protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
int hitIndex = affectedBodyPart.BodyCoordinateHitIndex(bodyPart, hitLocation);
// If -1 is returned, then the hitLocation is not in the CoordinateSpace that the device is attached to
if (hitIndex == -1)
{
return;
}
// Assign the intensity value for each of the mapped effector
for (int n = 0; n < bhapticsMapping.mapping[hitIndex].indexMapping.Length; n++)
{
// The intensity needs to be between 0 and 100, so convert the intensity to that range
hapticBytes[bhapticsMapping.mapping[hitIndex].indexMapping[n]] = (byte)(intensity * 100);
}
// Assign the intensity values and play
#if VRTK_DEFINE_SDK_BHAPTICS
tactSource.DotPoints = hapticBytes;
tactSource.Play();
#endif
// Clear the array since it will need different values on the next frame
hapticBytes = new byte[HAPTIC_ACTUATOR_COUNT];
}
/// <summary>
/// Provides the hit location (angle and height) values for all the curve values in the pattern for a specified time
/// </summary>
/// <param name="currentTime">The timing information</param>
/// <returns>An array of BodyCoordinateHit value for each curve in the pattern</returns>
public BodyCoordinateHit[] GetHitLocationsAtCurrentTime(float currentTime)
{
// Get the hit location for each curve
for (int n = 0; n < curveList.Count; n++)
{
BodyCoordinateHit hitLocation = curveList[n].GetHitLocationAtTime(currentTime);
// Adjust the hitLocation based on the offset
switch (offsetUse)
{
case OffsetUse.SetAtFirstPoint:
// Get the difference between the offset and the first point
float heightDifference = hitOffset.hitHeight - curveList[n].heightCurve[0].value;
float angleDifference = hitOffset.hitAngle - curveList[n].angleCurve[0].value;
// Apply the difference to the current hit location
hitLocation.hitHeight += heightDifference;
hitLocation.hitAngle += angleDifference;
break;
}
// Adjust the hitLocation based on the overshoot resolution for the height
hitLocation.hitHeight = AdjustHitLocation(hitLocation.hitHeight, 0.0f, 1.0f, heightOvershootResolution);
// Adjust the hitLocation based on the overshoot resolution for the angle
hitLocation.hitAngle = AdjustHitLocation(hitLocation.hitAngle, 0.0f, 360.0f, angleOvershootResolution);
hitLocationBuffer[n] = hitLocation;
}
return(hitLocationBuffer);
}
/// <summary>
/// Checks to see if the given body part that was hit has a device that should be triggered. If it does,
/// it tells that device to play their haptic for that hit location.
/// </summary>
/// <param name="bodyLocation">The body part that was hit</param>
/// <param name="hitLocation">The height/angle of the hit on the body part</param>
public void BodyPartHit(HumanBodyBones bodyLocation, BodyCoordinateHit hitLocation, ScriptableHapticPattern hapticPattern = null)
{
// Check to make sure this body part isn't ignored
if (ignoreBoneSet.Contains(bodyLocation))
{
return;
}
if (bodyAffectedByDevice.ContainsKey(bodyLocation))
{
// Tell every device that has this body part to trigger the haptics at the given location
for (int n = 0; n < bodyAffectedByDevice[bodyLocation].Count; n++)
{
// Check to make sure this haptic device isn't ignored
if (ignoreHapticDevices.Contains(bodyAffectedByDevice[bodyLocation][n]))
{
return;
}
if (hapticPattern == null)
{
bodyAffectedByDevice[bodyLocation][n].TriggerDevice(bodyLocation, hitLocation, 0.5f);
}
else
{
bodyAffectedByDevice[bodyLocation][n].TriggerDevice(bodyLocation, hitLocation, hapticPattern);
}
}
}
}
/// <summary>
/// A single haptic pulse that is triggered by an object hitting a body part that has been
/// set up to recieve haptic events.
/// </summary>
/// <param name="bodyPart">The body part of the hit</param>
/// <param name="hitLocation">The body coordinate system hit</param>
/// <param name="intensity">The intensity to play the haptic vibration</param>
public void TriggerDevice(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
if (affectedBodyPart.HitInsideAffectedArea(bodyPart, hitLocation))
{
StartHaptics(bodyPart, hitLocation, intensity);
}
}
public void OnBodyPartHit(BodyCoordinate bodyCoordinate, BodyCoordinateHit hitInfo, Vector3 hitLocation)
{
if (BodyPartHit != null)
{
BodyPartHit(this, new HapticInformation(bodyCoordinate, hitInfo, hitLocation));
}
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
#if VRTK_DEFINE_STEAMVR_PLUGIN_2_0_0_OR_NEWER && VRTK_DEFINE_STEAMVR_INPUT_COMPILED
vibration.Execute(0.0f, hapticDuration / Constants.MS_TO_SECONDS, frequency, intensity, trackedObject.inputSource);
#elif VRTK_DEFINE_STEAMVR_PLUGIN_LEGACY
SteamVR_Controller.Input((int)trackedObject.index).TriggerHapticPulse((ushort)(intensity * VIVE_VIBRATION_VALUE));
#endif
}
/// <summary>
/// Plays a pattern that is triggered by an object hitting a body part that has been
/// set up to recieve haptic events.
/// </summary>
/// <param name="bodyPart">The body part of the hit</param>
/// <param name="hitLocation">The body coordinate system hit</param>
/// <param name="hapticPattern">The haptic pattern</param>
public void TriggerDevice(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, ScriptableHapticPattern hapticPattern)
{
if (bodyPart == affectedBodyPart.affectableBodyParts)
{
hapticPattern.hitOffset = hitLocation;
PlayPattern(bodyPart, hapticPattern);
}
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
#if VRTK_DEFINE_SDK_MANUS_VR
Manus.ManusSetVibration(handData.Session,
isRightGlove ? device_type_t.GLOVE_RIGHT : device_type_t.GLOVE_LEFT,
intensity,
(ushort)hapticDuration);
#endif
}
private void OnCollisionEnter(Collision collision)
{
BodyCoordinateHit bodyHit = CalculateBodyCoordinateHitFromPosition(collision.contacts[0].point);
HapticPatternCollisionHolder hitPattern = collision.gameObject.GetComponent <HapticPatternCollisionHolder>();
if (hitPattern != null)
{
manager.BodyPartHit(attachedBody, bodyHit, hitPattern.GetHapticPattern());
}
else
{
manager.BodyPartHit(attachedBody, bodyHit);
}
}
public bool HitInsideSpace(BodyCoordinateHit hitLocation)
{
if (hitLocation.hitHeight >= startHeight &&
hitLocation.hitHeight <= endHeight &&
hitLocation.hitAngle >= startAngle &&
hitLocation.hitAngle <= endAngle)
{
return(true);
}
else
{
return(false);
}
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
#if VRTK_DEFINE_SDK_SENSE_GLOVE
int fingerIndex = FindHitFingerIndex(bodyPart);
if (fingerIndex != -1)
{
fingers[fingerIndex] = true;
intensities[fingerIndex] = (int)(intensity * 100);
duration[fingerIndex] = hapticDuration;
}
glove.SendBuzzCmd(fingers, intensities, duration);
#endif
}
public int BodyCoordinateHitIndex(HumanBodyBones hitBone, BodyCoordinateHit hitLocation)
{
// Check if it's on the same bone
if (hitBone == affectableBodyParts)
{
for (int n = 0; n < affectedAreaList.Count; n++)
{
// Check if it's an affect area on the same bone
if (affectedAreaList[n].HitInsideSpace(hitLocation))
{
return(n);
}
}
}
return(-1);
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
#if VRTK_DEFINE_SDK_OCULUS
if (isLeftController)
{
hapticsClipLeft.Reset();
hapticsClipLeft.WriteSample((byte)(intensity * byte.MaxValue));
OVRHaptics.LeftChannel.Preempt(hapticsClipLeft);
}
else
{
hapticsClipRight.Reset();
hapticsClipRight.WriteSample((byte)(intensity * byte.MaxValue));
OVRHaptics.RightChannel.Preempt(hapticsClipRight);
}
#endif
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
if (IsHapticDeviceValid())
{
HapticCapabilities hapticCapabilities;
if (hapticDevice.TryGetHapticCapabilities(out hapticCapabilities) && hapticCapabilities.supportsImpulse)
{
bool successful = hapticDevice.SendHapticImpulse(hapticChannel, intensity);
if (!successful)
{
Debug.LogWarningFormat("Unity XR Haptic Device {0} failed to play haptics");
}
}
}
else
{
Debug.LogWarningFormat("Unity XR Haptic Device for the {0} failed to play haptics: device is invalid", handNodeType.ToString());
}
}
/// <summary>
/// Calculates the world position of a BodyCoordinateHit.
/// </summary>
/// <param name="bodyHit">The height and angle of the collider to find the position</param>
/// <param name="accountForCapsule">If true, the position should account for the circle ends on the capsule</param>
/// <returns>The world position based on the collider and provided body hit</returns>
public Vector3 CalculatePositionFromBodyCoordinateHit(BodyCoordinateHit bodyHit, bool accountForCapsule = false)
{
float heightPosition = CalculatePositionFromNormalizedHeight(bodyHit.hitHeight);
Vector3 radius = CalculatePositionFromAngle(bodyHit, heightPosition, accountForCapsule);
switch (capCollider.direction)
{
// X Axis
case 0:
return(new Vector3(heightPosition, radius.y, radius.z));
// Y Axis
case 1:
return(new Vector3(radius.x, heightPosition, radius.z));
// Z Axis
case 2:
return(new Vector3(radius.x, radius.y, heightPosition));
default:
return(Vector3.zero);
}
}
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
#if VRTK_DEFINE_SDK_OCULUS
if (hapticsClipLeft == null || hapticsClipRight == null)
{
OVRHaptics.Config.Load();
hapticsClipLeft = new OVRHapticsClip();
hapticsClipRight = new OVRHapticsClip();
}
int clipLengthBytes =
Mathf.Min(
Mathf.Max(OVRHaptics.Config.SampleRateHz * hapticDuration, OVRHaptics.Config.MinimumBufferSamplesCount),
OVRHaptics.Config.MaximumBufferSamplesCount
);
if (isLeftController)
{
hapticsClipLeft.Reset();
for (int i = 0; i < clipLengthBytes; i++)
{
hapticsClipLeft.WriteSample((byte)(intensity * byte.MaxValue));
}
OVRHaptics.LeftChannel.Preempt(hapticsClipLeft);
}
else
{
hapticsClipRight.Reset();
for (int i = 0; i < clipLengthBytes; i++)
{
hapticsClipRight.WriteSample((byte)(intensity * byte.MaxValue));
}
OVRHaptics.RightChannel.Preempt(hapticsClipRight);
}
#endif
}
/// <summary> /// How the device plays a single haptic pulse /// </summary> /// <param name="hitLocation">The hit location in the BodyCoordinate space</param> /// <param name="intensity">The normalized (0-1) intensity value</param> protected abstract void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity);
protected override void StartHaptics(HumanBodyBones bodyPart, BodyCoordinateHit hitLocation, float intensity)
{
// no op
}
public void GetMouseClicks(SceneView sceneView)
{
// Only care about mouse down events
if (Event.current.type != EventType.MouseDown)
{
return;
}
// convert GUI coordinates to screen coordinates
Vector3 screenPosition = Event.current.mousePosition;
Vector3 cameraScreenPosition = screenPosition;
cameraScreenPosition.y = Camera.current.pixelHeight - cameraScreenPosition.y;
Ray ray = Camera.current.ScreenPointToRay(cameraScreenPosition);
RaycastHit hit;
// Wait for double clicks on left mouse
if (Event.current.clickCount == 2 && Event.current.button == 0)
{
// Cast ray into the scene
if (Physics.Raycast(ray, out hit))
{
Event.current.Use();
BodyCoordinate bodyPart = hit.collider.GetComponent <BodyCoordinate>();
if (bodyPart != null)
{
BodyCoordinateHit hitLocation = bodyPart.CalculateBodyCoordinateHitFromPosition(hit.point);
OnBodyPartHit(bodyPart, hitLocation, hit.point);
return;
}
BodyHitUI uiHit = hit.collider.GetComponent <BodyHitUI>();
if (uiHit != null)
{
// Make sure that another UI is not already displaying
lastUIHit?.HideUI(screenPosition, true);
lastUIHit = uiHit;
lastUIHit.DisplayUI(screenPosition);
return;
}
}
}
else if (Event.current.clickCount == 1)
{
// Close the hitUI if they click outside of it
if (lastUIHit != null)
{
// Right/middle clicks will force close the UI
bool wasHidden = (Event.current.button != 0) ? lastUIHit.HideUI(screenPosition, true) : lastUIHit.HideUI(screenPosition);
if (wasHidden)
{
lastUIHit = null;
}
}
}
}
public BodyCoordinateHit(BodyCoordinateHit otherHit)
{
hitHeight = otherHit.hitHeight;
hitAngle = otherHit.hitAngle;
}
/// <summary>
/// Adds a keyframe to the Haptic Pattern at the specified time.
/// </summary>
/// <param name="time">The time for the keyframe</param>
/// <param name="location">The hit angle and height</param>
/// <param name="intensity">The intensity between 0 and 1</param>
public void AddKey(float time, BodyCoordinateHit location, float intensity)
{
heightCurve.AddKey(time, location.hitHeight);
angleCurve.AddKey(time, location.hitAngle);
intensityCurve.AddKey(time, intensity);
}
private Vector3 CalculatePositionFromAngle(BodyCoordinateHit bodyHit, float heightPosition = 0.0f, bool positionOnCapsule = false)
{
// Short circuit, if the height is at the extremes, then it will be at the poles
if (positionOnCapsule)
{
if (bodyHit.hitHeight == 0.0f)
{
return(transform.TransformPoint(ProximalPosition));
}
else if (bodyHit.hitHeight == 1.0f)
{
return(transform.TransformPoint(DistalPosition));
}
}
// Calculate the directional vector towards the hit point
Vector3 rotationDirection = Vector3.zero;
if (invertAngleDirection)
{
bodyHit.hitAngle = 360 - bodyHit.hitAngle;
}
switch (capCollider.direction)
{
// X Axis
case 0:
rotationDirection = Quaternion.AngleAxis(bodyHit.hitAngle, transform.right) * polarAxis;
break;
// Y Axis
case 1:
rotationDirection = Quaternion.AngleAxis(bodyHit.hitAngle, transform.up) * polarAxis;
break;
// Z Axis
case 2:
rotationDirection = Quaternion.AngleAxis(bodyHit.hitAngle, transform.forward) * polarAxis;
break;
}
// Account for the angle of the collider
Vector3 positionByAngle = rotationDirection * capCollider.radius;
// Since the capsule has two circles at the ends, make sure the position is along the curve on the circle if required
if (positionOnCapsule)
{
// Don't bother doing this if new height is not at one of the circles extremes
float radiusNormalizedPerHeight = capCollider.radius / capCollider.height;
if (bodyHit.hitHeight >= radiusNormalizedPerHeight && bodyHit.hitHeight <= (1 - radiusNormalizedPerHeight))
{
return(transform.TransformPoint(positionByAngle));
}
// Get the transform that is aligned with this point along the axis
Vector3 leveledTransform = transform.TransformPoint(capCollider.center);
switch (capCollider.direction)
{
case 0: // X Axis
leveledTransform = new Vector3(heightPosition, leveledTransform.y, leveledTransform.z);
positionByAngle = new Vector3(heightPosition, positionByAngle.y, positionByAngle.z);
break;
case 1: // Y Axis
leveledTransform = new Vector3(leveledTransform.x, heightPosition, leveledTransform.z);
positionByAngle = new Vector3(positionByAngle.x, heightPosition, positionByAngle.z);
break;
case 2: // Z Axis
leveledTransform = new Vector3(leveledTransform.x, leveledTransform.y, heightPosition);
positionByAngle = new Vector3(positionByAngle.x, positionByAngle.y, heightPosition);
break;
}
// Get the direction from the point towards the transform
Vector3 directionTowardsCapsule = leveledTransform - positionByAngle;
RaycastHit[] hitInfo;
// Shoot a ray to find the edge of the capsule collider in the calculated direction
hitInfo = Physics.RaycastAll(positionByAngle, directionTowardsCapsule.normalized, .5f);
for (int n = 0; n < hitInfo.Length; n++)
{
if (hitInfo[n].collider.gameObject.name == "Capsule")
{
// Move the positionByAngle in the direction towards the transform at the proper distance
positionByAngle += (directionTowardsCapsule.normalized * hitInfo[n].distance);
}
}
}
return(transform.TransformPoint(positionByAngle));
}
private void OnDisable()
{
// Don't keep a saved offset value since it's only set by a collision
hitOffset = new BodyCoordinateHit();
}
/// <summary>
/// Adds a keyframe to the pattern for a given curve
/// </summary>
/// <param name="curveIndex">The curve index to add the keyframe to</param>
/// <param name="time">The timing for the new keyframe</param>
/// <param name="location">The height/angle of the keyframe</param>
/// <param name="intensity">The intensity value of the keyframe</param>
public void AddKey(int curveIndex, float time, BodyCoordinateHit location, float intensity)
{
curveList[curveIndex].AddKey(time, location, intensity);
}
public HapticFeedbackEventArgs(HumanBodyBones body, BodyCoordinateHit hit, float intense)
{
bodyPart = body;
hitLocation = hit;
feedbackIntensity = intense;
}
public HapticInformation(BodyCoordinate bodyCoordinate, BodyCoordinateHit hitInfo, Vector3 hitLocation)
{
bodyPart = bodyCoordinate;
bodyHitInfo = hitInfo;
worldHitLocation = hitLocation;
}
