// Use this for initialization
public SocketImpedance()
{
// Open Socket (talker) and starting UdpClient (listener)
this.socket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
this.client = new UdpClient(portRecv);
this.ipSendPoint = new IPEndPoint(IPAddress.Parse(IP), portSend);
this.ipRecvPoint = new IPEndPoint(IPAddress.Parse(IP), portRecv);
SocketImpedance inst = this;
this.client.BeginReceive(new AsyncCallback(ReceiveCallback), inst);
print("INIT:: Link to Haptic Interface Established");
}
private static void ReceiveCallback(IAsyncResult ar)
{
SocketImpedance inst = (SocketImpedance)(ar.AsyncState);
UdpClient u = (UdpClient)inst.client;
IPEndPoint e = (IPEndPoint)inst.ipRecvPoint;
Byte[] data = u.EndReceive(ar, ref e);
inst.position = new Vector3((float)BitConverter.ToDouble(data, 8),
(float)BitConverter.ToDouble(data, 16),
-1 * ((float)BitConverter.ToDouble(data, 0)));
inst.orientation = new Vector3((float)BitConverter.ToDouble(data, 32),
(float)BitConverter.ToDouble(data, 40),
(float)BitConverter.ToDouble(data, 24));
//Debug.Log("Recv: " + inst.position.x + ", " + inst.position.y + ", " + inst.position.z);
inst.vitesse = new Vector3((float)BitConverter.ToDouble(data, 56),
(float)BitConverter.ToDouble(data, 64),
-1 * ((float)BitConverter.ToDouble(data, 48)));
inst.vitesseAngulaire = new Vector3((float)BitConverter.ToDouble(data, 80),
(float)BitConverter.ToDouble(data, 88),
-1 * ((float)BitConverter.ToDouble(data, 72)));
// Formatting data to send
byte[] dataX = BitConverter.GetBytes((double)-1 * inst.force.z);
byte[] dataY = BitConverter.GetBytes((double)inst.force.x);
byte[] dataZ = BitConverter.GetBytes((double)inst.force.y);
//Debug.Log("Send: " + inst.force.x + ", " + inst.force.y + ", " + inst.force.z);
byte[] dataToSend = new byte[24];
for (int i = 0; i < dataX.Length; i++)
{
dataToSend[i] = dataX[i];
dataToSend[i + 8] = dataY[i];
dataToSend[i + 16] = dataZ[i];
}
// Send force through socket
try {
inst.socket.SendTo(dataToSend, inst.ipSendPoint);
} catch (Exception exception) {
print("Exception caught: " + exception.Message);
}
inst.client.BeginReceive(new AsyncCallback(ReceiveCallback), inst);
}
//Vector3 B = new Vector3(1/8, 1/8, 1/8);
// Use this for initialization
void Start()
{
this.socket = ScriptableObject.CreateInstance <SocketImpedance>();
this.force = Vector3.zero; // force vector to be sent to haptic interface
// Getting proxy Rigidbody and its parameters
this.rb = GetComponent <Rigidbody>();
this.m = this.rb.mass;
// Computing dampening (stability)
this.b = 2f * (float)Math.Pow(this.k * this.m, 0.5f);
print("INIT:: Coefficients: k = " + this.k + ", b = " + this.b);
// Getting Handle GameObject and its script
handle = GameObject.Find("Handle");
handleScript = this.handle.GetComponent <HandleManager>();
// Initialize position of handle and proxy to avoid huge forces
// at the start of the game
this.rb.position = this.sizeFactor * (socket.GetPosition());
handle.transform.position = this.sizeFactor * (socket.GetPosition());
print("INIT:: Haptics Done");
}
