VRPNTestScript.cs

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using UnityEngine;
using System.Collections;
using System.Runtime.InteropServices;
using System;
using System.Threading;
using System.Reflection;

public class VRPNTestScript : MonoBehaviour {

    System.IntPtr t;
    System.IntPtr b;
    System.IntPtr f;
    System.IntPtr a;

    static GameObject go;

    static float factor = 25f;

    public void dummyLogger(uint sensor, System.IntPtr pos, System.IntPtr quat)
    {
        double[] managedArray = new double[3];
        double[] quaternionArray = new double[4];
        Marshal.Copy(pos, managedArray, 0, 3);
        Marshal.Copy(quat, quaternionArray, 0, 4);

        go.transform.position = new Vector3((float)managedArray[0] * factor, (float)managedArray[1] * factor, (float)managedArray[2] * factor);

        go.transform.rotation = new Quaternion((float)quaternionArray[0], (float)quaternionArray[1], (float)quaternionArray[2], (float)quaternionArray[3]);
    }

    public static void dummyButtonLogger(Int32 button, Int32 state)
    {
        Debug.Log("Button " + button + " in state " + state);
    }

    public static void dummyAnalogLogger(VRPN.Wrapper.VRPNAnalogReport report)
    {
        Debug.Log("----------");
        Debug.Log(report.tv_sec);
        Debug.Log(report.tv_usec);
        Debug.Log(report.num_channel);
        Debug.Log("----------Tran");
        Debug.Log(report.channel[0]);
        Debug.Log(report.channel[1]);
        Debug.Log(report.channel[2]);
        Debug.Log("----------Rot");
        Debug.Log(report.channel[3]);
        Debug.Log(report.channel[4]);
        Debug.Log(report.channel[5]);
    }

    VRPN.Wrapper.TrackerCallbackDelegate functionPointer;

    // Use this for initialization
    void Start () {
        UnityMolMain.getVRPNManager();

        Debug.Log("VRPNTestScript::Start");
        VRPN.Wrapper.TrackerCallbackDelegate functionPointer = new VRPN.Wrapper.TrackerCallbackDelegate(dummyLogger);
        MethodInfo minfo = typeof(VRPNTestScript).GetMethod("dummyLogger");
        functionPointer = (VRPN.Wrapper.TrackerCallbackDelegate) Delegate.CreateDelegate(typeof(VRPN.Wrapper.TrackerCallbackDelegate), this, minfo, false);

        Debug.Log(VRPN.Wrapper.vrpn_c_tracker_is_connected(t));
        t = VRPN.Wrapper.vrpn_c_open_tracker("Omni@baaden", functionPointer);
        Debug.Log(VRPN.Wrapper.vrpn_c_tracker_is_connected(t));

        VRPN.Wrapper.ButtonCallbackDelegate buttonFunctionPointer = new VRPN.Wrapper.ButtonCallbackDelegate(dummyButtonLogger);
        b = VRPN.Wrapper.vrpn_c_open_button("Omni@baaden", buttonFunctionPointer);

        f = VRPN.Wrapper.vrpn_c_open_force_feedback("Omni@baaden");

        VRPN.Wrapper.AnalogCallbackDelegate analogFunctionPointer = new VRPN.Wrapper.AnalogCallbackDelegate(dummyAnalogLogger);
        a = VRPN.Wrapper.vrpn_c_open_analog("device0@localhost", analogFunctionPointer);

        go = GameObject.CreatePrimitive(PrimitiveType.Capsule);
    }

    void OnDestroy () {
        Debug.Log("Destroying VRPNTestScript");
        VRPN.Wrapper.vrpn_c_close_tracker(t);
        VRPN.Wrapper.vrpn_c_close_button(b);
        VRPN.Wrapper.vrpn_c_force_feedback_stop(f);
        VRPN.Wrapper.vrpn_c_close_force_feedback(f);
        VRPN.Wrapper.vrpn_c_close_analog(a);
    }

    // Update is called once per frame
    void Update () {
        VRPN.VRPNManager manager = UnityMolMain.getVRPNManager();
        manager.DeviceLoop();
        Debug.Log(VRPN.Wrapper.vrpn_c_tracker_is_connected(t));
        if (VRPN.Wrapper.vrpn_c_tracker_is_connected(t)) {
            t = VRPN.Wrapper.vrpn_c_open_tracker("Omni@baaden", functionPointer);
        }
        Debug.Log(VRPN.Wrapper.vrpn_c_tracker_is_connected(t));
        Debug.Log(VRPN.Wrapper.vrpn_c_poll_tracker(t));
        Debug.Log(VRPN.Wrapper.vrpn_c_tracker_is_connected(t));
        Debug.Log(VRPN.Wrapper.vrpn_c_button_is_connected(b));
        Debug.Log(VRPN.Wrapper.vrpn_c_tracker_is_connected(a));
        Debug.Log(VRPN.Wrapper.vrpn_c_poll_button(b));
        Debug.Log(VRPN.Wrapper.vrpn_c_poll_analog(a));
        bool isForceSet = VRPN.Wrapper.vrpn_c_force_feedback_set_force(f, 0.4f, 0.4f, 0.4f);
        Debug.Log(isForceSet);
    }
}