Haptics

Runtime/Player/Interaction/Grabbing/GrabTypes/AutoGrab.cs → Haptics PACKAGE AND PISTOL SCRIPT/GrabTypes/GrabTypes/AutoGrab.cs

@@ -1,10 +1,25 @@
 using UnityEngine;
+using UnityEngine.XR;
 
 namespace BIMOS
 {
     [AddComponentMenu("BIMOS/Grabs/Grab (Auto)")]
     public class AutoGrab : Grab
     {
+        private InputDevice _leftDevice;
+        private InputDevice _rightDevice;
+
+        private void InitializeHapticDevices()
+        {
+            _leftDevice = InputDevices.GetDeviceAtXRNode(XRNode.LeftHand);
+            _rightDevice = InputDevices.GetDeviceAtXRNode(XRNode.RightHand);
+        }
+
+        private void Start()
+        {
+            InitializeHapticDevices();
+        }
+
         public override void AlignHand(Hand hand)
         {
             Vector3 handTargetPosition = GetComponent<Collider>().ClosestPoint(hand.PalmTransform.position);
@@ -22,13 +37,29 @@ public override void AlignHand(Hand hand)
                 if (hand.IsLeftHand)
                     crossed *= -1f;
                 hand.PhysicsHandTransform.rotation = Quaternion.LookRotation(-crossed, -projected);
-                hand.PhysicsHandTransform.position += hit.normal * 0.02f; // Moves hand out of collider
+                hand.PhysicsHandTransform.position += hit.normal * 0.02f;
             }
 
             hand.PhysicsHandTransform.position = hand.PhysicsHandTransform.TransformPoint(hand.PalmTransform.InverseTransformPoint(hand.PhysicsHandTransform.position));
             hand.PhysicsHandTransform.rotation = hand.PhysicsHandTransform.rotation * Quaternion.Inverse(hand.PalmTransform.rotation) * hand.PhysicsHandTransform.rotation;
         }
 
+        public override void OnGrab(Hand hand)
+        {
+            base.OnGrab(hand);
+
+            ProvideHapticFeedback(hand);
+        }
+
+        private void ProvideHapticFeedback(Hand hand)
+        {
+            InputDevice device = hand.IsLeftHand ? _leftDevice : _rightDevice;
+            if (device.isValid)
+            {
+                device.SendHapticImpulse(0, 10f, 0.7f);
+            }
+        }
+
         public override void IgnoreCollision(Hand hand, bool ignore) { }
     }
-}
+}

Runtime/Player/Interaction/Grabbing/GrabTypes/Grab.cs → Haptics PACKAGE AND PISTOL SCRIPT/GrabTypes/GrabTypes/Grab.cs

@@ -1,4 +1,5 @@
 using UnityEngine;
+using UnityEngine.XR;
 
 namespace BIMOS
 {
@@ -21,6 +22,9 @@ public class Grab : MonoBehaviour
         [HideInInspector]
         public Collider Collider;
 
+        private UnityEngine.XR.InputDevice _leftDevice;
+        private UnityEngine.XR.InputDevice _rightDevice;
+
         private void OnEnable()
         {
             _body = Utilities.GetBody(transform, out _rigidBody, out _articulationBody);
@@ -37,6 +41,10 @@ private void OnEnable()
                 return;
 
             CreateCollider();
+
+            // Initialize Input Devices for Haptic Feedback (controllers)
+            _leftDevice = InputDevices.GetDeviceAtXRNode(XRNode.LeftHand);
+            _rightDevice = InputDevices.GetDeviceAtXRNode(XRNode.RightHand);
         }
 
         public virtual void CreateCollider()
@@ -47,15 +55,15 @@ public virtual void CreateCollider()
             Collider = collider;
         }
 
-        public virtual float CalculateRank(Transform handTransform) //Returned when in player grab range
+        public virtual float CalculateRank(Transform handTransform)
         {
             if (Collider is MeshCollider)
-                return 1f/1000f;
+                return 1f / 1000f;
 
-            return 1f / Vector3.Distance(handTransform.position, Collider.ClosestPoint(handTransform.position)); //Reciprocal of distance from hand to grab
+            return 1f / Vector3.Distance(handTransform.position, Collider.ClosestPoint(handTransform.position));
         }
 
-        public virtual void OnGrab(Hand hand) //Triggered when player grabs the grab
+        public virtual void OnGrab(Hand hand)
         {
             hand.CurrentGrab = this;
 
@@ -64,7 +72,7 @@ public virtual void OnGrab(Hand hand) //Triggered when player grabs the grab
             else
                 RightHand = hand;
 
-            hand.GrabHandler.ApplyGrabPose(HandPose); //Use the hand pose attached
+            hand.GrabHandler.ApplyGrabPose(HandPose);
 
             AlignHand(hand);
             CreateGrabJoint(hand);
@@ -83,6 +91,18 @@ public virtual void OnGrab(Hand hand) //Triggered when player grabs the grab
             }
 
             GetComponent<Interactable>()?.OnGrab();
+
+            ProvideHapticFeedback(hand);
+        }
+
+        private void ProvideHapticFeedback(Hand hand)
+        {
+            UnityEngine.XR.InputDevice device = hand.IsLeftHand ? _leftDevice : _rightDevice;
+
+            if (device.isValid)
+            {
+                device.SendHapticImpulse(0, 10f, 0.7f);
+            }
         }
 
         public virtual void IgnoreCollision(Hand hand, bool ignore)
@@ -103,7 +123,7 @@ private void CreateGrabJoint(Hand hand)
                 grabJoint.connectedArticulationBody = _articulationBody;
         }
 
-        public void OnRelease(Hand hand, bool toggleGrabs) //Triggered when player releases the grab
+        public void OnRelease(Hand hand, bool toggleGrabs)
         {
             if (!hand)
                 return;
@@ -141,8 +161,8 @@ public virtual void DestroyGrabJoint(Hand hand)
             if (!hand)
                 return;
 
-            FixedJoint grabJoint = hand.PhysicsHandTransform.GetComponent<FixedJoint>(); //Gets the grab joint
-            Destroy(grabJoint); //Deletes the joint, letting it go
+            FixedJoint grabJoint = hand.PhysicsHandTransform.GetComponent<FixedJoint>();
+            Destroy(grabJoint); 
 
             IgnoreCollision(hand, false);
 
@@ -156,4 +176,4 @@ private void OnDisable()
             OnRelease(RightHand, false);
         }
     }
-}
+}

Haptics PACKAGE AND PISTOL SCRIPT/HOW TO INSTALL.txt

@@ -0,0 +1,3 @@
+GO TO THE DIRECT OF THE GRABTYPE FOLDER DELETE IT AND REPLACE WITH THIS ONE>
+
+DRAG THE UNITY PACKAGE INTO THE PROJECT AND LET IT OVERIDE YOUR PISTOL SCRIPT>

Runtime/Player/Interaction/Grabbing/GrabTypes/GrabTypes/AutoGrab.cs

@@ -0,0 +1,65 @@
+using UnityEngine;
+using UnityEngine.XR;
+
+namespace BIMOS
+{
+    [AddComponentMenu("BIMOS/Grabs/Grab (Auto)")]
+    public class AutoGrab : Grab
+    {
+        private InputDevice _leftDevice;
+        private InputDevice _rightDevice;
+
+        private void InitializeHapticDevices()
+        {
+            _leftDevice = InputDevices.GetDeviceAtXRNode(XRNode.LeftHand);
+            _rightDevice = InputDevices.GetDeviceAtXRNode(XRNode.RightHand);
+        }
+
+        private void Start()
+        {
+            InitializeHapticDevices();
+        }
+
+        public override void AlignHand(Hand hand)
+        {
+            Vector3 handTargetPosition = GetComponent<Collider>().ClosestPoint(hand.PalmTransform.position);
+            Vector3 handToTargetDirection = (handTargetPosition - hand.PalmTransform.position).normalized;
+
+            Ray ray = new Ray(hand.PalmTransform.position, handToTargetDirection);
+            RaycastHit hit;
+
+            if (GetComponent<Collider>().Raycast(ray, out hit, 10f))
+            {
+                Vector3 projected = Vector3.ProjectOnPlane(-hand.PalmTransform.up, hit.normal).normalized;
+                Debug.DrawRay(hit.point, projected, Color.blue, 5f);
+                hand.PhysicsHandTransform.position = handTargetPosition;
+                Vector3 crossed = Vector3.Cross(hit.normal, projected).normalized;
+                if (hand.IsLeftHand)
+                    crossed *= -1f;
+                hand.PhysicsHandTransform.rotation = Quaternion.LookRotation(-crossed, -projected);
+                hand.PhysicsHandTransform.position += hit.normal * 0.02f;
+            }
+
+            hand.PhysicsHandTransform.position = hand.PhysicsHandTransform.TransformPoint(hand.PalmTransform.InverseTransformPoint(hand.PhysicsHandTransform.position));
+            hand.PhysicsHandTransform.rotation = hand.PhysicsHandTransform.rotation * Quaternion.Inverse(hand.PalmTransform.rotation) * hand.PhysicsHandTransform.rotation;
+        }
+
+        public override void OnGrab(Hand hand)
+        {
+            base.OnGrab(hand);
+
+            ProvideHapticFeedback(hand);
+        }
+
+        private void ProvideHapticFeedback(Hand hand)
+        {
+            InputDevice device = hand.IsLeftHand ? _leftDevice : _rightDevice;
+            if (device.isValid)
+            {
+                device.SendHapticImpulse(0, 10f, 0.7f);
+            }
+        }
+
+        public override void IgnoreCollision(Hand hand, bool ignore) { }
+    }
+}