/******************************************************************************************************************************************************************/
//Get Proxy Position and Orientation generic function
public void GetProxyValues()
{
/*Proxy Position*/
//Convert IntPtr to Double3Array
myProxyPosition = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyPosition());
Debug.Log(myProxyPosition);
//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);
* Debug.Log(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);
}
/******************************************************************************************************************************************************************/
/*************************************************************/
// Generic functionnalities
/*************************************************************/
/******************************************************************************************************************************************************************/
//generic function that returns the current mode
/******************************************************************************************************************************************************************/
//Haptic workspace generic functions
/******************************************************************************************************************************************************************/
//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);*/
}
/******************************************************************************************************************************************************************/
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);
}
void Update()
{
/***************************************************************/
//Update Workspace as function of camera
/***************************************************************/
//PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);//To be deprecated
//Update the Workspace as function of camera
for (int i = 0; i < workspaceUpdateValue.Length; i++)
{
workspaceUpdateValue[i] = myHapticCamera.transform.rotation.eulerAngles.y;
}
PluginImport.UpdateHapticWorkspace(ConverterClass.ConvertFloatArrayToIntPtr(workspaceUpdateValue));
/***************************************************************/
//Update cube workspace
/***************************************************************/
myGenericFunctionsClassScript.UpdateGraphicalWorkspace();
/***************************************************************/
//Haptic Rendering Loop
/***************************************************************/
PluginImport.RenderHaptic();
//Associate the cursor object with the haptic proxy value
myGenericFunctionsClassScript.GetProxyValues();
//For the Puncture Mode effect
if (PluginImport.GetMode() == 3)
{
//Debug.Log ("Contact state is set to " + PluginImport.GetContact());
//Debug.Log ("Penetration State " + PluginImport.GetPenetrationRatio());
double[] myScp = new double[3];
myScp = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetFirstScpPt());
//Debug.Log (" SCP " + myScp[0] + " " + myScp[1] + " " + myScp[2]);
Vector3 posInjectionHole;
posInjectionHole = ConverterClass.ConvertDouble3ToVector3(myScp);
GameObject.Find("InjectionMarker").transform.position = posInjectionHole;
/*double[] myProx = new double[3];
* myProx = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyPosition());
*
* Vector3 posProx;
* posProx = ConverterClass.ConvertDouble3ToVector3(myProx);
* GameObject.Find ("ProxyTipMarker").transform.position = posProx;*/
/*double[] myDev = new double[3];
* myDev = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetDevicePosition());
*
* Vector3 posDevice;
* posDevice = ConverterClass.ConvertDouble3ToVector3(myDev);
* GameObject.Find ("DeviceTipMarker").transform.position = posDevice;*/
double[] myPinch = new double[3];
myPinch = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetPunctureDirection());
Vector3 start = new Vector3();
start = ConverterClass.ConvertDouble3ToVector3(myScp);
Vector3 end = new Vector3();
end = ConverterClass.ConvertDouble3ToVector3(myPinch);
end.Normalize();
Debug.DrawLine(start, start + end * maxPenetration, Color.green);
//Ray Cast so we can determine the limitation of the puncture
RaycastHit[] hits;
hits = Physics.RaycastAll(start, end, maxPenetration);
if (hits.Length != 0)
{
//Declare a float array to store the tissue layer
float[] tissueLayers = new float[hits.Length];
//Declare a string array to store the name of the tissue layer
string[] punctObjects = new string[hits.Length];
int nbLayer = 0;
for (int i = 0; i < hits.Length; i++)
{
RaycastHit hit = hits[i];
//Only if the object is declared as touchable
if (hit.collider.gameObject.tag == "Touchable")
{
tissueLayers[nbLayer] = hit.distance;
punctObjects[nbLayer] = hit.collider.name;
nbLayer++;
}
}
/*Declaration of the Puncture Stack
* Additionally, on the basis of the puncture stack components, the plugin setup a penetration restriction
* - due to the fact that Proxy Method along such constraint line is not accurate - most probably due to the fact
* that device position and proxy position differ because the constraint applies forces onto the device.
* So, the plugin impedes the proxy to penetrate in underlying layer when their popthrough values is null
*/
SetPunctureStack(nbLayer, punctObjects, tissueLayers);
}
}
}
//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));
}
}
