Пример #1
0
    // ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
    // MonoBehaviourのメソッド

    void Start()
    {
        app = new FWHapticApp();

        app.CreateSdk();
        app.GetSdk().CreateScene();
        app.SetPHScene(phSceneBehaviour.phScene);

        app.CreateTimers();

        //

        phSceneBehaviour.enableStep = false;

        //

        phSceneBehaviour.phScene.GetHapticEngine().Enable(true);
        phSceneBehaviour.phScene.GetHapticEngine().SetHapticStepMode(PHHapticEngineDesc.HapticStepMode.LOCAL_DYNAMICS);

        //

        pointer = phSceneBehaviour.phScene.CreateHapticPointer();

        var shapeDesc = new CDSphereDesc();

        shapeDesc.radius = 0.1f;
        var shape = phSceneBehaviour.phScene.GetSdk().CreateShape(CDSphereIf.GetIfInfoStatic(), shapeDesc);

        pointer.AddShape(shape);
        pointer.SetHapticRenderMode(PHHapticPointerDesc.HapticRenderMode.CONSTRAINT);
        pointer.SetLocalRange(20.0f);
        pointer.SetPosScale(100);
        pointer.EnableForce(true);

        var fwPointer = app.GetSdk().GetScene(0).CreateHapticPointer();

        fwPointer.SetHumanInterface(hiSpidarGBehaviour.hiSpidar);
        fwPointer.SetPHHapticPointer(pointer);

        //

        pointerObj = GameObject.CreatePrimitive(PrimitiveType.Sphere);
        // pointerObj.transform.localScale = new Vector3(0.1f, 0.1f, 0.1f);

        //

        app.GetTimer(0).SetInterval(10);
        app.GetTimer(1).SetResolution(1);
        app.GetTimer(1).SetInterval(1);
        app.StartTimers();
    }
Пример #2
0
        static void test_func_return()
        {
            test_name("function return");
            int memoryLeakTest = 0;

            PHSceneDesc descScene = new PHSceneDesc();
            PHSolidDesc descSolid = new PHSolidDesc();

            if (memoryLeakTest == 1)
            {
                return;
            }

            PHSdkIf phSdk = PHSdkIf.CreateSdk();        // ここでメモリリークする

            if (memoryLeakTest == 2)
            {
                return;
            }
            PHSceneIf phScene = phSdk.CreateScene(descScene);

            descSolid.mass    = 2.0;
            descSolid.inertia = new Matrix3d(2.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 2.0);
            PHSolidIf phSolid = phScene.CreateSolid(descSolid);

            descSolid.mass = 1e20f;

            descSolid.inertia = new Matrix3d(1e20f, 0.0, 0.0, 0.0, 1e20f, 0.0, 0.0, 0.0, 1e20f);
            PHSolidIf solid1 = phScene.CreateSolid(descSolid);

            PHHapticPointerDesc descHaptic = new PHHapticPointerDesc();
            PHHapticPointerIf   phHaptic   = phScene.CreateHapticPointer();

            //HISdkDesc descHi = new HISdkDesc();
            //HISdkIf hiSdk = HISdkIf.CreateSdk();

            put("ret int   ", "3    ", phScene.NSolids());
            for (int i = 0; i < 20; i++)
            {
                phScene.Step();
            }
            put("ret Uint  ", "20   ", phScene.GetCount());
            phHaptic.SetLocalRange(2.345f);
            put("ret float ", "2.345", phHaptic.GetLocalRange());
            put("ret double", "0.005", phScene.GetTimeStep());
            phScene.SetMaxVelocity(1.23);
            put("ret double", "0.123", phScene.GetMaxVelocity());
            phScene.EnableContactDetection(false);
            put("ret bool  ", "False", phScene.IsContactDetectionEnabled());
            phScene.EnableContactDetection(true);
            put("ret bool  ", "True ", phScene.IsContactDetectionEnabled());
            put("ret size_t", "152? ", phScene.GetDescSize());
            put("ret Vec3d ", "(0.0, -9.8, 0.0)", phScene.GetGravity());
            phScene.SetGravity(new Vec3d(0.1, -9.9, 0.2));
            put("ret Vec3d ", "(0.1, -9.9, 0.2)", phScene.GetGravity());

            // function returns array by using pointer
            CDConvexMeshDesc descMesh = new CDConvexMeshDesc();

            for (int x = 0; x < 10; x++)
            {
                for (int y = 0; y < 10; y++)
                {
                    for (int z = 0; z < 10; z++)
                    {
                        Vec3f v3f = new Vec3f(x, y, z);
                        descMesh.vertices.push_back(new Vec3f(x, y, z));
                    }
                }
            }
            //PHSdkIf phSdk = PHSdkIf.CreateSdk();
            CDConvexMeshIf mesh = phSdk.CreateShape(CDConvexMeshIf.GetIfInfoStatic(), descMesh) as CDConvexMeshIf;

            mesh.GetVertices();
            arraywrapper_Vec3f vertices = mesh.GetVertices();

            Vec3f[] v3fr = new Vec3f[8];
            v3fr[0] = new Vec3f(0, 0, 0); v3fr[1] = new Vec3f(0, 0, 9);
            v3fr[2] = new Vec3f(0, 9, 0); v3fr[3] = new Vec3f(0, 9, 9);
            v3fr[4] = new Vec3f(9, 0, 0); v3fr[5] = new Vec3f(9, 0, 9);
            v3fr[6] = new Vec3f(9, 9, 0); v3fr[7] = new Vec3f(9, 9, 9);
            for (int i = 0; i < 8; i++)
            {
                put("ret_array", edit_vector(v3fr[i]), vertices[i]);
            }
        }