void Update()
{
/***************************************************************/
//Update Workspace as function of camera
/***************************************************************/
//PluginImport.UpdateWorkspace(myHapticCamera.transform.rotation.eulerAngles.y);//To be deprecated
//Update the Workspace as function of camera
for (int i = 0; i < workspaceUpdateValue.Length; i++)
{
workspaceUpdateValue[i] = myHapticCamera.transform.rotation.eulerAngles.y;
}
PluginImport.UpdateHapticWorkspace(ConverterClass.ConvertFloatArrayToIntPtr(workspaceUpdateValue));
/***************************************************************/
//Update cube workspace
/***************************************************************/
myGenericFunctionsClassScript.UpdateGraphicalWorkspace();
/***************************************************************/
//Haptic Rendering Loop
/***************************************************************/
PluginImport.RenderHaptic();
//Associate the cursor object with the haptic proxy value
myGenericFunctionsClassScript.GetProxyValues();
//For the Puncture Mode effect
if (PluginImport.GetMode() == 3)
{
//Debug.Log ("Contact state is set to " + PluginImport.GetContact());
//Debug.Log ("Penetration State " + PluginImport.GetPenetrationRatio());
double[] myScp = new double[3];
myScp = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetFirstScpPt());
//Debug.Log (" SCP " + myScp[0] + " " + myScp[1] + " " + myScp[2]);
Vector3 posInjectionHole;
posInjectionHole = ConverterClass.ConvertDouble3ToVector3(myScp);
GameObject.Find("InjectionMarker").transform.position = posInjectionHole;
/*double[] myProx = new double[3];
* myProx = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetProxyPosition());
*
* Vector3 posProx;
* posProx = ConverterClass.ConvertDouble3ToVector3(myProx);
* GameObject.Find ("ProxyTipMarker").transform.position = posProx;*/
/*double[] myDev = new double[3];
* myDev = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetDevicePosition());
*
* Vector3 posDevice;
* posDevice = ConverterClass.ConvertDouble3ToVector3(myDev);
* GameObject.Find ("DeviceTipMarker").transform.position = posDevice;*/
double[] myPinch = new double[3];
myPinch = ConverterClass.ConvertIntPtrToDouble3(PluginImport.GetPunctureDirection());
Vector3 start = new Vector3();
start = ConverterClass.ConvertDouble3ToVector3(myScp);
Vector3 end = new Vector3();
end = ConverterClass.ConvertDouble3ToVector3(myPinch);
end.Normalize();
Debug.DrawLine(start, start + end * maxPenetration, Color.green);
//Ray Cast so we can determine the limitation of the puncture
RaycastHit[] hits;
hits = Physics.RaycastAll(start, end, maxPenetration);
if (hits.Length != 0)
{
//Declare a float array to store the tissue layer
float[] tissueLayers = new float[hits.Length];
//Declare a string array to store the name of the tissue layer
string[] punctObjects = new string[hits.Length];
int nbLayer = 0;
for (int i = 0; i < hits.Length; i++)
{
RaycastHit hit = hits[i];
//Only if the object is declared as touchable
if (hit.collider.gameObject.tag == "Touchable")
{
tissueLayers[nbLayer] = hit.distance;
punctObjects[nbLayer] = hit.collider.name;
nbLayer++;
}
}
/*Declaration of the Puncture Stack
* Additionally, on the basis of the puncture stack components, the plugin setup a penetration restriction
* - due to the fact that Proxy Method along such constraint line is not accurate - most probably due to the fact
* that device position and proxy position differ because the constraint applies forces onto the device.
* So, the plugin impedes the proxy to penetrate in underlying layer when their popthrough values is null
*/
SetPunctureStack(nbLayer, punctObjects, tissueLayers);
}
}
}
