public void UpdateHapticObjectMatrixTransform()
{
//Get array of all object with tag "Touchable"
GameObject[] myObjects = GameObject.FindGameObjectsWithTag("Touchable") as GameObject[];
for (int ObjId = 0; ObjId < myObjects.Length; ObjId++)
{
/***************************************************************/
//Set the Transformation Matric of the Object
/***************************************************************/
//Get the Transformation matrix from object
Matrix4x4 m = new Matrix4x4();
//Build a transform Matrix from the translation/rotation and Scale parameters fo the object
m.SetTRS(myObjects[ObjId].transform.position, myObjects[ObjId].transform.rotation, myObjects[ObjId].transform.localScale);
//Convert Matrix4x4 to double16
double[] matrix = ConverterClass.ConvertMatrix4x4ToDouble16(m);
//Convert Double16 To IntPtr
IntPtr dstDoublePtr = ConverterClass.ConvertDouble16ToIntPtr(matrix);
//Convert String to Byte[] (char* in C++) and Byte[] to IntPtr
IntPtr dstCharPtr = ConverterClass.ConvertStringToByteToIntPtr(myObjects[ObjId].name);
//Send the transformation Matrix of the object
PluginImport.SetObjectTransform(ObjId, dstCharPtr, dstDoublePtr);
/***************************************************************/
}
}
/******************************************************************************************************************************************************************/
public void SetHapticGeometry()
{
//Get array of all object with tag "Touchable"
GameObject[] myObjects = GameObject.FindGameObjectsWithTag("Touchable") as GameObject[];
for (int ObjId = 0; ObjId < myObjects.Length; ObjId++)
{
/***************************************************************/
//Set the Transformation Matric of the Object
/***************************************************************/
//Get the Transformation matrix from object
Matrix4x4 m = new Matrix4x4();
//Build a transform Matrix from the translation/rotation and Scale parameters fo the object - Local Matrix
//m.SetTRS(myObjects[ObjId].transform.position,myObjects[ObjId].transform.rotation,myObjects[ObjId].transform.localScale);
//Build a transform Matrix from the translation/rotation and Scale parameters fo the object - Glabal Matrix
m = myObjects[ObjId].transform.localToWorldMatrix;
//Convert Matrix4x4 to double16
double[] matrix = ConverterClass.ConvertMatrix4x4ToDouble16(m);
//Convert Double16 To IntPtr
IntPtr dstDoublePtr = ConverterClass.ConvertDouble16ToIntPtr(matrix);
//Convert String to Byte[] (char* in C++) and Byte[] to IntPtr
IntPtr dstCharPtr = ConverterClass.ConvertStringToByteToIntPtr(myObjects[ObjId].name);
//Send the transformation Matrix of the object
PluginImport.SetObjectTransform(ObjId, dstCharPtr, dstDoublePtr);
/***************************************************************/
/***************************************************************/
//Set the Mesh of the Object
/***************************************************************/
//Get Mesh of Object
Mesh mesh = myObjects[ObjId].GetComponent <MeshFilter>().mesh;
Vector3[] vertices = mesh.vertices;
int[] triangles = mesh.triangles;
//Reorganize the Array
float[] verticesToSend = ConverterClass.ConvertVector3ArrayToFloatArray(vertices);
//Allocate Memory according to needed space for float* (3*4)
IntPtr dstVerticesArrayPtr = Marshal.AllocCoTaskMem(vertices.Length * 3 * Marshal.SizeOf(typeof(float)));
//Copy to dstPtr
Marshal.Copy(verticesToSend, 0, dstVerticesArrayPtr, vertices.Length * 3);
//Convert Int[] to IntPtr
IntPtr dstTrianglesArrayPtr = ConverterClass.ConvertIntArrayToIntPtr(triangles);
//Send the Raw Mesh of the object - transformation are not applied on the Mesh vertices
PluginImport.SetObjectMesh(ObjId, dstVerticesArrayPtr, dstTrianglesArrayPtr, vertices.Length, triangles.Length);
/***************************************************************/
/***************************************************************/
//Get the haptic parameter configuration
/***************************************************************/
ReadHapticProperties(ObjId, myObjects[ObjId]);
/***************************************************************/
}
}