private bool DisableAllCollisions(bool iDisabled)
{
if (MiddleVR.VRPhysicsMgr == null)
{
return(false);
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (physicsEngine.IsStarted())
{
bool actionApplied = physicsEngine.EnableCollisions(!iDisabled);
if (actionApplied)
{
if (iDisabled)
{
MiddleVRTools.Log(2, "[ ] PhysicsDisableAllCollisions: all collisions disabled.");
}
else
{
MiddleVRTools.Log(2, "[ ] PhysicsDisableAllCollisions: all collisions enabled.");
}
}
return(actionApplied);
}
return(false);
}
protected void Update()
{
if (!mApplied)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
MiddleVRTools.Log(0, "[X] PhysicsDisableAllCollisions: No PhysicsEngine found.");
enabled = false;
return;
}
if (physicsEngine.IsStarted())
{
bool disabled = physicsEngine.EnableCollisions(false);
if (disabled)
{
MiddleVRTools.Log(2, "[ ] PhysicsDisableAllCollisions: all collisions disabled.");
}
mApplied = true;
}
}
}
protected void Update()
{
if (!m_DidFirstAttachment)
{
var physicsMgr = MiddleVR.VRPhysicsMgr;
if (physicsMgr == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBodyManipulator: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = physicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
if (physicsEngine.IsStarted())
{
AttachOrDetachBody(true);
m_DidFirstAttachment = true;
}
}
}
protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
m_PhysicsConstraint.SetAxis(MiddleVRTools.FromUnity(Axis));
m_PhysicsConstraint.SetLowerLimit(m_Limits.Min);
m_PhysicsConstraint.SetUpperLimit(m_Limits.Max);
m_PhysicsConstraint.SetReferencePosition(m_ZeroPosition);
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(3, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the prismatic physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
protected void OnDestroy()
{
if (m_PhysicsBody != null)
{
if (MVRNodesMapper.HasInstance())
{
var nodesMapper = MVRNodesMapper.Instance;
nodesMapper.RemoveMapping(gameObject);
}
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
physicsEngine.DestroyBody(m_PhysicsBodyName);
}
}
m_PhysicsBody.Dispose();
m_PhysicsBody = null;
}
m_PhysicsBodyName = "";
if (m_MVREventListener != null)
{
m_MVREventListener.Dispose();
}
}
protected void Start()
{
if (MiddleVR.VRClusterMgr.IsCluster() && !MiddleVR.VRClusterMgr.IsServer())
{
enabled = false;
return;
}
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] PhysicsEnableCollisions: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
MiddleVRTools.Log(0, "[X] PhysicsEnableCollisions: No PhysicsEngine found.");
enabled = false;
return;
}
}
protected vrPhysicsBody GetPhysicsBodyInSimulation()
{
if (MiddleVR.VRPhysicsMgr == null)
{
return(null);
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(null);
}
vrPhysicsBody physicsBody = physicsEngine.GetBody(GetComponent <VRPhysicsBody>().PhysicsBodyName);
if (physicsBody != null && physicsBody.IsInSimulation())
{
return(physicsBody);
}
else
{
return(null);
}
}
protected void Update()
{
if (MiddleVR.VRDeviceMgr != null &&
MiddleVR.VRDeviceMgr.IsKeyPressed(MiddleVR.VRK_H) &&
MiddleVR.VRDeviceMgr.IsKeyToggled(MiddleVR.VRK_C))
{
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] VRChangeManipulationDeviceIPSISample: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
uint bodiesNb = physicsEngine.GetBodiesNb();
m_PhysicsBodyId = (m_PhysicsBodyId + 1) % ((int)bodiesNb);
MiddleVRTools.Log(0, "[+] VRChangeManipulationDeviceIPSISample: proposed body id: " +
m_PhysicsBodyId + ".");
vrPhysicsBody physicsBody = physicsEngine.GetBody((uint)m_PhysicsBodyId);
if (physicsBody != null && physicsBody.IsA("PhysicsBodyIPSI"))
{
var kernel = MiddleVR.VRKernel;
var objId = physicsBody.GetId();
// SetAttachedToAManipDevice (do an attachment).
var setAttachedToAManipDeviceValues = vrValue.CreateList();
setAttachedToAManipDeviceValues.AddListItem(objId);
setAttachedToAManipDeviceValues.AddListItem(true);
kernel.ExecuteCommand(
"Haption.IPSI.SetAttachedToAManipulationDevice",
setAttachedToAManipDeviceValues);
// The previous manipulated physics body (if any), will be
// automatically marked as not-manipulated.
// SetManipulationDevice (only attachment).
var setManipDeviceValues = vrValue.CreateList();
setManipDeviceValues.AddListItem(objId);
setManipDeviceValues.AddListItem(m_ManipulationDeviceId);
kernel.ExecuteCommand(
"Haption.IPSI.SetManipulationDeviceId",
setManipDeviceValues);
MiddleVRTools.Log(0, "[+] VRChangeManipulationDeviceIPSISample: attached '" +
physicsBody.GetName() + "' to the manipulation device '" +
m_ManipulationDeviceId + "'.");
}
}
}
protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
m_PhysicsConstraint.SetPosition(MiddleVRTools.FromUnity(scaleShearMatrix * Anchor));
m_PhysicsConstraint.SetAxis0(MiddleVRTools.FromUnity(Axis0));
m_PhysicsConstraint.SetAxis1(MiddleVRTools.FromUnity(Axis1));
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(0, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the U-joint physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
protected void AttachOrDetachBody(bool doAttachement)
{
VRPhysicsBody physicsBodyComponent = GetComponent <VRPhysicsBody>();
if (physicsBodyComponent == null)
{
return;
}
vrPhysicsBody physicsBody = null;
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
// Prefer to find the object by its name so we won't access
// a dangling pointer when the body was destroyed by MiddleVR.
physicsBody = physicsEngine.GetBody(m_PhysicsBodyName);
}
}
if (physicsBody == null)
{
return;
}
var kernel = MiddleVR.VRKernel;
var physicsBodyId = physicsBody.GetId();
if (doAttachement)
{
// Do "+1" because "0" means "unknown attach point type".
uint attachPointType = (uint)m_AttachPointType + 1;
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
var offsetTrans = scaleShearMatrix * m_OffsetTranslation;
var offsetRot = Quaternion.Euler(m_OffsetRotation);
var attachManipDeviceToBodyPrmsValue = vrValue.CreateList();
attachManipDeviceToBodyPrmsValue.AddListItem(m_ManipulationDeviceId);
attachManipDeviceToBodyPrmsValue.AddListItem(physicsBodyId);
attachManipDeviceToBodyPrmsValue.AddListItem(attachPointType);
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetTrans));
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetRot));
kernel.ExecuteCommand(
"Haption.IPSI.AttachManipulationDeviceToBody",
attachManipDeviceToBodyPrmsValue);
}
}
protected void Update()
{
if (MiddleVR.VRPhysicsMgr == null)
{
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
for (int i = 0; i < m_MaxContactsNb; i++)
{
GameObject go = m_ContactsToShow[i];
if (go != null)
{
go.SetActive(false);
}
}
// We will reuse the same vectors to avoid many memory allocations.
Vector3 contactPosition = new Vector3();
Vector3 contactNormal = new Vector3();
for (uint i = 0, iEnd = physicsEngine.GetContactInfosNb(); i < iEnd && i < m_MaxContactsNb; i++)
{
vrPhysicsContactInfo contactInfo = physicsEngine.GetContactInfo(i);
MiddleVRTools.ToUnity(contactInfo.GetPositionOnBody0(), ref contactPosition);
MiddleVRTools.ToUnity(contactInfo.GetNormalOnBody0(), ref contactNormal);
Quaternion contactQ = Quaternion.FromToRotation(Vector3.up, contactNormal);
Vector3 p = m_Translation + contactPosition;
GameObject go = m_ContactsToShow[i];
if (go != null)
{
go.transform.position = p;
go.transform.rotation = m_RotationAsQuat * contactQ;
go.SetActive(true);
}
if (m_RayDebug)
{
Debug.DrawRay(p, m_RotationAsQuat * contactNormal, Color.green);
}
}
}
protected void AttachOrDetachBody(bool doAttachement)
{
VRPhysicsBody physicsBodyComponent = GetComponent <VRPhysicsBody>();
if (physicsBodyComponent == null)
{
return;
}
vrPhysicsBody physicsBody = null;
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
// Prefer to find the object by its name so we won't access
// a dangling pointer when the body was destroyed by MiddleVR.
physicsBody = physicsEngine.GetBody(m_PhysicsBodyName);
}
}
if (physicsBody == null)
{
return;
}
var kernel = MiddleVR.VRKernel;
var physicsBodyId = physicsBody.GetId();
if (doAttachement)
{
// SetManipulationDevice (only attachment).
var setManipDeviceValues = vrValue.CreateList();
setManipDeviceValues.AddListItem(physicsBodyId);
setManipDeviceValues.AddListItem(m_ManipulationDeviceId);
kernel.ExecuteCommand(
"Haption.IPSI.SetManipulationDeviceId",
setManipDeviceValues);
}
// SetAttachedToAManipDevice (attachment or detachment).
var setAttachedToAManipDeviceValues = vrValue.CreateList();
setAttachedToAManipDeviceValues.AddListItem(physicsBodyId);
setAttachedToAManipDeviceValues.AddListItem(doAttachement);
kernel.ExecuteCommand(
"Haption.IPSI.SetAttachedToAManipulationDevice",
setAttachedToAManipDeviceValues);
}
protected void Start()
{
if (MiddleVR.VRClusterMgr.IsCluster() && !MiddleVR.VRClusterMgr.IsServer())
{
enabled = false;
return;
}
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] No PhysicsManager found when creating a prismatic constraint.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
if (m_PhysicsConstraint == null)
{
m_PhysicsConstraint = physicsEngine.CreateConstraintPrismaticWithUniqueName(name);
if (m_PhysicsConstraint == null)
{
MiddleVRTools.Log(0, "[X] Could not create a prismatic physics constraint for '"
+ name + "'.");
}
else
{
GC.SuppressFinalize(m_PhysicsConstraint);
m_MVREventListener = new vrEventListener(OnMVRNodeDestroy);
m_PhysicsConstraint.AddEventListener(m_MVREventListener);
m_PhysicsConstraintName = m_PhysicsConstraint.GetName();
AddConstraint();
}
}
}
protected void Start()
{
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] PhysicsDeactivateAllContacts: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
MiddleVRTools.Log(0, "[X] PhysicsDeactivateAllContacts: No PhysicsEngine found.");
enabled = false;
return;
}
physicsEngine.SetActivateContactInfos(false);
MiddleVRTools.Log(2, "[ ] PhysicsDisableAllContacts: all contacts disabled.");
}
protected void OnDestroy()
{
if (m_PhysicsConstraint == null)
{
return;
}
if (MiddleVR.VRPhysicsMgr == null)
{
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
physicsEngine.DestroyConstraint(m_PhysicsConstraintName);
m_PhysicsConstraint = null;
m_PhysicsConstraintName = "";
}
protected void Start()
{
if (MiddleVR.VRClusterMgr.IsCluster() && !MiddleVR.VRClusterMgr.IsServer())
{
enabled = false;
return;
}
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBody: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBody: Failed to access a physics engine for body '" + name + "'.");
enabled = false;
return;
}
if (m_PhysicsBody == null)
{
m_PhysicsBody = physicsEngine.CreateBodyWithUniqueName(name);
if (m_PhysicsBody == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBody: Failed to create a physics body for '" + name + "'.");
enabled = false;
return;
}
else
{
GC.SuppressFinalize(m_PhysicsBody);
m_MVREventListener = new vrEventListener(OnMVRNodeDestroy);
m_PhysicsBody.AddEventListener(m_MVREventListener);
var nodesMapper = MVRNodesMapper.Instance;
nodesMapper.AddMapping(
gameObject, m_PhysicsBody,
MVRNodesMapper.ENodesSyncDirection.MiddleVRToUnity,
MVRNodesMapper.ENodesInitValueOrigin.FromUnity);
m_PhysicsBodyName = m_PhysicsBody.GetName();
m_Geometry = CreateGeometry(m_MergeChildGeometries);
if (m_Geometry != null)
{
GC.SuppressFinalize(m_Geometry);
}
m_PhysicsBody.SetGeometry(m_Geometry);
m_PhysicsBody.SetStatic(m_Static);
m_PhysicsBody.SetMass(m_Mass);
m_PhysicsBody.SetRotationDamping(m_RotationDamping);
m_PhysicsBody.SetTranslationDamping(m_TranslationDamping);
m_PhysicsBody.SetMargin(m_Margin);
if (physicsEngine.AddBody(m_PhysicsBody))
{
MiddleVRTools.Log(3, "[ ] PhysicsBody: The physics body '" + m_PhysicsBodyName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(0, "[X] PhysicsBody: Failed to add the body '" +
m_PhysicsBodyName + "' to the physics simulation.");
}
}
}
}
protected void Start()
{
if (MiddleVR.VRClusterMgr.IsCluster() && !MiddleVR.VRClusterMgr.IsServer())
{
enabled = false;
return;
}
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBody: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBody: Failed to access a physics engine for body '" + name + "'.");
enabled = false;
return;
}
if (m_PhysicsBody == null)
{
m_PhysicsBody = physicsEngine.CreateBodyWithUniqueName(name);
if (m_PhysicsBody == null)
{
MiddleVRTools.Log(0, "[X] PhysicsBody: Failed to create a physics body for '" + name + "'.");
enabled = false;
return;
}
else
{
GC.SuppressFinalize(m_PhysicsBody);
m_MVREventListener = new vrEventListener(OnMVRNodeDestroy);
m_PhysicsBody.AddEventListener(m_MVREventListener);
var nodesMapper = MVRNodesMapper.Instance;
nodesMapper.AddMapping(
gameObject, m_PhysicsBody,
MVRNodesMapper.ENodesSyncDirection.MiddleVRToUnity,
MVRNodesMapper.ENodesInitValueOrigin.FromUnity);
m_PhysicsBodyName = m_PhysicsBody.GetName();
string geometryName = m_PhysicsBodyName + ".Geometry";
MiddleVRTools.Log(4,
"[>] PhysicsBody: Creation of the physics geometry '" +
geometryName + "'.");
m_Geometry = new vrPhysicsGeometry(geometryName);
GC.SuppressFinalize(m_Geometry);
Mesh mesh = null;
MeshCollider meshCollider = GetComponent <MeshCollider>();
if (meshCollider != null)
{
mesh = meshCollider.sharedMesh;
if (mesh != null)
{
MiddleVRTools.Log(2, "[ ] PhysicsBody: the physics geometry '" + geometryName +
"' uses the mesh of its MeshCollider.");
}
}
// No mesh from collider was found so let's try from the mesh filter.
if (mesh == null)
{
var meshFilter = GetComponent <MeshFilter>();
if (meshFilter != null)
{
mesh = meshFilter.sharedMesh;
if (mesh != null)
{
MiddleVRTools.Log(2, "[ ] PhysicsBody: the physics geometry '" + geometryName +
"' uses the mesh of its MeshFilter.");
}
}
}
if (mesh != null)
{
ConvertGeometry(mesh);
MiddleVRTools.Log(4, "[ ] PhysicsBody: Physics geometry created.");
}
else
{
MiddleVRTools.Log(
0,
"[X] PhysicsBody: Failed to create the physics geometry '" +
geometryName + "'.");
}
MiddleVRTools.Log(4,
"[<] PhysicsBody: Creation of the physics geometry '" +
geometryName + "' ended.");
m_PhysicsBody.SetGeometry(m_Geometry);
m_PhysicsBody.SetStatic(m_Static);
m_PhysicsBody.SetMass(m_Mass);
m_PhysicsBody.SetRotationDamping(m_RotationDamping);
m_PhysicsBody.SetTranslationDamping(m_TranslationDamping);
m_PhysicsBody.SetMargin(m_Margin);
if (physicsEngine.AddBody(m_PhysicsBody))
{
MiddleVRTools.Log(3, "[ ] PhysicsBody: The physics body '" + m_PhysicsBodyName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(3, "[X] PhysicsBody: Failed to add the body '" +
m_PhysicsBodyName + "' to the physics simulation.");
}
}
}
}
protected void Update()
{
var deviceMgr = MiddleVR.VRDeviceMgr;
if (deviceMgr != null &&
deviceMgr.IsKeyPressed(MiddleVR.VRK_H) &&
deviceMgr.IsKeyToggled(MiddleVR.VRK_C))
{
var physicsMgr = MiddleVR.VRPhysicsMgr;
if (physicsMgr == null)
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: No PhysicsManager found.");
enabled = false;
return;
}
vrPhysicsEngine physicsEngine = physicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
if (!physicsEngine.IsStarted())
{
// We have to wait...
return;
}
uint bodiesNb = physicsEngine.GetBodiesNb();
if (bodiesNb == 0)
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: No physics body found!");
return;
}
vrPhysicsBody physicsBody = physicsEngine.GetBody(m_PhysicsBodyId);
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: proposed body id: " +
m_PhysicsBodyId + " ('" + (physicsBody != null ? physicsBody.GetName() : "Null") + "').");
if (physicsBody != null && physicsBody.IsA("PhysicsBodyIPSI"))
{
var objId = physicsBody.GetId();
// As a reminder: static or frozen physics bodies cannot be manipulated.
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Is the physics body '" +
objId + "' static? " + (physicsBody.IsStatic() ? "Yes" : "No") + ".");
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Is the physics body '" +
objId + "' frozen? " + (physicsBody.IsFrozen() ? "Yes" : "No") + ".");
var kernel = MiddleVR.VRKernel;
// Use of "Haption.IPSI.GetManipulationDevicesNb".
// Param with one vrValue:
// + None, so vrValue.NULL_VALUE can be used.
// Return:
// A vrValue that contains a uint.
// In case of problem, the vrValue is invalid.
var getManipDeviceNbRetValue = kernel.ExecuteCommand(
"Haption.IPSI.GetManipulationDevicesNb",
vrValue.NULL_VALUE);
if (getManipDeviceNbRetValue.IsNumber())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: " +
getManipDeviceNbRetValue.GetUInt() + " Haption device(s) are connected.");
}
else
{
MiddleVRTools.Log(0,
"[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to detect how many Haption devices are connected.");
}
// Use of "Haption.IPSI.GetManipulationDeviceName".
// Param with one vrValue:
// + the id of an Haption device (as uint).
// Return:
// A vrValue that contains a string (the name).
// In case of problem, the vrValue is invalid.
var getManipDeviceNamePrmsValue = new vrValue(m_ManipulationDeviceId);
var getManipDeviceNameRetValue = kernel.ExecuteCommand(
"Haption.IPSI.GetManipulationDeviceName",
getManipDeviceNamePrmsValue);
if (getManipDeviceNameRetValue.IsString())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: The name of the Haption device '" +
m_ManipulationDeviceId + "' is '" + getManipDeviceNameRetValue.GetString() + "'.");
}
else
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to the find the name of the Haption device '" +
m_ManipulationDeviceId + "'.");
}
// Use of "Haption.IPSI.AttachManipulationDeviceToBody".
// Params with one vrValue:
// + 1st arg: the id of an Haption device (as uint),
// + 2st arg: the id of a physics body (returned by GetId() on this object).
// Return:
// A vrValue that contains a boolean: True if successfully attached, False otherwise.
// In case of problem, the vrValue is invalid.
//
// If the attachment failed, the previous attached physics body
// will remain attached, otherwise it will be detached.
//
// It is also possible to add arguments in order to select how
// the manipulated object will be attached:
// + 3rd arg: the type of attachment (as uint),
// + 4th arg: a translation offset for an arbitrary point of attachment (as vrVec3),
// + 5th arg: a rotation for offset of an arbitrary point of attachment (as vrQuat).
//
// The type of attachment can take the following values:
// + 0: unknown attach point so no attachment will occur,
// + 1: attachment at the geometric center,
// + 2: attachment at the center of the axis-aligned bounding box (AABB),
// + 3: attachment at an arbitrary point that is an offset in
// the object coordinate frame.
//
// So the 4th and the 5th arguments will be used with type 3
// (i.e. arbitrary point) but ignored otherwise.
// If the type 3 is used but the 4th and the 5th arguments are
// not given, translation will equal to 0 and rotation to identity.
// If the type 3 is used but the 5th argument is not given,
// rotation will equal to identity.
var attachManipDeviceToBodyPrmsValue = vrValue.CreateList();
attachManipDeviceToBodyPrmsValue.AddListItem(m_ManipulationDeviceId);
attachManipDeviceToBodyPrmsValue.AddListItem(objId);
// The previous manipulated physics body (if any), will be
// automatically detached.
var attachManipDeviceToBodyRetValue = kernel.ExecuteCommand(
"Haption.IPSI.AttachManipulationDeviceToBody",
attachManipDeviceToBodyPrmsValue);
if (attachManipDeviceToBodyRetValue.IsBool())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Did attachment of the Haption device '" +
m_ManipulationDeviceId + "' to the physics body '" + objId + "' succeeded? " +
(attachManipDeviceToBodyRetValue.GetBool() == true ? "Yes" : "No") + ".");
}
else
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to attach the Haption device '" +
m_ManipulationDeviceId + "' to the physics body '" + objId + "'.");
}
// Use of "Haption.IPSI.IsManipulationDeviceAttachedToABody".
// Params with one vrValue:
// + the id of an Haption device (as uint).
// Return:
// A vrValue that contains a boolean: True means that the device is attached to a body, False otherwise.
// In case of problem, the vrValue is invalid.
var isManipDeviceAttachedToABodyPrmsValue = new vrValue(m_ManipulationDeviceId);
var isManipDeviceAttachedToABodyRetValue = kernel.ExecuteCommand(
"Haption.IPSI.IsManipulationDeviceAttachedToABody",
isManipDeviceAttachedToABodyPrmsValue);
if (isManipDeviceAttachedToABodyRetValue.IsBool())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Is the Haption device '" +
m_ManipulationDeviceId + "' attached to a physics body? " +
(isManipDeviceAttachedToABodyRetValue.GetBool() == true ? "Yes" : "No") + ".");
}
else
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to check whether the Haption device '" +
m_ManipulationDeviceId + "' is attached to a physics body.");
}
// Use of "Haption.IPSI.IsBodyAttachedToAManipulationDevice".
// Params with one vrValue:
// + the id of a physics body (returned by GetId() on this object).
// Return:
// A vrValue that contains a boolean: True means that the body is attached to a manipulation device, False otherwise.
// In case of problem, the vrValue is invalid.
var isBodyAttachedToAManipDevicePrmsValue = new vrValue(objId);
var isBodyAttachedToAManipDeviceRetValue = kernel.ExecuteCommand(
"Haption.IPSI.IsBodyAttachedToAManipulationDevice",
isBodyAttachedToAManipDevicePrmsValue);
if (isBodyAttachedToAManipDeviceRetValue.IsBool())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Is the physics body '" +
objId + "' attached to a Haption device? " +
(isBodyAttachedToAManipDeviceRetValue.GetBool() == true ? "Yes" : "No") + ".");
}
else
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to check whether the physics body " +
objId + " is attached to a Haption device.");
}
// Use of "Haption.IPSI.GetIdOfManipulationDeviceAttachedToBody".
// Params with one vrValue:
// + the id of a physics body (returned by GetId() on this object).
// Return:
// A vrValue that contains the id (a uint) of the attached manipulation device.
// In case of problem or if the physics body was not attached, the vrValue is invalid.
var getIdOfManipDeviceAttachedToBodyPrmsValue = new vrValue(objId);
var getIdOfManipDeviceAttachedToBodyRetValue = kernel.ExecuteCommand(
"Haption.IPSI.GetIdOfManipulationDeviceAttachedToBody",
getIdOfManipDeviceAttachedToBodyPrmsValue);
if (getIdOfManipDeviceAttachedToBodyRetValue.IsNumber())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: The physics body '" +
objId + "' is attached to the Haption device '" +
getIdOfManipDeviceAttachedToBodyRetValue.GetNumber() + "'.");
}
else
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: The physics body '" +
objId + "' does not seem to be attached to a Haption device.");
}
// Use of "Haption.IPSI.GetIdOfBodyAttachedToManipulationDevice".
// Params with one vrValue:
// + the id of an Haption device (as uint).
// Return:
// A vrValue that contains the id (returned by vrObject.GetId()) of the attached physics body.
// In case of problem or if the device was not attached, the vrValue is invalid.
var getIdOfBodyAttachedToManipDevicePrmsValue = new vrValue(m_ManipulationDeviceId);
var getIdOfBodyAttachedToManipDeviceRetValue = kernel.ExecuteCommand(
"Haption.IPSI.GetIdOfBodyAttachedToManipulationDevice",
getIdOfBodyAttachedToManipDevicePrmsValue);
if (getIdOfBodyAttachedToManipDeviceRetValue.IsNumber())
{
MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: The Haption device '" +
m_ManipulationDeviceId + "' is attached to the physics body '" +
getIdOfBodyAttachedToManipDeviceRetValue.GetNumber() + "'.");
}
else
{
MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: The Haption device '" +
m_ManipulationDeviceId + "' does not seem to be attached to a physics body.");
}
// Use of "Haption.IPSI.DetachManipulationDevice".
// Params with one vrValue:
// + the id of an Haption device (as uint).
// Return:
// A vrValue that contains a boolean: True if successfully detached, False otherwise.
// In case of problem, the vrValue is invalid.
// Please uncomment the code following to try...
/*
* var detachManipDevicePrmsValue = new vrValue(m_ManipulationDeviceId);
*
* var detachManipDeviceRetValue = kernel.ExecuteCommand(
* "Haption.IPSI.DetachManipulationDevice",
* detachManipDevicePrmsValue);
*
* if (detachManipDeviceRetValue.IsBool())
* {
* MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Did detachment of the Haption device '" +
* m_ManipulationDeviceId + "' succeeded? " +
* (detachManipDeviceRetValue.GetBool() == true ? "Yes" : "No") + ".");
* }
* else
* {
* MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to detach the Haption device '" +
* m_ManipulationDeviceId + "'.");
* }
*/
// Use of "Haption.IPSI.DetachBodyFromAManipulationDevice".
// Params with one vrValue:
// + the id of a physics body (returned by GetId() on this object).
// Return:
// A vrValue that contains a boolean: True if successfully detached, False otherwise.
// In case of problem, the vrValue is invalid.
// Please uncomment the code following to try...
/*
* var detachBodyFromAManipDevicePrmsValue = new vrValue(objId);
*
* var detachBodyFromAManipDeviceRetValue = kernel.ExecuteCommand(
* "Haption.IPSI.DetachBodyFromAManipulationDevice",
* detachBodyFromAManipDevicePrmsValue);
*
* if (detachBodyFromAManipDeviceRetValue.IsBool())
* {
* MiddleVRTools.Log(2, "[+] VRChangeAttachedPhysicsBodyIPSISample: Did detachment of the physics body '" +
* objId + "' succeeded? " +
* (detachBodyFromAManipDeviceRetValue.GetBool() == true ? "Yes" : "No") + ".");
* }
* else
* {
* MiddleVRTools.Log(0, "[X] VRChangeAttachedPhysicsBodyIPSISample: Failed to detach the physics body '" +
* objId + "'.");
* }
*/
}
m_PhysicsBodyId = (m_PhysicsBodyId + 1) % (bodiesNb);
}
}
protected void EnableCollisions(vrPhysicsBody physicsBody0, bool iEnabled)
{
bool operationDone = false;
vrPhysicsBody physicsBody1 = null;
if (m_ConnectedBody != null)
{
if (MiddleVR.VRPhysicsMgr == null)
{
return;
}
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return;
}
physicsBody1 = physicsEngine.GetBody(m_ConnectedBody.GetComponent <VRPhysicsBody>().PhysicsBodyName);
if (physicsBody1 == null)
{
MiddleVRTools.Log(0, "[X] PhysicsEnableCollisions: No PhysicsBody found in the connected body.");
return;
}
operationDone = physicsBody0.EnableCollisionsWith(physicsBody1, iEnabled);
}
else
{
operationDone = physicsBody0.EnableAllCollisions(iEnabled);
}
if (operationDone)
{
string againstTxt = (physicsBody1 != null ?
" against object '" + physicsBody1.GetName() + "'" :
" against the world scene"
);
if (iEnabled)
{
MiddleVRTools.Log(2, "[ ] PhysicsEnableCollisions: Enabled collisions for '" +
physicsBody0.GetName() + "'" + againstTxt + ".");
}
else
{
MiddleVRTools.Log(2, "[ ] PhysicsEnableCollisions: Disabled collisions for '" +
physicsBody0.GetName() + "'" + againstTxt + ".");
}
}
else
{
if (iEnabled)
{
MiddleVRTools.Log(0, "[X] PhysicsEnableCollisions: Failed to enable collisions for '" +
physicsBody0.GetName() + "'.");
}
else
{
MiddleVRTools.Log(0, "[X] PhysicsEnableCollisions: Failed to disable collisions for '" +
physicsBody0.GetName() + "'.");
}
}
}
