/******************************************************************************************************************************************************************/
//Get Proxy Position and Orientation generic function
public void GetProxyValues()
{
/*Proxy Position*/
//Convert IntPtr to Double3Array
myProxyPosition = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyPosition());
//Attach the Cursor Node
Vector3 positionCursor = new Vector3();
positionCursor = ConverterClass.ConvertDouble3ToVector3(myProxyPosition);
//Assign Haptic Values to Cursor
myHapticClassScript.hapticCursor.transform.position = positionCursor;
//Proxy Right - Not use in that case
//Convert IntPtr to Double3Array
/*myProxyRight = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyRight());
* //Attach the Cursor Node
* Vector3 rightCursor = new Vector3();
* rightCursor = ConverterClass.ConvertDouble3ToVector3(myProxyRight);
*
* //Proxy Direction
* //Convert IntPtr to Double3Array
* myProxyDirection = ConverterClass.ConvertIntPtrToDouble3( PluginImport.GetProxyDirection());
* //Attach the Cursor Node
* Vector3 directionCursor = new Vector3();
* directionCursor = ConverterClass.ConvertDouble3ToVector3(myProxyDirection);
*
* //Proxy Torque
* myProxyTorque = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyTorque());
* //Attach the Cursor Node
* Vector3 torqueCursor = new Vector3();
* torqueCursor = ConverterClass.ConvertDouble3ToVector3(myProxyTorque);
*
* //Set Orientation
* myHapticClassScript.hapticCursor.transform.rotation = Quaternion.LookRotation(directionCursor,torqueCursor);*/
//Proxy Orientation
//Convert IntPtr to Double4Array
myProxyOrientation = ConverterClass.ConvertIntPtrToDouble4(PluginImport.GetProxyOrientation());
//Attach the Cursor Node
Vector4 OrientationCursor = new Vector4();
OrientationCursor = ConverterClass.ConvertDouble4ToVector4(myProxyOrientation);
//Assign Haptic Values to Cursor
myHapticClassScript.hapticCursor.transform.rotation = new Quaternion(OrientationCursor.x, OrientationCursor.y, OrientationCursor.z, OrientationCursor.w);
}
//Get Proxy Position and Orientation generic function for two haptic devices
public void GetTwoProxyValues()
{
/*Two Proxy Position*/
//Convert IntPtr to Double3Array
//myTwoProxyPosition = ConverterClass.ConvertIntPtrToDouble6(PluginImport.GetDevicePosition());
myTwoProxyPosition = ConverterClass.ConvertIntPtrToDouble6(PluginImport.GetProxyPosition());
//Attach the Cursor Node
Vector3 positionCursor1 = new Vector3();
Vector3 positionCursor2 = new Vector3();
//Assign value to position vector
positionCursor1 = ConverterClass.ConvertDouble3ToVector3(ConverterClass.SelectHalfdouble6toDouble3(myTwoProxyPosition, 1));
positionCursor2 = ConverterClass.ConvertDouble3ToVector3(ConverterClass.SelectHalfdouble6toDouble3(myTwoProxyPosition, 2));
//Assign Haptic Values to Cursor
myHapticClassScript.hapticCursor.transform.position = positionCursor1;
//Assign Haptic Values to Cursor
myHapticClassScript.secondHapticCursor.transform.position = positionCursor2;
//Proxy Orientation
//Convert IntPtr to Double4Array
myTwoProxyOrientation = ConverterClass.ConvertIntPtrToDouble8(PluginImport.GetProxyOrientation());
//Attach the Cursor Node
Vector4 OrientationCursor1 = new Vector4();
Vector4 OrientationCursor2 = new Vector4();
//Assign value to orientation vector
OrientationCursor1 = ConverterClass.ConvertDouble4ToVector4(ConverterClass.SelectHalfdouble8toDouble4(myTwoProxyOrientation, 1));
OrientationCursor2 = ConverterClass.ConvertDouble4ToVector4(ConverterClass.SelectHalfdouble8toDouble4(myTwoProxyOrientation, 2));
//Assign Haptic Values to Cursor
myHapticClassScript.hapticCursor.transform.rotation = new Quaternion(OrientationCursor1.x, OrientationCursor1.y, OrientationCursor1.z, OrientationCursor1.w);
//Assign Haptic Values to Cursor
myHapticClassScript.secondHapticCursor.transform.rotation = new Quaternion(OrientationCursor2.x, OrientationCursor2.y, OrientationCursor2.z, OrientationCursor2.w);
}
/******************************************************************************************************************************************************************/
public void GetProxyValues()
{
//Convert IntPtr to Double3Array
myProxyPosition = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyPosition());
//Attach the Cursor Node
Vector3 positionCursor = new Vector3();
positionCursor = ConverterClass.ConvertDouble3ToVector3(myProxyPosition);
positionCursor.z *= 2f;
myHapticClassScript.hapticCursor.transform.position = positionCursor;
myProxyOrientation = ConverterClass.ConvertIntPtrToDouble4(PluginImport.GetProxyOrientation());
//Attach the Cursor Node
Vector4 OrientationCursor = new Vector4();
OrientationCursor = ConverterClass.ConvertDouble4ToVector4(myProxyOrientation);
//Assign Haptic Values to Cursor
myHapticClassScript.hapticCursor.transform.rotation = new Quaternion(OrientationCursor.x, OrientationCursor.y, OrientationCursor.z, OrientationCursor.w);
}
//Get Proxy Position and Orientation generic function
public void GetProxyValues(bool useTransform)
{
/*Proxy Position*/
//Convert IntPtr to Double3Array
myProxyPosition = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyPosition());
//Attach the Cursor Node
Vector3 positionCursor = new Vector3();
positionCursor = ConverterClass.ConvertDouble3ToVector3(myProxyPosition);
positionCursor.z *= 2f;
//Vector3 movement = positionCursor - rb.position;
if (useTransform)
{
myHapticClassScript.hapticCursor.transform.position = positionCursor;
}
else
{
rb.MovePosition(positionCursor);
}
//myHapticClassScript.hapticCursor.transform.position = positionCursor;
/*
* if (movement.magnitude > 0.1)
* {
* positionCursor = myHapticClassScript.hapticCursor.transform.position;//movement.normalized * 0.01f + myHapticClassScript.hapticCursor.transform.position;
* }*/
//rb.velocity = new Vector3(0,0,0);
//if (movement.magnitude > 0.1)
//rb.velocity = movement * Time.deltaTime * 500;
//rb.AddForce(movement);
//else rb.velocity = new Vector3(0, 0, 0);
//rb.MovePosition(positionCursor);
//rb.position = positionCursor;
//rb.MovePosition(positionCursor*2);
//myHapticClassScript.hapticCursor.gameObject.GetComponent<Rigidbody>().MovePosition(positionCursor);
//rb.AddForce((rb.gameObject.transform.position - positionCursor) * 5, ForceMode.VelocityChange);
//Proxy Right - Not use in that case
//Convert IntPtr to Double3Array
/*myProxyRight = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyRight());
* //Attach the Cursor Node
* Vector3 rightCursor = new Vector3();
* rightCursor = ConverterClass.ConvertDouble3ToVector3(myProxyRight);
*
* //Proxy Direction
* //Convert IntPtr to Double3Array
* myProxyDirection = ConverterClass.ConvertIntPtrToDouble3( PluginImport.GetProxyDirection());
* //Attach the Cursor Node
* Vector3 directionCursor = new Vector3();
* directionCursor = ConverterClass.ConvertDouble3ToVector3(myProxyDirection);
*
* //Proxy Torque
* myProxyTorque = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyTorque());
* //Attach the Cursor Node
* Vector3 torqueCursor = new Vector3();
* torqueCursor = ConverterClass.ConvertDouble3ToVector3(myProxyTorque);
*
* //Set Orientation
* myHapticClassScript.hapticCursor.transform.rotation = Quaternion.LookRotation(directionCursor,torqueCursor);*/
//Proxy Orientation
//Convert IntPtr to Double4Array
myProxyOrientation = ConverterClass.ConvertIntPtrToDouble4(PluginImport.GetProxyOrientation());
//Attach the Cursor Node
Vector4 OrientationCursor = new Vector4();
OrientationCursor = ConverterClass.ConvertDouble4ToVector4(myProxyOrientation);
//Assign Haptic Values to Cursor
if (useTransform)
{
myHapticClassScript.hapticCursor.transform.rotation = new Quaternion(OrientationCursor.x, OrientationCursor.y, OrientationCursor.z, OrientationCursor.w);
}
else
{
rb.MoveRotation(new Quaternion(OrientationCursor.x, OrientationCursor.y, OrientationCursor.z, OrientationCursor.w));
}
}