public void ForceWorkspaceUpdate()
{
if (HapticWorkspace != null)
{
UnityHaptics.SetHapticWorkspace(HapticWorkspace);
}
}
// Update is called once per frame
private void Update()
{
//Debug.Log(UnityHaptics.GetToolVelocity());
LoopNumber += 1;
if (LoopNumber % 100 == 0)
{
LoopFrequencyHz = HapticNativePlugin.get_loop_frequency();
if (Verbosity > 1)
{
Debug.Log(LoopFrequencyHz);
}
}
if (EnableTick == Tick.Update)
{
HapticNativePlugin.tick();
}
if (!Started || !Running)
{
int res = HapticNativePlugin.start();
UnityHaptics.LogMessage(res, true);
Started = res == HapticNativePlugin.SUCCESS;
Running = Started;
UpdateToolPositionAndRotation();
}
}
// FIXME: set_world_translation() has no wrappers. Do we need one?
// FIXME: set_world_scale() has no wrappers. Do we need one?
public static double[] GetToolProxyPosition()
{
double[] position = new double[3];
int res = get_tool_proxy_position(position);
UnityHaptics.LogMessage(res, true);
return(position);
}
private void UpdateToolPositionAndRotation()
{
// Debug.Log(UnityHaptics.GetToolPosition());
transform.SetPositionAndRotation(UseProxyPosition ?
UnityHaptics.GetToolProxyPosition() :
UnityHaptics.GetToolPosition(),
UnityHaptics.GetToolRotation());
}
private void Awake()
{
CheckCompatibility();
if (UseSphereRadius)
{
//// This can only render a sphere.
//// Warn if attached to something else (maybe they just want to get the input position)
if (GetComponent <MeshFilter>().name != "Sphere" &&
Verbosity > 0)
{
Debug.LogWarning("This script is not attached to a sphere " +
"but you are trying to use the sphere radius. You should" +
"instead set the radius manually");
}
// The sphere size in unity is 0.5 units.
// We use the Transform scale on the X axis to get the real size
Radius = transform.lossyScale.x * 0.5f;
}
SetWaitForForces();
// FIXME: what to do with workspace radius?
UnityHaptics.SetUnityWorldCoordinates();
int res = HapticNativePlugin.Initialize(DeviceId, WorkspaceSize, Radius);
if (res != HapticNativePlugin.SUCCESS)
{ // success silently, fail loudly
Debug.LogError("Could not start haptics");
UnityHaptics.LogMessage(res, false);
return;
}
// ForceWorkspaceUpdate();
if (EnableDynamicObjects)
{
HapticNativePlugin.enable_dynamic_objects();
}
else
{
HapticNativePlugin.disable_dynamic_objects();
}
// FIXME: move to UnityHaptics, enable things we want to log and so on
if (EnableLog && LogDownsampling != 0)
{
HapticNativePlugin.SetupLogging(LogDownsampling, DeviceCoordinates);
}
// Set initial position
UpdateToolPositionAndRotation();
}
private void SetTexture()
{
// Here texture can be null
Texture2D texture = UseObjectTexture ? GetMeshTexture() : material.textureImage;
if (texture == null) { return; } // no more
if (Verbosity > 1) { Debug.Log("Setting Texture"); }
if (UnityHaptics.SetTexture(ObjectId, texture, material.ReverseTexture)
!= HapticNativePlugin.SUCCESS)
{
Debug.LogWarning("Could not set Texture");
}
}
private int UpdateScale()
{
int status = 0;
if (lastScale != transform.lossyScale)
{
status =
UnityHaptics.SetObjectScale(ObjectId, transform.lossyScale);
lastScale = transform.lossyScale;
}
return(status);
}
public bool UpdateMaterial() {
if (material == null)
{
Debug.LogWarning("Empty material on object: " + name);
return false;
}
if (Verbosity > 2) { Debug.Log("Updating " + name + " material"); }
bool success = UnityHaptics.SetMaterial(ObjectId, material) ==
HapticNativePlugin.SUCCESS;
SetTexture();
return success;
}
void Update()
{
if (HapticNativePlugin.IsRunning())
{
if (UpdatePosition)
{
transform.position = (UseProxyPosition) ? UnityHaptics.GetToolProxyPosition() :
UnityHaptics.GetToolPosition();
}
if (UpdateRotation)
{
transform.rotation = UnityHaptics.GetToolRotation();
}
}
}
override protected void CreateObject()
{
if (ObjectId < 0)
{
if (Verbosity > 2)
{
Debug.Log("Creating the mesh: " + name);
}
ObjectId = UnityHaptics.CreateUnityMesh
(GetComponent <MeshFilter>().sharedMesh,
transform);
if (ObjectId < 0)
{
Debug.LogError("Failed to add the object");
}
}
}
private void OnDestroy()
{
if ((!HapticNativePlugin.IsInitialized() ||
!HapticNativePlugin.IsRunning()))
{
Started = false;
return;
}
int res = HapticNativePlugin.deinitialize();
UnityHaptics.LogMessage(res, true);
SaveLogIfLogging();
HapticNativePlugin.stop();
Started = false;
Running = false;
}
private bool UpdateRotation()
{
bool success = false;
if (lastRot != transform.rotation)
{
if (Verbosity > 2)
{
Debug.Log("Updating rotation");
}
success =
UnityHaptics.SetObjectRotationEuler(ObjectId, transform.rotation)
== HapticNativePlugin.SUCCESS;
lastRot = transform.rotation;
}
return(success);
}
private bool UpdatePosition()
{
bool success = false;
if (lastPos != transform.position)
{
if (Verbosity > 2)
{
Debug.Log("Updating position");
}
success =
UnityHaptics.SetObjectPosition(ObjectId, transform.position)
== HapticNativePlugin.SUCCESS;
lastPos = transform.position;
}
return(success);
}
override protected void CreateObject()
{
if (ObjectId < 0)
{
if (Verbosity > 2)
{
Debug.Log("Creating the shape: " + name);
}
if (Verbosity > 0 &&
(transform.lossyScale.x != transform.lossyScale.y ||
transform.lossyScale.y != transform.lossyScale.z))
{
Debug.LogWarning("This kind of object does not support scaling on different sizes! " +
"Only X will be used");
}
// FIXME: rename the function called, and simplify the passing (single meshfilter)
ObjectId = UnityHaptics.CreateUnityShape
(GetComponent <MeshFilter>().sharedMesh, transform);
if (ObjectId < 0)
{
Debug.LogError("Failed to add the object");
}
}
}
