void CalibratePointer()
{
HapticPointer hp = GameObject.Find(selectedPointer).GetComponent <HapticPointer>();
hp.Calibrate();
Invoke("CatchObject", 0.1f);
}
void UpdateCameraPan()
{
Vector3 pos = transform.position;
pos.x = radius * Mathf.Cos(angle);
pos.z = radius * Mathf.Sin(angle);
transform.position = pos;
transform.rotation = Quaternion.LookRotation(Vector3.zero - pos);
Quaternion rot = Quaternion.Inverse(Quaternion.AngleAxis((angle - Mathf.PI / 2) * Mathf.Rad2Deg, Vector3.up));
HapticPointer hp = GetHapticPointer("HapticPointerL");
if (hp)
{
hp.PositionOffset = rot * pointerOffsetL;
hp.RotationOffset = rot;
}
hp = GetHapticPointer("HapticPointerR");
if (hp)
{
hp.PositionOffset = rot * pointerOffsetR;
hp.RotationOffset = rot;
}
}
void ClearTransform()
{
Vector3 pos;
pos.x = 0;
pos.y = 0.7f;
pos.z = -0.7f;
transform.position = pos;
transform.rotation = Quaternion.LookRotation(Vector3.zero - pos);
angle = Mathf.PI / 2;
height = 0.7f;
HapticPointer hp = GetHapticPointer("HapticPointerL");
if (hp)
{
hp.ReleaseObject();
hp.PositionOffset = pointerOffsetL;
hp.RotationOffset = Quaternion.identity;
}
hp = GetHapticPointer("HapticPointerR");
if (hp)
{
hp.ReleaseObject();
hp.PositionOffset = pointerOffsetR;
hp.RotationOffset = Quaternion.identity;
}
}
void CatchObject()
{
HapticPointer hp = GameObject.Find(selectedPointer).GetComponent <HapticPointer>();
hp.HoldObject();
hp.ReleaseObject();
hp.HoldObject();
}
void Awake()
{
_pointers = GameObject.FindObjectsOfType(typeof(HapticPointer)) as HapticPointer[];
SortedList sl = new SortedList();
for (int i = 0; i < _pointers.Length; ++i)
{
sl[_pointers[i].name] = _pointers[i];
}
if (sl.Count == _pointers.Length)
{
HapticPointer[] pointers = new HapticPointer[_pointers.Length];
for (int i = 0; i < _pointers.Length; ++i)
{
pointers[i] = sl.GetByIndex(i) as HapticPointer;
}
_pointers = pointers;
}
_parameters = new PointerParameter[_pointers.Length];
for (int i = 0; i < _parameters.Length; ++i)
{
_parameters[i] = new PointerParameter(_pointers[i]);
_parameters[i].record();
_parameters[i].deserialize();
}
_settingTexture = (Texture)Resources.Load("setting", typeof(Texture2D));
_closeTexture = (Texture)Resources.Load("close", typeof(Texture2D));
GUIStyleState state = new GUIStyleState();
state.textColor = Color.white;
_captionStyle = new GUIStyle();
_captionStyle.fontSize = 20;
_captionStyle.normal = state;
state = new GUIStyleState();
state.textColor = Color.yellow;
_deviceNameStyle = new GUIStyle();
_deviceNameStyle.fontSize = 20;
_deviceNameStyle.alignment = TextAnchor.MiddleLeft;
_deviceNameStyle.normal = state;
}
void OnGUI()
{
if (!showInformation)
{
return;
}
GameObject obj;
if (selected)
{
obj = GameObject.Find("HapticPointerL");
}
else
{
obj = GameObject.Find("HapticPointerR");
}
HapticPointer hp = null;
int[] encoderCount = new int[8];
if (obj)
{
hp = obj.GetComponent <HapticPointer>();
}
if (!obj || !hp)
{
//GUILayout.Label(selectedPointer.ToString() + " is null", style);
return;
}
GUILayout.Label(hp.ToString(), style);
GUILayout.Label("Device serial number: " + hp.SerialNumber, style);
GUILayout.Label("Device Delta Time: " + (hp.DeviceDeltaTime * 1000).ToString("f3") + "[ms]", style);
GUILayout.Label("Device Type: " + hp.DeviceType, style);
GUILayout.Label("Haptics: " + hp.Haptics + ", Gravity: " + hp.Gravity + ", Cascade Control: " + hp.CascadeControl, style);
if (!DebugMode)
{
return;
}
GUILayout.Label("GPIO: " + hp.GpioValue, style);
GUILayout.Label("", style);
hp.GetEncoderCount(ref encoderCount);
GUILayout.Label("encder counts", style);
for (int i = 0; i < 8; ++i)
{
GUILayout.Label("motor " + (i + 1) + ": " + encoderCount[i], style);
}
GUILayout.Label("", style);
GUILayout.Label("PointerPosition:" + hp.gameObject.transform.position, style);
GUILayout.Label("", style);
GUILayout.Label("", style);
GUILayout.Label("", style);
if (hpL.HoldingObject)
{
GUILayout.Label("Haptic Pointer L Holding", style);
}
if (hpR.HoldingObject)
{
GUILayout.Label("Haptic Pointer R Holding", style);
}
//if (hp.HoldingObject)
//{
// HoldState hs = hp.HoldingObject.GetComponent<HoldState>();
// GUILayout.Label(hp.HoldingObject.ToString(), style);
// GUILayout.Label(hs.ToString(), style);
// GUILayout.Label("Collision state: " + hs.Collision, style);
// GUILayout.Label("mass: " + hp.HoldingObject.mass, style);
// GUILayout.Label("center of mass: " + hp.HoldingObject.centerOfMass.ToString("f4"), style);
// GUILayout.Label("inertiaTensor: " + hp.HoldingObject.inertiaTensor.ToString("f4"), style);
// GUILayout.Label("inertiaTensorRotation: " + hp.HoldingObject.inertiaTensorRotation.ToString("f4"), style);
// GUILayout.Label("", style);
//}
}
void OnGUI()
{
if (!showInformation ||
_pointers.Length == 0 ||
(_pointerSetting != null && _pointerSetting.isOpened))
{
return;
}
int left = PointerSetting.SettingButtonLeft;
int top = Margin + (_pointerSetting == null ?
PointerSetting.SettingButtonTop :
PointerSetting.SettingButtonTop + PointerSetting.SettingButtonHeight);
int width = Screen.width - left;
int height = Screen.height - top;
GUILayout.BeginArea(new Rect(left, top, width, height));
GUILayout.Label("Key configuration: ", _style);
GUILayout.Label(" [ i ] - show/hide this information", _style);
GUILayout.Label(" [ ] - hold/release object", _style);
GUILayout.Label(" [v ] - clutch on/off", _style);
GUILayout.Label(" [c ] - execute calibration", _style);
GUILayout.Label(" [m] - select haptic pointer", _style);
GUILayout.Space(20);
HapticPointer hp = _pointers[_currentPointer];
GUILayout.Label("Selected Haptic Pointer: " + hp.name, _style);
if (hp.Activated)
{
GUILayout.Label(" Device serial number: " + hp.SerialNumber, _style);
GUILayout.Label(" Device Delta Time: " + (hp.DeviceDeltaTime * 1000).ToString("f3") + "[ms]", _style);
GUILayout.Label(" Haptics: " + hp.Haptics + ", Gravity: " + hp.Gravity + ", Cascade Control: " + hp.CascadeControl, _style);
if (hp.DebugMode)
{
GUILayout.Label(" GPIO: " + hp.GpioValue, _style);
int[] encoderCount = new int[8];
hp.GetEncoderCount(ref encoderCount);
GUILayout.Label(" Encoder counts", _style);
for (int i = 0; i < 8; ++i)
{
GUILayout.Label(" Motor " + (i + 1) + ": " + encoderCount[i], _style);
}
if (hp.HoldingObject)
{
GUILayout.Space(10);
HoldState hs = hp.HoldingObject.GetComponent <HoldState>();
GUILayout.Label(hp.HoldingObject.ToString(), _style);
GUILayout.Label(hs.ToString(), _style);
GUILayout.Label(" Collision state: " + hs.Collision, _style);
GUILayout.Label(" Mass: " + hp.HoldingObject.mass, _style);
GUILayout.Label(" Center of mass: " + hp.HoldingObject.centerOfMass.ToString("f4"), _style);
GUILayout.Label(" InertiaTensor: " + hp.HoldingObject.inertiaTensor.ToString("f4"), _style);
GUILayout.Label(" InertiaTensorRotation: " + hp.HoldingObject.inertiaTensorRotation.ToString("f4"), _style);
}
}
}
else
{
GUILayout.Label(" ... not activated", _style2);
}
GUILayout.Space(20);
GUILayout.Label("Unity delta time: " + (Time.deltaTime * 1000).ToString("f3") + "[ms], Fixed delta time: "
+ (Time.fixedDeltaTime * 1000).ToString("f3") + "[ms]", _style);
GUILayout.EndArea();
}
void Update()
{
if (Input.GetKeyDown(KeyCode.I))
{
showInformation = !showInformation;
}
else if (Input.GetKeyDown(KeyCode.M))
{
_currentPointer++;
if (_currentPointer >= _pointers.Length)
{
_currentPointer = 0;
}
_currentPointerName = _pointers.Length > 0 ? _pointers[_currentPointer].name : "";
}
if (_pointers.Length == 0)
{
return;
}
HapticPointer hp = _pointers[_currentPointer];
if (hp.ToggleHold)
{
if (Input.GetKeyDown(KeyCode.Space))
{
if (!hp.ReleaseObject())
{
hp.HoldObject();
}
}
}
else
{
if (Input.GetKeyDown(KeyCode.Space))
{
hp.HoldObject();
}
if (Input.GetKeyUp(KeyCode.Space))
{
hp.ReleaseObject();
}
}
if (hp.ToggleClutch)
{
if (Input.GetKeyDown(KeyCode.V))
{
if (!hp.ReleaseClutch())
{
hp.EngageClutch();
}
}
}
else
{
if (Input.GetKeyDown(KeyCode.V))
{
hp.EngageClutch();
}
if (Input.GetKeyUp(KeyCode.V))
{
hp.ReleaseClutch();
}
}
if (Input.GetKeyDown(KeyCode.C))
{
hp.Calibrate();
}
}
public PointerParameter(HapticPointer hapticPointer)
{
_hapticPointer = hapticPointer;
}
void OnGUI()
{
if (!showInformation)
{
return;
}
//GUILayout.Label("Information (i), " + "Restart (r), " + "Quit (q)", style);
//GUILayout.Label("Hold (space), " + "Calibration (c), " + "Clutch (v)", style);
//GUILayout.Label("Select Haptic Pointer (m)", style);
//GUILayout.Label("Unity deltaTime: " + (Time.deltaTime * 1000).ToString("f3") + "[ms], fixedDeltaTime: "
// + (Time.fixedDeltaTime * 1000).ToString("f3") + "[ms]", style);
//GUILayout.Label("", style);
GameObject obj = GameObject.Find("HapticPointer");
HapticPointer hp = null;
int[] encoderCount = new int[8];
if (obj)
{
hp = obj.GetComponent <HapticPointer>();
}
if (!obj || !hp)
{
//GUILayout.Label(selectedPointer.ToString() + " is null", style);
return;
}
GUILayout.Label(hp.ToString(), style);
GUILayout.Label("Device serial number: " + hp.SerialNumber, style);
GUILayout.Label("Device Delta Time: " + (hp.DeviceDeltaTime * 1000).ToString("f3") + "[ms]", style);
GUILayout.Label("Device Type: " + hp.DeviceType, style);
GUILayout.Label("Haptics: " + hp.Haptics + ", Gravity: " + hp.Gravity + ", Cascade Control: " + hp.CascadeControl, style);
if (!DebugMode)
{
return;
}
GUILayout.Label("GPIO: " + hp.GpioValue, style);
GUILayout.Label("", style);
hp.GetEncoderCount(ref encoderCount);
GUILayout.Label("encder counts", style);
for (int i = 0; i < 8; ++i)
{
GUILayout.Label("motor " + (i + 1) + ": " + encoderCount[i], style);
}
GUILayout.Label("", style);
if (hp.HoldingObject)
{
HoldState hs = hp.HoldingObject.GetComponent <HoldState>();
GUILayout.Label(hp.HoldingObject.ToString(), style);
GUILayout.Label(hs.ToString(), style);
GUILayout.Label("Collision state: " + hs.Collision, style);
GUILayout.Label("mass: " + hp.HoldingObject.mass, style);
GUILayout.Label("center of mass: " + hp.HoldingObject.centerOfMass.ToString("f4"), style);
GUILayout.Label("inertiaTensor: " + hp.HoldingObject.inertiaTensor.ToString("f4"), style);
GUILayout.Label("inertiaTensorRotation: " + hp.HoldingObject.inertiaTensorRotation.ToString("f4"), style);
GUILayout.Label("", style);
}
}