//--------------------------------------------------------------------------------------------------------
// Haptic Feedback
/// <summary> Send a new Force-Feedback command for this frame. </summary>
/// <param name="ffb"></param>
public virtual void SendCmd(SGCore.Haptics.SG_FFBCmd ffb)
{
if (this.isActiveAndEnabled)
{
this.ffbQueue.Add(ffb.Copy());
if (this.ffbQueue.Count > maxQueue)
{
ffbQueue.RemoveAt(0);
}
}
}
/// <summary> Go through any active haptic effects this frame, update any timers and flush everything as a single set of commands. </summary>
protected virtual void UpdateHaptics()
{
if (this.ffbQueue.Count > 0 || this.buzzQueue.Count > 0 || thumperQueue.Count > 0)
{
int startBuzz = this.buzzQueue.Count;
SGCore.Haptics.SG_FFBCmd finalBrakeCmd = SGCore.Haptics.SG_FFBCmd.Off;
SGCore.Haptics.SG_BuzzCmd finalBuzzCmd = SGCore.Haptics.SG_BuzzCmd.Off;
if (ffbQueue.Count > 0)
{
for (int i = 0; i < ffbQueue.Count; i++)
{
finalBrakeCmd = finalBrakeCmd.Merge(ffbQueue[i]);
}
}
else
{
finalBrakeCmd = lastFFB;
}
ffbQueue.Clear(); //clear buffer for next frame.
float dTSec = Time.deltaTime;
//Buzz motor
for (int i = 0; i < buzzQueue.Count;)
{
buzzQueue[i].UpdateTiming(dTSec);
if (buzzQueue[i].TimeElapsed()) //no more relevant cmds
{
buzzQueue.RemoveAt(i); //do nothing
}
else
{
finalBuzzCmd = buzzQueue[i].Merge(finalBuzzCmd); //add to final cmd
i++;
}
}
//evaluate thumper
int finalThump = 0;
for (int i = 0; i < thumperQueue.Count;)
{
thumperQueue[i].Update(dTSec);
if (thumperQueue[i].Elapsed)
{
thumperQueue.RemoveAt(i);
}
else
{
finalThump = Mathf.Max(finalThump, thumperQueue[i].magnitude);
i++;
}
}
//evaluate based on FFBEnabled BuzzEnabled
int[] fForceLevels = finalBrakeCmd.Levels;
int[] fBuzzLevels = finalBuzzCmd.Levels;
for (int f = 0; f < 5; f++)
{
if (!ffbEnabled[f])
{
fForceLevels[f] = 0;
}
if (!vibroEnabled[f])
{
fBuzzLevels[f] = 0;
}
}
finalBrakeCmd.Levels = fForceLevels;
finalBuzzCmd.Levels = fBuzzLevels;
//ToDo: Only send if there is a change?
lastBuzz = finalBuzzCmd;
lastFFB = finalBrakeCmd;
lastThumpCmd = new ThumperCmd(finalThump);
if (this.lastGlove != null)
{
//Debug.Log("Sending Hatpics: " + finalBrakeCmd.ToString() + ", " + finalBuzzCmd.ToString() + ", [" + finalThump + "]");
this.lastGlove.SendHaptics(finalBrakeCmd, finalBuzzCmd, new ThumperCmd(finalThump));
}
}
}
// Update is called once per frame
void Update()
{
if (!sComRuns)
{
bool nowRunning = SGCore.DeviceList.SenseCommRunning();
if (!sComRuns && nowRunning)
{
titleText.color = Color.white;
titleText.text = "Awaiting connection to glove...";
}
sComRuns = nowRunning;
}
else if (glove.IsConnected)
{
if (!setup)
{
setup = true;
this.SetupAfterConnect();
}
if (hapticGlove != null)
{
if (hapticGlove.IsConnected())
{
titleText.text = "Connected to " + hapticGlove.GetDeviceID() + " running firmware v"
+ hapticGlove.GetFirmwareVersion() + "." + hapticGlove.GetSubFirmwareVersion() + "\r\n"
+ "Receiving " + hapticGlove.PacketsPerSecondReceived() + " packets/s";
//collect ffb and send.
int[] ffb = new int[this.fingerFFB.Length];
for (int f = 0; f < this.fingerFFB.Length; f++)
{
ffb[f] = (int)fingerFFB[f].SlideValue;
}
ffbCmd = new SG_FFBCmd(ffb);
int[] buzz = new int[this.fingerVibration.Length];
for (int f = 0; f < this.fingerVibration.Length; f++)
{
buzz[f] = (int)fingerVibration[f].SlideValue;
}
buzzCmd = new SG_BuzzCmd(buzz);
thumprCmd = new ThumperCmd((int)thumperVibration.SlideValue);
hapticGlove.SendHaptics(ffbCmd, buzzCmd, thumprCmd);
}
else
{
titleText.text = hapticGlove.GetDeviceID() + " is no longer connected...";
}
}
//KeyBinds
if (Input.GetKeyDown(this.resetWristKey))
{
this.CalibrateIMU();
}
if (Input.GetKeyDown(this.testBuzzKey))
{
this.VibroEnabled = !this.VibroEnabled;
}
if (Input.GetKeyDown(this.testFFbKey))
{
this.FFBEnabled = !this.FFBEnabled;
}
if (Input.GetKeyDown(this.testThumperKey))
{
this.TestThumperSG();
}
if (Input.GetKeyDown(this.resetCalibrKey))
{
this.ResetCalibration();
}
}
}
