void Update()
{
/***************************************************************/
//Act on the rigid body of the Manipulated object
// if Mode = Manipulation Mode
/***************************************************************/
if (PluginImport.GetMode() == 1)
{
ActivatingGrabbedObjectPropperties();
}
/***************************************************************/
//Update Workspace as function of camera
/***************************************************************/
PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);
/***************************************************************/
//Update cube workspace
/***************************************************************/
myGenericFunctionsClassScript.UpdateGraphicalWorkspace();
/***************************************************************/
//Haptic Rendering Loop
/***************************************************************/
PluginImport.RenderHaptic();
myGenericFunctionsClassScript.GetProxyValues();
myGenericFunctionsClassScript.GetTouchedObject();
//Debug.Log ("Button 1: " + PluginImport.GetButton1State());
//Debug.Log ("Button 2: " + PluginImport.GetButton2State());
}
public void GetTouchedObject()
{
//Convert Convert IntPtr To byte[] to String
//string myObjStringName = ConverterClass.ConvertIntPtrToByteToString(PluginImport.GetTouchedObjectName());//PluginImport.GetTouchedObjectName() - To be deprecated
string myObjStringName = ConverterClass.ConvertIntPtrToByteToString(PluginImport.GetTouchedObjName(1));
Debug.Log("The touched object is " + myObjStringName.ToString());
//If in Manipulation Mode enable the manipulation of the selected object
if (PluginImport.GetMode() == 1)
{
if (PluginImport.GetButton1State())
{
if (clickCount == 0)
{
//Set the manipulated object at first click
manipObj = GameObject.Find(myObjStringName);
//Setup Manipulated object Hierarchy as a child of haptic cursor - Only if object is declared as Manipulable object
if (manipObj != null && !PluginImport.IsFixed(PluginImport.GetManipulatedObjectId()))
{
//Store the Previous parent object
prevParent = manipObj.transform.parent;
//Asign New Parent - the tip of the manipulation object device
manipObj.transform.parent = myHapticClassScript.hapticCursor.transform;
}
}
clickCount++;
}
else
{
//Reset Click counter
clickCount = 0;
//Reset Manipulated Object Hierarchy
if (manipObj != null)
{
manipObj.transform.parent = prevParent;
}
//Reset Manipulated Object
manipObj = null;
//Reset prevParent
prevParent = null;
}
//Only in Manipulation otherwise object are not moving so there is no need to proceed
UpdateHapticObjectMatrixTransform();
}
}
void Update()
{
/***************************************************************/
//Act on the rigid body of the Manipulated object
// if Mode = Manipulation Mode
/***************************************************************/
if (PluginImport.GetMode() == 1)
{
ActivatingGrabbedObjectPropperties();
}
/***************************************************************/
//Update Workspace as function of camera
/***************************************************************/
PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);
/***************************************************************/
//Update cube workspace
/***************************************************************/
myGenericFunctionsClassScript.UpdateGraphicalWorkspace();
/***************************************************************/
//Haptic Rendering Loop
/***************************************************************/
PluginImport.RenderHaptic();
myGenericFunctionsClassScript.GetProxyValues();
myGenericFunctionsClassScript.GetTouchedObject();
//Debug.Log ("Button 1: " + PluginImport.GetButton1State());
//Debug.Log ("Button 2: " + PluginImport.GetButton2State());
if (PluginImport.GetButton2State())
{
makeJengaBlocks();
}
const float rotSpeed = 1.0f;
if (Input.GetKey(KeyCode.A) || Input.GetKey(KeyCode.LeftArrow))
{
myHapticCamera.transform.RotateAround(Vector3.zero, new Vector3(0.0f, 1.0f, 0.0f), rotSpeed);
}
if (Input.GetKey(KeyCode.D) || Input.GetKey(KeyCode.RightArrow))
{
myHapticCamera.transform.RotateAround(Vector3.zero, new Vector3(0.0f, 1.0f, 0.0f), -rotSpeed);
}
}
void Update()
{
/***************************************************************/
//Act on the rigid body of the Manipulated object
// if Mode = Manipulation Mode
/***************************************************************/
if (PluginImport.GetMode() == 1)
{
ActivatingGrabbedObjectPropperties();
}
/***************************************************************/
//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();
myGenericFunctionsClassScript.GetTouchedObject();
//Debug.Log ("Button 1: " + PluginImport.GetButton1State()); // To be deprecated
//Debug.Log ("Button 2: " + PluginImport.GetButton2State()); // To be deprecated
//Debug.Log("Device 1: Button 1: " + PluginImport.GetButtonState(1, 1));
//Debug.Log("Device 1: Button 2: " + PluginImport.GetButtonState(1, 2));
}
/******************************************************************************************************************************************************************/
/*************************************************************/
// Generic functionnalities
/*************************************************************/
/******************************************************************************************************************************************************************/
//generic function that returns the current mode
public void IndicateMode()
{
if (PluginImport.GetMode() == 0)
{
myHapticClassScript.HapticMode = "Simple contact";
}
else if (PluginImport.GetMode() == 1)
{
myHapticClassScript.HapticMode = "Object Manipulation";
}
else if (PluginImport.GetMode() == 2)
{
myHapticClassScript.HapticMode = "Custom Effect";
}
else if (PluginImport.GetMode() == 3)
{
myHapticClassScript.HapticMode = "Puncture";
}
}
void Update()
{
/***************************************************************/
//Act on the rigid body of the Manipulated object
// if Mode = Manipulation Mode
/***************************************************************/
if (PluginImport.GetMode() == 1)
{
ActivatingGrabbedObjectPropperties();
}
/***************************************************************/
//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();
myGenericFunctionsClassScript.GetTouchedObject();
Debug.Log("Button 1: " + PluginImport.GetButton1State()); // To be deprecated
Debug.Log("Button 2: " + PluginImport.GetButton2State()); // To be deprecated
Debug.Log("Device 1: Button 1: " + PluginImport.GetButtonState(1, 1));
Debug.Log("Device 1: Button 2: " + PluginImport.GetButtonState(1, 2));
// if (PluginImport.GetButtonState(1, 2))
//{
// makeJengaBlocks();
//}
if (PluginImport.GetButtonState(1, 1))
{
Debug.Log("Device 1 : Button Up Pressed");
}
else if (PluginImport.GetButtonState(1, 2))
{
Debug.Log("Device 1 : Button Down Pressed");
}
if (PluginImport.GetButtonState(2, 1))
{
Debug.Log("Device 2 : Button Up Pressed");
}
else if (PluginImport.GetButtonState(2, 2))
{
Debug.Log("Device 2 : Button Down Pressed");
}
const float rotSpeed = 1.0f;
if (Input.GetKey(KeyCode.A) || Input.GetKey(KeyCode.LeftArrow))
{
myHapticCamera.transform.RotateAround(Vector3.zero, new Vector3(0.0f, 1.0f, 0.0f), rotSpeed);
}
if (Input.GetKey(KeyCode.D) || Input.GetKey(KeyCode.RightArrow))
{
myHapticCamera.transform.RotateAround(Vector3.zero, new Vector3(0.0f, 1.0f, 0.0f), -rotSpeed);
}
}
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);
}
}
}
