protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
m_PhysicsConstraint.SetAxis(MiddleVRTools.FromUnity(Axis));
m_PhysicsConstraint.SetLowerLimit(m_Limits.Min);
m_PhysicsConstraint.SetUpperLimit(m_Limits.Max);
m_PhysicsConstraint.SetReferencePosition(m_ZeroPosition);
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(3, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the prismatic physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
m_PhysicsConstraint.SetPosition(MiddleVRTools.FromUnity(scaleShearMatrix * Anchor));
m_PhysicsConstraint.SetAxis0(MiddleVRTools.FromUnity(Axis0));
m_PhysicsConstraint.SetAxis1(MiddleVRTools.FromUnity(Axis1));
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(0, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the U-joint physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
private void ConvertGeometry(Mesh mesh)
{
Vector3[] vertices = mesh.vertices;
int[] triangles = mesh.triangles;
MiddleVRTools.Log(3, "PhysicsBody: Number of vertices: " + vertices.Length);
MiddleVRTools.Log(3, "PhysicsBody: Number of Triangles: " + triangles.Length);
// We will reuse the same vectors to avoid many memory allocations.
Vector3 vertexPos = new Vector3();
vrVec3 vPos = new vrVec3();
// We compute a matrix to scale vertices according to their world
// coordinates, so this scale depends on the scales of the GameObject
// parents. Matrices 4x4 are used because matrices 3x3 aren't available.
vrMatrix worldMatrix = MVRTools.RawFromUnity(transform.localToWorldMatrix);
worldMatrix.SetCol(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
worldMatrix.SetRow(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
vrQuat invRotWorlQ = worldMatrix.GetRotation();
invRotWorlQ = invRotWorlQ.Normalize().GetInverse();
vrMatrix invRotWorldMatrix = new vrMatrix();
invRotWorldMatrix.SetRotation(invRotWorlQ);
invRotWorldMatrix.SetCol(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
invRotWorldMatrix.SetRow(3, new vrVec4(0.0f, 0.0f, 0.0f, 0.0f));
vrMatrix scaleWorldMatrix = invRotWorldMatrix.Mult(worldMatrix);
Matrix4x4 scaleWorldMatrixUnity = MiddleVRTools.RawToUnity(scaleWorldMatrix);
foreach (Vector3 vertex in vertices)
{
vertexPos = scaleWorldMatrixUnity.MultiplyPoint3x4(vertex);
MiddleVRTools.FromUnity(vertexPos, ref vPos);
m_Geometry.AddVertex(vPos);
MiddleVRTools.Log(6, "PhysicsBody: Adding a vertex at position (" +
vPos.x() + ", " + vPos.y() + ", " + vPos.z() + ").");
}
for (int i = 0, iEnd = triangles.Length; i < iEnd; i += 3)
{
uint index0 = (uint)triangles[i];
uint index1 = (uint)triangles[i + 1];
uint index2 = (uint)triangles[i + 2];
m_Geometry.AddTriangle(index0, index1, index2);
MiddleVRTools.Log(6, "PhysicsBody: Adding a triangle with vertex indexes (" +
index0 + ", " + index1 + ", " + index2 + ").");
}
}
protected void AttachOrDetachBody(bool doAttachement)
{
VRPhysicsBody physicsBodyComponent = GetComponent <VRPhysicsBody>();
if (physicsBodyComponent == null)
{
return;
}
vrPhysicsBody physicsBody = null;
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
// Prefer to find the object by its name so we won't access
// a dangling pointer when the body was destroyed by MiddleVR.
physicsBody = physicsEngine.GetBody(m_PhysicsBodyName);
}
}
if (physicsBody == null)
{
return;
}
var kernel = MiddleVR.VRKernel;
var physicsBodyId = physicsBody.GetId();
if (doAttachement)
{
// Do "+1" because "0" means "unknown attach point type".
uint attachPointType = (uint)m_AttachPointType + 1;
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
var offsetTrans = scaleShearMatrix * m_OffsetTranslation;
var offsetRot = Quaternion.Euler(m_OffsetRotation);
var attachManipDeviceToBodyPrmsValue = vrValue.CreateList();
attachManipDeviceToBodyPrmsValue.AddListItem(m_ManipulationDeviceId);
attachManipDeviceToBodyPrmsValue.AddListItem(physicsBodyId);
attachManipDeviceToBodyPrmsValue.AddListItem(attachPointType);
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetTrans));
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetRot));
kernel.ExecuteCommand(
"Haption.IPSI.AttachManipulationDeviceToBody",
attachManipDeviceToBodyPrmsValue);
}
}
private void ConvertGeometry(Matrix4x4 iTopMatrixWorld, Transform iTransform, Mesh iMesh, vrPhysicsGeometry ioGeometry, uint iGeometryIndex)
{
var vertices = iMesh.vertices;
var triangles = iMesh.triangles;
MiddleVRTools.Log(3,
"[ ] PhysicsBody: Number of vertices in sub-geometry '" +
iGeometryIndex + "': " + vertices.Length);
MiddleVRTools.Log(3,
"[ ] PhysicsBody: Number of triangles in sub-geometry '" +
iGeometryIndex + "': " + triangles.Length);
var m = iTopMatrixWorld.inverse * iTransform.localToWorldMatrix;
// We will reuse the same vector to avoid many memory allocations.
vrVec3 vPos = new vrVec3();
MiddleVRTools.Log(6, "[>] PhysicsBody: Adding vertices.");
foreach (Vector3 vertex in vertices)
{
var vertexPos = m.MultiplyPoint3x4(vertex);
MiddleVRTools.FromUnity(vertexPos, ref vPos);
ioGeometry.AddVertex(vPos, iGeometryIndex);
MiddleVRTools.Log(6,
"[ ] PhysicsBody: Adding a vertex at position (" +
vPos.x() + ", " + vPos.y() + ", " + vPos.z() +
") to sub-geometry '" + iGeometryIndex + "'.");
}
MiddleVRTools.Log(6, "[<] PhysicsBody: End of adding vertices.");
MiddleVRTools.Log(6, "[>] PhysicsBody: Adding triangles.");
for (int i = 0, iEnd = triangles.Length; i < iEnd; i += 3)
{
var index0 = (uint)triangles[i + 0];
var index1 = (uint)triangles[i + 1];
var index2 = (uint)triangles[i + 2];
ioGeometry.AddTriangle(index0, index1, index2, iGeometryIndex);
MiddleVRTools.Log(6,
"[ ] PhysicsBody: Adding a triangle with vertex indexes (" +
index0 + ", " + index1 + ", " + index2 + ") to sub-geometry '" +
iGeometryIndex + "'.");
}
MiddleVRTools.Log(6, "[<] PhysicsBody: End of adding triangles.");
}
protected void Update()
{
var deviceMgr = MiddleVR.VRDeviceMgr;
if (deviceMgr != null &&
deviceMgr.IsKeyPressed(MiddleVR.VRK_H))
{
if (deviceMgr.IsKeyToggled(MiddleVR.VRK_F))
{
Vector3 force = m_Force;
if (deviceMgr.IsKeyPressed(MiddleVR.VRK_LSHIFT) ||
deviceMgr.IsKeyPressed(MiddleVR.VRK_RSHIFT))
{
force = -force;
}
m_RigidBody.AddForce(MiddleVRTools.FromUnity(force));
MiddleVRTools.Log(2, "[ ] ApplyForceTorqueSample: applied force " +
force + " on '" + m_RigidBody.GetName() + "'.");
}
if (deviceMgr.IsKeyToggled(MiddleVR.VRK_T))
{
Vector3 torque = m_Torque;
if (deviceMgr.IsKeyPressed(MiddleVR.VRK_LSHIFT) ||
deviceMgr.IsKeyPressed(MiddleVR.VRK_RSHIFT))
{
torque = -torque;
}
m_RigidBody.AddTorque(MiddleVRTools.FromUnity(torque));
MiddleVRTools.Log(2, "[ ] ApplyForceTorqueSample: applied torque " +
m_Torque + " on '" + m_RigidBody.GetName() + "'.");
}
}
}