void Start()
{
if (PluginImport.InitHapticDevice())
{
Debug.Log("OpenGL Context Launched");
Debug.Log("Haptic Device Launched");
getInitialParameters();
myGenericFunctionsClassScript.SetHapticWorkSpace();
myGenericFunctionsClassScript.GetHapticWorkSpace();
//Update Workspace as function of camera
PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);
//Set Mode of Interaction
/*
* Mode = 0 Contact
* Mode = 1 Manipulation - So objects will have a mass when handling them
* Mode = 2 Custom Effect - So the haptic device simulate vibration and tangential forces as power tools
* Mode = 3 Puncture - So the haptic device is a needle that puncture inside a geometry
*/
PluginImport.SetMode(1);
//Show a text descrition of the mode
myGenericFunctionsClassScript.IndicateMode();
//Set the touchable face(s)
PluginImport.SetTouchableFace(ConverterClass.ConvertStringToByteToIntPtr(TouchableFace));
}
else
{
Debug.Log("Haptic Device cannot be launched");
}
/***************************************************************/
//Set Environmental Haptic Effect
/***************************************************************/
// Constant Force Example - We use this environmental force effect to simulate the weight of the cursor
//myGenericFunctionsClassScript.SetEnvironmentConstantForce();
/***************************************************************/
//Setup the Haptic Geometry in the OpenGL context
/***************************************************************/
myGenericFunctionsClassScript.SetHapticGeometry();
//Get the Number of Haptic Object
//Debug.Log ("Total Number of Haptic Objects: " + PluginImport.GetHapticObjectCount());
/***************************************************************/
//Launch the Haptic Event for all different haptic objects
/***************************************************************/
PluginImport.LaunchHapticEvent();
}
void Start()
{
if (PluginImport.InitHapticDevice())
{
Debug.Log("OpenGL Context Launched");
Debug.Log("Haptic Device Launched");
myGenericFunctionsClassScript.SetHapticWorkSpace();
myGenericFunctionsClassScript.GetHapticWorkSpace();
//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));
//Set Mode of Interaction
/*
* Mode = 0 Contact
* Mode = 1 Manipulation - So objects will have a mass when handling them
* Mode = 2 Custom Effect - So the haptic device simulate vibration and tangential forces as power tools
* Mode = 3 Puncture - So the haptic device is a needle that puncture inside a geometry
*/
PluginImport.SetMode(ModeIndex);
//Show a text descrition of the mode
myGenericFunctionsClassScript.IndicateMode();
}
else
{
Debug.Log("Haptic Device cannot be launched");
}
/***************************************************************/
//Set Environmental Haptic Effect
/***************************************************************/
// Constant Force Example - We use this environmental force effect to simulate the weight of the cursor
myGenericFunctionsClassScript.SetEnvironmentConstantForce();
/***************************************************************/
//Setup the Haptic Geometry in the OpenGL context
//And read haptic characteristics
/***************************************************************/
myGenericFunctionsClassScript.SetHapticGeometry();
//Get the Number of Haptic Object
//Debug.Log ("Total Number of Haptic Objects: " + PluginImport.GetHapticObjectCount());
/***************************************************************/
//Launch the Haptic Event for all different haptic objects
/***************************************************************/
PluginImport.LaunchHapticEvent();
}
void Start()
{
if (PluginImport.InitHapticDevice())
{
Debug.Log("OpenGL Context Launched");
Debug.Log("Haptic Device Launched");
myGenericFunctionsClassScript.SetHapticWorkSpace();
myGenericFunctionsClassScript.GetHapticWorkSpace();
//Update Workspace as function of camera
PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);
//Set Mode of Interaction
/*
* Mode = 0 Contact
* Mode = 1 Manipulation - So objects will have a mass when handling them
* Mode = 2 Custom Effect - So the haptic device simulate vibration and tangential forces as power tools
* Mode = 3 Puncture - So the haptic device is a needle that puncture inside a geometry
*/
PluginImport.SetMode(ModeIndex);
//Show a text descrition of the mode
myGenericFunctionsClassScript.IndicateMode();
//Set the touchable face(s)
PluginImport.SetTouchableFace(ConverterClass.ConvertStringToByteToIntPtr(TouchableFace));
}
else
{
Debug.Log("Haptic Device cannot be launched");
}
/***************************************************************/
//Set Environmental Haptic Effect
/***************************************************************/
// Viscous Force Example
// myGenericFunctionsClassScript.SetEnvironmentViscosity();
// Constant Force Example - We use this environmental force effect to simulate the weight of the cursor
// myGenericFunctionsClassScript.SetEnvironmentConstantForce();
//Custom Force Effect Vibration Motor
// myGenericFunctionsClassScript.SetVibrationMotor();
//Custom Force Effect Vibration at Contact//Good for p1ulsation
// myGenericFunctionsClassScript.SetVibrationContact();
//Custom Tangential Force corresponding to that of a rotating power tool (e.g. Drill, Polisher, Grinder)
// if tool is angled set direction to 0,1,0 otherwise it does not matter (Tool will be straight)
// myGenericFunctionsClassScript.SetTangentialForce();
/***************************************************************/
//Setup the Haptic Geometry in the OpenGL context
/***************************************************************/
myGenericFunctionsClassScript.SetHapticGeometry();
//Get the Number of Haptic Object
//Debug.Log ("Total Number of Haptic Objects: " + PluginImport.GetHapticObjectCount());
/***************************************************************/
//Launch the Haptic Event for all different haptic objects
/***************************************************************/
PluginImport.LaunchHapticEvent();
}
void Start()
{
blocks = new GameObject[height * 3];
makeJengaBlocks();
if (PluginImport.InitHapticDevice())
{
Debug.Log("OpenGL Context Launched");
Debug.Log("Haptic Device Launched");
myGenericFunctionsClassScript.SetHapticWorkSpace();
myGenericFunctionsClassScript.GetHapticWorkSpace();
//Update Workspace as function of camera
PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);
//Set Mode of Interaction
/*
* Mode = 0 Contact
* Mode = 1 Manipulation - So objects will have a mass when handling them
* Mode = 2 Custom Effect - So the haptic device simulate vibration and tangential forces as power tools
* Mode = 3 Puncture - So the haptic device is a needle that puncture inside a geometry
*/
PluginImport.SetMode(ModeIndex);
//Show a text descrition of the mode
myGenericFunctionsClassScript.IndicateMode();
}
else
{
Debug.Log("Haptic Device cannot be launched");
}
/***************************************************************/
//Set Environmental Haptic Effect
/***************************************************************/
// Viscous Force Example
myGenericFunctionsClassScript.SetEnvironmentViscosity();
// Constant Force Example - We use this environmental force effect to simulate the weight of the cursor
myGenericFunctionsClassScript.SetEnvironmentConstantForce();
// Friction Force Example
//myGenericFunctionsClassScript.SetEnvironmentFriction();
// Spring Force Example
//myGenericFunctionsClassScript.SetEnvironmentSpring();
/***************************************************************/
//Setup the Haptic Geometry in the OpenGL context
//And read haptic characteristics
/***************************************************************/
myGenericFunctionsClassScript.SetHapticGeometry();
//Get the Number of Haptic Object
//Debug.Log ("Total Number of Haptic Objects: " + PluginImport.GetHapticObjectCount());
/***************************************************************/
//Launch the Haptic Event for all different haptic objects
/***************************************************************/
PluginImport.LaunchHapticEvent();
}
void Update()
{
if (PluginImport.GetButton2State())
{
puncture = !puncture;
}
if (puncture)
{
PluginImport.SetMode(3);
Debug.Log("Puncture");
}
else
{
Debug.Log("Manipulation");
PluginImport.SetMode(1);
}
/***************************************************************/
//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();
//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]);
/*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);
}
}
}
void Start()
{
if (PluginImport.InitHapticDevice())
{
Debug.Log("OpenGL Context Launched");
Debug.Log("Haptic Device Launched");
myGenericFunctionsClassScript.SetHapticWorkSpace();
myGenericFunctionsClassScript.GetHapticWorkSpace();
//Update Workspace as function of camera
PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);
//Set Mode of Interaction
/*
* Mode = 0 Contact
* Mode = 1 Manipulation - So objects will have a mass when handling them
* Mode = 2 Custom Effect - So the haptic device simulate vibration and tangential forces as power tools
* Mode = 3 Puncture - So the haptic device is a needle that puncture inside a geometry
*/
PluginImport.SetMode(3);
//Show a text descrition of the mode
myGenericFunctionsClassScript.IndicateMode();
//Define a Penetration direction Vector - useful for brain biopsy for instance.
//For realism, the orientation of the needle will need to be detached from that of the haptic device
//The new orientation on local Z of the needle will be that indicated by the vector set below.
/*double[] injectionDir = new double[3]{0.0f,0.0f,1.0f};
* PluginImport.SetPunctureDirection(ConverterClass.ConvertDouble3ToIntPtr(injectionDir));*/
//Set the lenght of the syringue needle to penetrate inside the tissue
PluginImport.SetMaximumPunctureLenght(maxPenetration);
//Set the touchable face(s)
PluginImport.SetTouchableFace(ConverterClass.ConvertStringToByteToIntPtr(TouchableFace));
}
else
{
Debug.Log("Haptic Device cannot be launched");
}
/***************************************************************/
//Set Environmental Haptic Effect
/***************************************************************/
// Constant Force Example - We use this environmental force effect to simulate the weight of the cursor
//myGenericFunctionsClassScript.SetEnvironmentConstantForce();
/***************************************************************/
//Setup the Haptic Geometry in the OpenGL context
/***************************************************************/
myGenericFunctionsClassScript.SetHapticGeometry();
//Get the Number of Haptic Object
//Debug.Log ("Total Number of Haptic Objects: " + PluginImport.GetHapticObjectCount());
/***************************************************************/
//Launch the Haptic Event for all different haptic objects
/***************************************************************/
PluginImport.LaunchHapticEvent();
}
void Start()
{
blocks = new GameObject[height * 3];
if (jenga)
{
makeJengaBlocks();
}
else
{
for (int i = 0; i < 5; i++)
{
float antX = init.transform.position.x;
float antY = init.transform.position.y;
float antZ = init.transform.position.z;
init.transform.position = new Vector3(antX + 1.1f, antY + 0.4f, antZ);
generarBloques();
}
Invoke("quitarPiso", time);
}
if (PluginImport.InitHapticDevice())
{
Debug.Log("OpenGL Context Launched");
Debug.Log("Haptic Device Launched");
myGenericFunctionsClassScript.SetHapticWorkSpace();
myGenericFunctionsClassScript.GetHapticWorkSpace();
//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));
//Set Mode of Interaction
/*
* Mode = 0 Contact
* Mode = 1 Manipulation - So objects will have a mass when handling them
* Mode = 2 Custom Effect - So the haptic device simulate vibration and tangential forces as power tools
* Mode = 3 Puncture - So the haptic device is a needle that puncture inside a geometry
*/
PluginImport.SetMode(ModeIndex);
//Show a text descrition of the mode
myGenericFunctionsClassScript.IndicateMode();
//Set the touchable face(s)
PluginImport.SetTouchableFace(ConverterClass.ConvertStringToByteToIntPtr(TouchableFace));
}
else
{
Debug.Log("Haptic Device cannot be launched");
}
/***************************************************************/
//Set Environmental Haptic Effect
/***************************************************************/
// Viscous Force Example
myGenericFunctionsClassScript.SetEnvironmentViscosity();
// Constant Force Example - We use this environmental force effect to simulate the weight of the cursor
myGenericFunctionsClassScript.SetEnvironmentConstantForce();
// Friction Force Example
//myGenericFunctionsClassScript.SetEnvironmentFriction();
// Spring Force Example
//myGenericFunctionsClassScript.SetEnvironmentSpring();
/***************************************************************/
//Setup the Haptic Geometry in the OpenGL context
//And read haptic characteristics
/***************************************************************/
myGenericFunctionsClassScript.SetHapticGeometry();
//Get the Number of Haptic Object
//Debug.Log ("Total Number of Haptic Objects: " + PluginImport.GetHapticObjectCount());
/***************************************************************/
//Launch the Haptic Event for all different haptic objects
/***************************************************************/
PluginImport.LaunchHapticEvent();
}
