public static void Render()
{
Stop = false;
// Create a timepoint streaming emitter
// Note that this automatically attempts to connect to the device, if present
_emitter = new TimePointStreamingEmitter();
// Inform the SDK how many control points you intend to use
// This also calculates the resulting sample rate in Hz, which is returned to the user
uint sample_rate = _emitter.setMaximumControlPointCount(1);
float desired_frequency = 200.0f;
// From here, we can establish how many timepoints there are in a single "iteration" of the cosine wave
_timepoint_count = (uint)(sample_rate / desired_frequency);
_positions = Utility.CSVtoVector();
_intensities = new float[_positions.Length];
// Populate the positions and intensities ahead of time, so that the callback is as fast as possible later
// Modulate the intensity to be a complete cosine waveform over the full set of points.
for (int i = 0; i < _positions.Length; i++)
{
float intensity = 0.5f * (1.0f - (float)Math.Cos(2.0f * Math.PI * i / _positions.Length));
// Set a constant position of 20cm above the array
//_positions[i] = new Vector3(0.0f, 0.0f, 0.2f);
_intensities[i] = (1.0f);
}
// Set our callback to be called each time the device is ready for new points
_emitter.setEmissionCallback(Callback, null);
// Instruct the device to call our callback and begin emitting
_emitter.start();
}
private void OnDestroy()
{
// Dispose/destroy the emitter
_emitter.stop();
_emitter.Dispose();
_emitter = null;
}
public void Start()
{
Circles = new HapticCircle[HandPositions.Length];
for (int i = 0; i < Circles.Length; i++)
{
Circles[i] = new HapticCircle()
{
Position = new Vector3(0, 0, 0),
Radius = _circleRadius,
};
}
// Create a timepoint streaming emitter
// Note that this automatically attempts to connect to the device, if present
_emitter = new TimePointStreamingEmitter();
// Inform the SDK how many control points you intend to use
// This also calculates the resulting sample rate in Hz, which is returned to the user
uint sample_rate = _emitter.setMaximumControlPointCount((uint)HandPositions.Length);
_emitter.setExtendedOption("setFilterCutoffFrequencies", "0 0 0 0");
// Set our callback to be called each time the device is ready for new points
_emitter.setEmissionCallback(Callback, null);
// Instruct the device to call our callback and begin emitting
bool started = _emitter.start();
if (!started)
{
// We couldn't use the emitter, so exit immediately
Console.WriteLine("Could not start emitter.");
}
}
public static void Stop_Emitter()
{
if (_emitter != null)
{
_emitter.stop();
_emitter.Dispose();
_emitter = null;
}
}
static void Callback(TimePointStreamingEmitter emitter, OutputInterval interval, TimePoint deadline, object user_obj)
{
foreach (var tpoint in interval)
{
// For each control point available at this time point...
for (int i = 0; i < tpoint.count(); ++i)
{
// Set the relevant data for this control point
var point = tpoint.persistentControlPoint(i);
point.setPosition(_positions[_current]);
point.setIntensity(_intensities[_current]);
point.enable();
}
// Increment the counter so that we get the next "step" next time
_current = (_current + 1) % (uint)_positions.Length;
}
}
void OnEnable()
{
// Create a timepoint streaming emitter
// Note that this automatically attempts to connect to the device, if present
_emitter = new TimePointStreamingEmitter();
//Remove Cap
_emitter.setExtendedOption("solverCappingConstant", "3000");
// Inform the SDK how many control points you intend to use
// This also calculates the resulting sample rate in Hz, which is returned to the user
sample_rate = _emitter.setMaximumControlPointCount(1);
_timepoint_count = (uint)(sample_rate / desired_frequency);
//Initalize Positions and Intensities
_positions = new Ultrahaptics.Vector3[_timepoint_count];
_intensities = new float[_timepoint_count];
}
// This callback is called every time the device is ready to accept new control point information
private static void Callback(TimePointStreamingEmitter emitter, OutputInterval interval, TimePoint deadline, object userObj)
{
// For each time point in this interval...
foreach (TimePointOnOutputInterval tPoint in interval)
{
if (_firstTime)
{
_startTime = tPoint.seconds();
_firstTime = false;
}
double t = tPoint.seconds() - _startTime;
for (int i = 0; i < Circles.Length; i++)
{
Vector3 pos = Circles[i].EvaluateAt(t);
tPoint.persistentControlPoint(i).setPosition(pos);
tPoint.persistentControlPoint(i).setIntensity(Circles[i].Intensity);
}
}
}
