint);
Assert.Equal(exp.getPosition().x, act.getPosition().x);
Assert.Equal(exp.getPosition().y, act.getPosition().y);
Assert.Equal(exp.getPosition().z, act.getPosition().z);
}
public static void Main(string[] args)
{
// Create an emitter, which connects to the first connected device
AmplitudeModulationEmitter emitter = new AmplitudeModulationEmitter();
// Create an aligment object which relates the tracking and device spaces
Alignment alignment = emitter.getDeviceInfo().getDefaultAlignment();
// Create a Leap Contoller
Controller controller = new Controller();
ButtonWidget button = new ButtonWidget();
// Set the position of the new control point
Vector3 position = new Vector3(0.0f, 0.0f, 0.2f);
// Set how intense the feeling at the new control point will be
float intensity = 1.0f;
// Set the frequency of the control point, which can change the feeling of the sensation
float frequency = 200.0f;
// Define the control point
AmplitudeModulationControlPoint point = new AmplitudeModulationControlPoint(position, intensity, frequency);
var points = new List <AmplitudeModulationControlPoint> {
point
};
// Wait for leap
if (!controller.IsConnected)
{
Console.WriteLine("Waiting for Leap");
while (!controller.IsConnected)
{
System.Threading.Thread.Sleep(1000);
Console.WriteLine(".");
}
Console.WriteLine("\n");
}
controller.EnableGesture(Gesture.GestureType.TYPE_KEY_TAP);
if (controller.Config.SetFloat("Gesture.Swipe.MinDistance", 30) &&
controller.Config.SetFloat("Gesture.Swipe.MinDownVelocity", 30) &&
controller.Config.SetFloat("Gesture.Swipe.MinSeconds", 0.01f))
{
controller.Config.Save();
}
bool button_on = true;
new Stopwatch();
for (;;)
{
Frame frame = controller.Frame();
HandList hands = frame.Hands;
if (!hands.IsEmpty && button_on)
{
Hand hand = hands[0];
for (int i = 0; i < frame.Gestures().Count; i++)
{
Gesture gesture = frame.Gestures()[i];
if (gesture.Type == Gesture.GestureType.TYPE_KEY_TAP)
{
button_on = false;
emitter.stop();
break;
}
}
position = new Vector3(hand.PalmPosition.x, hand.PalmPosition.y, hand.PalmPosition.z);
Vector3 normal = new Vector3(-hand.PalmNormal.x, -hand.PalmNormal.y, -hand.PalmNormal.z);
Vector3 direction = new Vector3(hand.Direction.x, hand.Direction.y, hand.Direction.z);
Vector3 device_position = alignment.fromTrackingPositionToDevicePosition(position);
Vector3 device_normal = alignment.fromTrackingDirectionToDeviceDirection(normal).normalize();
Vector3 device_direction = alignment.fromTrackingDirectionToDeviceDirection(direction).normalize();
Vector3 device_palm_x = device_direction.cross(device_normal).normalize();
device_position += (device_direction * MathF.Cos(button.angle) + device_palm_x * MathF.Sin(button.angle)) * button.radius;
points[0].setPosition(device_position);
// Instruct the device to stop any existing actions and start producing this control point
emitter.update(points);
// The emitter will continue producing this point until instructed to stop
button.angle += 0.05f;
button.angle = button.angle % (2.0f * PI);
}
else if (!hands.IsEmpty && !button_on)
{
emitter.stop();
for (int i = 0; i < frame.Gestures().Count; i++)
{
Gesture gesture = frame.Gestures()[i];
if (gesture.Type == Gesture.GestureType.TYPE_KEY_TAP)
{
button_on = true;
emitter.stop();
break;
}
}
}
else
{
emitter.stop();
}
System.Threading.Thread.Sleep(10);
}
// Dispose/destroy the emitter
emitter.Dispose();
emitter = null;
controller.Dispose();
}
