// Use this for initialization
void Start()
{
beatingHeartParameters = BeatingScriptObject.GetComponent<beatingHeart>();
perisacColliderHolder = GameObject.Find("Perisac_collider_holder");
sphCollider = perisacColliderHolder.GetComponent<SphereCollider>();
//sphCollider = GetComponent<SphereCollider>();
initialSphereColliderRadius = sphCollider.radius;
}
void Start()
{
StiffnessCoeffecient = 0.0f;
DampringCoeffecient = 0.0f;
DisplacementStepSize = 0.001f;
HeartAmplitudeRate = 0.0f;
maxperupdate_count = 0;
minperupdate_count = 0;
set_heartrate = false;
maxheartper = 0;
minheartper = 0;
firsttimecollision = true;
dampingforce = true;
other_parameters = BeatingScriptObject.GetComponent<beatingHeart>();
heartper = other_parameters.per;
GetComponent<Rigidbody>().constraints = RigidbodyConstraints.FreezePosition | RigidbodyConstraints.FreezeRotation;
freeFormDeformation = BeatingScriptObject.GetComponent<ffd>();
startx = transform.position.x;
starty = transform.position.y;
startz = transform.position.z;
/*
Debug.Log("Unity Starting coordinates");
position.Set((float)startx,(float)starty,(float)startz);
Debug.Log(position);
*/
running = init();
if(running == 0)
Debug.Log("Device Initialized");
hapticoriginx = getX();
hapticoriginy = getY();
hapticoriginz = getZ();
/*
Debug.Log("Haptic Starting coordinates");
hapticorigin.Set((float)hapticoriginx,(float)hapticoriginy,(float)hapticoriginz);
Debug.Log(hapticorigin);
*/
position.Set((float)hapticoriginx,(float)hapticoriginy,(float)hapticoriginz);
GetComponent<Rigidbody>().MovePosition(position);
getTransform(tr);
initialquaternion = matrixToQuaternion(tr);
initialangles = FromQ2 (initialquaternion);
//rigidbody.MoveRotation( Quaternion.Euler((float)initialangles.y,(float)initialangles.x,(float)initialangles.z));
//rigidbody.MoveRotation(initialquaternion);
initialanglex = transform.eulerAngles.x;
initialangley = transform.eulerAngles.y;
initialanglez = transform.eulerAngles.z;
Debug.Log("Euler Angles: " +initialanglex +" " +initialangley +" " +initialanglez);
scaleanglex = initialangles.x - initialanglex;
if(scaleanglex<0)
scaleanglex = scaleanglex + 360;
scaleangley = initialangles.y - initialangley;
if(scaleangley<0)
scaleangley = scaleangley + 360;
scaleanglez = initialangles.z - initialanglez;
if(scaleanglez<0)
scaleanglez = scaleanglez + 360;
Debug.Log("Initial Angles From Quat: " +initialangles.x +" " +initialangles.y +" " +initialangles.z);
}