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); } } }