private void HapticFeedback(HapticAttributes hapticAttributes, Collision collision)
{
Module module = moduleByType[ActuatorType.Haptic];
if (module == null)
{
Debug.Log("ERROR: module not found");
return;
}
float velocity = collision.relativeVelocity.magnitude;
float impulse = 2 * hapticAttributes.Mass * velocity;
int[] values = moduleValues[module];
Vector3[] actuatorPoints = module.getPositionOfActuators();
for (int actuator = 0; actuator < module.count(); actuator++)
{
Vector3 closestPointOnColliderInDirectionActuator = collision.collider.ClosestPoint(actuatorPoints[actuator]);
float distance = Vector3.Distance(actuatorPoints[actuator], closestPointOnColliderInDirectionActuator);
// F = dI/dt with t = 1s: abs(F) = abs(I)
float f = attenuation(distance) * impulse;
//Debug.Log("Setting element (" + actuatorPoint.x + ", " + actuatorPoint.y + ") to value: " + f);
values[actuator] = (int)f;
QueueValues(module.ID, values);
}
}
private void OnCollisionEnter(Collision collision)
{
GameObject projectile = collision.collider.gameObject;
Boolean destroy = false;
HapticAttributes hapticAttributes = projectile.GetComponent <HapticAttributes>();
TemperatureAttributes temperatureAttributes = projectile.GetComponent <TemperatureAttributes>();
EMSAttributes emsAttributes = projectile.GetComponent <EMSAttributes>();
if (hapticAttributes != null)
{
HapticFeedback(hapticAttributes, collision);
destroy = true;
}
if (temperatureAttributes != null)
{
TemperatureFeedback(temperatureAttributes, collision);
destroy = true;
}
if (emsAttributes != null)
{
EMSFeedback(emsAttributes, collision);
destroy = true;
}
if (destroy == true)
{
Destroy(projectile);
}
}
private void ActuateHaptic(GameObject trackedObject, int moduleId)
{
/*
* RaycastHit hit;
* Vector3 direction = trackedObject.transform.position;
* if (Physics.Raycast(Vector3.zero, direction, out hit) && hit.collider.gameObject == trackedObject) {
*/
HapticAttributes hapticAttributes = trackedObject.GetComponent <HapticAttributes>();
//calculate force for each element, then send values
float mass_head = this.GetComponent <HapticAttributes>().Mass;
float mass_trackedObject = hapticAttributes.Mass;
Module module = modulesById[moduleId];
Vector3[] actuatorPositions = module.getPositionOfActuators();
int[] values = new int[module.count()];
for (int actuator = 0; actuator < module.count(); actuator++)
{
float distance = Vector3.Magnitude(trackedObject.transform.position - actuatorPositions[actuator]);
values[actuator] = (int)((mass_head * mass_trackedObject) / (distance * distance));
}
communication.QueueValues(moduleId, values);
/*
* }
*/
}
