HTC Vive开发笔记之手柄震动

Posted 2020-08-10 北田

手柄震动的代码SteamVR_Controller脚本的最上面的注释里面就有说明，其实也很简单

// Example usage:
//这个栗子是左手柄震动 右手震动只需把Leftmost换成Rightmost即可
//  var deviceIndex = SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.Leftmost);
//  if (deviceIndex != -1 && SteamVR_Controller.Input(deviceIndex).GetPressDown(SteamVR_Controller.ButtonMask.Trigger))
//      SteamVR_Controller.Input(deviceIndex).TriggerHapticPulse(1000);
//
//=============================================================================
 
using UnityEngine;
using Valve.VR;
 
/// <summary>
/// 手柄
/// </summary>
public class SteamVR_Controller
{
    //按钮
    public class ButtonMask
    {
        public const ulong System           = (1ul << (int)EVRButtonId.k_EButton_System); // reserved 为Steam系统保留,用来调出Steam系统菜单
        public const ulong ApplicationMenu  = (1ul << (int)EVRButtonId.k_EButton_ApplicationMenu);
        public const ulong Grip             = (1ul << (int)EVRButtonId.k_EButton_Grip);
        public const ulong Axis0            = (1ul << (int)EVRButtonId.k_EButton_Axis0);
        public const ulong Axis1            = (1ul << (int)EVRButtonId.k_EButton_Axis1);
        public const ulong Axis2            = (1ul << (int)EVRButtonId.k_EButton_Axis2);
        public const ulong Axis3            = (1ul << (int)EVRButtonId.k_EButton_Axis3);
        public const ulong Axis4            = (1ul << (int)EVRButtonId.k_EButton_Axis4);
        public const ulong Touchpad         = (1ul << (int)EVRButtonId.k_EButton_SteamVR_Touchpad);
        public const ulong Trigger          = (1ul << (int)EVRButtonId.k_EButton_SteamVR_Trigger);
    }
 
    //设备
    public class Device
    {
        public Device(uint i) { index = i; }
        public uint index { get; private set; }
 
        public bool valid { get; private set; }
        public bool connected { get { Update(); return pose.bDeviceIsConnected; } }
        public bool hasTracking { get { Update(); return pose.bPoseIsValid; } }
 
        public bool outOfRange { get { Update(); return pose.eTrackingResult == ETrackingResult.Running_OutOfRange || pose.eTrackingResult == ETrackingResult.Calibrating_OutOfRange; } }
        public bool calibrating { get { Update(); return pose.eTrackingResult == ETrackingResult.Calibrating_InProgress || pose.eTrackingResult == ETrackingResult.Calibrating_OutOfRange; } }
        public bool uninitialized { get { Update(); return pose.eTrackingResult == ETrackingResult.Uninitialized; } }
 
        // These values are only accurate for the last controller state change (e.g. trigger release), and by definition, will always lag behind
        // the predicted visual poses that drive SteamVR_TrackedObjects since they are sync‘d to the input timestamp that caused them to update.
        //这些值只在最近状态发生改变的才准确(例如 释放扳机),通过定义,将会总是在预测视觉动作(这个预测的信息用来驱动SteamVR_TrackedObjects)之后延迟,因为他们是和输入的时间戳同步更新的
 
        public SteamVR_Utils.RigidTransform transform { get { Update(); return new SteamVR_Utils.RigidTransform(pose.mDeviceToAbsoluteTracking); } }
        public Vector3 velocity { get { Update(); return new Vector3(pose.vVelocity.v0, pose.vVelocity.v1, -pose.vVelocity.v2); } }
        public Vector3 angularVelocity { get { Update(); return new Vector3(-pose.vAngularVelocity.v0, -pose.vAngularVelocity.v1, pose.vAngularVelocity.v2); } }
 
        //获取状态 之前的状态  动作
        public VRControllerState_t GetState() { Update(); return state; }
        public VRControllerState_t GetPrevState() { Update(); return prevState; }
        public TrackedDevicePose_t GetPose() { Update(); return pose; }
 
        VRControllerState_t state, prevState;
        TrackedDevicePose_t pose;
        int prevFrameCount = -1;
        public void Update()
        {
            if (Time.frameCount != prevFrameCount)
            {
                prevFrameCount = Time.frameCount;
                prevState = state;
 
                var system = OpenVR.System;
                if (system != null)
                {
                    valid = system.GetControllerStateWithPose(SteamVR_Render.instance.trackingSpace, index, ref state, ref pose);
                    UpdateHairTrigger();
                }
            }
        }
 
        //长按 按下  抬起  两种参数buttonMask buttonId
        public bool GetPress(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) != 0; }
        public bool GetPressDown(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) != 0 && (prevState.ulButtonPressed & buttonMask) == 0; }
        public bool GetPressUp(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) == 0 && (prevState.ulButtonPressed & buttonMask) != 0; }
 
        public bool GetPress(EVRButtonId buttonId) { return GetPress(1ul << (int)buttonId); }
        public bool GetPressDown(EVRButtonId buttonId) { return GetPressDown(1ul << (int)buttonId); }
        public bool GetPressUp(EVRButtonId buttonId) { return GetPressUp(1ul << (int)buttonId); }
 
        //触摸 按下  抬起
        public bool GetTouch(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) != 0; }
        public bool GetTouchDown(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) != 0 && (prevState.ulButtonTouched & buttonMask) == 0; }
        public bool GetTouchUp(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) == 0 && (prevState.ulButtonTouched & buttonMask) != 0; }
 
        public bool GetTouch(EVRButtonId buttonId) { return GetTouch(1ul << (int)buttonId); }
        public bool GetTouchDown(EVRButtonId buttonId) { return GetTouchDown(1ul << (int)buttonId); }
        public bool GetTouchUp(EVRButtonId buttonId) { return GetTouchUp(1ul << (int)buttonId); }
 
        //获取轴心 此处是用来返回手指在触摸板Touchpad上的位置
        public Vector2 GetAxis(EVRButtonId buttonId = EVRButtonId.k_EButton_SteamVR_Touchpad)
        {
            Update();
            var axisId = (uint)buttonId - (uint)EVRButtonId.k_EButton_Axis0;
            switch (axisId)
            {
                case 0: return new Vector2(state.rAxis0.x, state.rAxis0.y);
                case 1: return new Vector2(state.rAxis1.x, state.rAxis1.y);
                case 2: return new Vector2(state.rAxis2.x, state.rAxis2.y);
                case 3: return new Vector2(state.rAxis3.x, state.rAxis3.y);
                case 4: return new Vector2(state.rAxis4.x, state.rAxis4.y);
            }
            return Vector2.zero;
        }
 
        //上面提到的震动方法
        public void TriggerHapticPulse(ushort durationMicroSec = 500, EVRButtonId buttonId = EVRButtonId.k_EButton_SteamVR_Touchpad)
        {
            var system = OpenVR.System;
            if (system != null)
            {
                var axisId = (uint)buttonId - (uint)EVRButtonId.k_EButton_Axis0;
                system.TriggerHapticPulse(index, axisId, (char)durationMicroSec);
            }
        }
 
        //扳机扣下或释放的量才可以改变状态
        public float hairTriggerDelta = 0.1f; // amount trigger must be pulled or released to change state
        float hairTriggerLimit;
        bool hairTriggerState, hairTriggerPrevState;
        /// <summary>
        /// 更新扳机状态
        /// </summary>
        void UpdateHairTrigger()
        {
            hairTriggerPrevState = hairTriggerState;
            var value = state.rAxis1.x; // trigger
            if (hairTriggerState)
            {
                if (value < hairTriggerLimit - hairTriggerDelta || value <= 0.0f)
                    hairTriggerState = false;
            }
            else
            {
                if (value > hairTriggerLimit + hairTriggerDelta || value >= 1.0f)
                    hairTriggerState = true;
            }
            hairTriggerLimit = hairTriggerState ? Mathf.Max(hairTriggerLimit, value) : Mathf.Min(hairTriggerLimit, value);
        }
 
        public bool GetHairTrigger() { Update(); return hairTriggerState; }
        public bool GetHairTriggerDown() { Update(); return hairTriggerState && !hairTriggerPrevState; }
        public bool GetHairTriggerUp() { Update(); return !hairTriggerState && hairTriggerPrevState; }
    }
 
    private static Device[] devices;
 
    /// <summary>
    /// 输入的具体设备
    /// </summary>
    /// <param name="deviceIndex">Device index.</param>
    public static Device Input(int deviceIndex)
    {
        if (devices == null)
        {
            devices = new Device[OpenVR.k_unMaxTrackedDeviceCount];
            for (uint i = 0; i < devices.Length; i++)
                devices[i] = new Device(i);
        }
 
        return devices[deviceIndex];
    }
 
    public static void Update()
    {
        for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
            Input(i).Update();
    }
 
    // This helper can be used in a variety of ways.  Beware that indices may change
    // as new devices are dynamically added or removed, controllers are physically
    // swapped between hands, arms crossed, etc.
    //这个枚举帮手用很多用法.注意索引也许会因为动态的新增或者移除而改变
    //或者控制器物理上的在双手/双臂之间交换,等等
    public enum DeviceRelation
    {
        First,
        // radially
        Leftmost,
        Rightmost,
        // distance - also see vr.hmd.GetSortedTrackedDeviceIndicesOfClass
        FarthestLeft,
        FarthestRight,
    }
 
    /// <summary>
    /// 获取设备的索引
    /// </summary>
    /// <returns>The device index.</returns>
    /// <param name="relation">Relation.</param>
    /// <param name="deviceClass">Device class.</param>
    /// <param name="relativeTo">Relative to.</param>
    public static int GetDeviceIndex(DeviceRelation relation,
        ETrackedDeviceClass deviceClass = ETrackedDeviceClass.Controller,
        int relativeTo = (int)OpenVR.k_unTrackedDeviceIndex_Hmd) // use -1 for absolute tracking space
    {
        var result = -1;
 
        var invXform = ((uint)relativeTo < OpenVR.k_unMaxTrackedDeviceCount) ?
            Input(relativeTo).transform.GetInverse() : SteamVR_Utils.RigidTransform.identity;
 
        var system = OpenVR.System;
        if (system == null)
            return result;
 
        var best = -float.MaxValue;
        for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
        {
            if (i == relativeTo || system.GetTrackedDeviceClass((uint)i) != deviceClass)
                continue;
 
            var device = Input(i);
            if (!device.connected)
                continue;
 
            if (relation == DeviceRelation.First)
                return i;
 
            float score;
 
            var pos = invXform * device.transform.pos;
            if (relation == DeviceRelation.FarthestRight)
            {
                score = pos.x;
            }
            else if (relation == DeviceRelation.FarthestLeft)
            {
                score = -pos.x;
            }
            else
            {
                var dir = new Vector3(pos.x, 0.0f, pos.z).normalized;
                var dot = Vector3.Dot(dir, Vector3.forward);
                var cross = Vector3.Cross(dir, Vector3.forward);
                if (relation == DeviceRelation.Leftmost)
                {
                    score = (cross.y > 0.0f) ? 2.0f - dot : dot;
                }
                else
                {
                    score = (cross.y < 0.0f) ? 2.0f - dot : dot;
                }
            }
             
            if (score > best)
            {
                result = i;
                best = score;
            }
        }
 
        return result;
    }
}

 

 

另外分享一个别人的关于手柄震动的教程，比较详细~~

新建yzx_controller脚本，挂在手柄上即可

一、 手柄震动一下（真的只震动一下，也许不注意都感受不到！）

using UnityEngine;
using System.Collections;

public class yzx_controller : MonoBehaviour
{


    SteamVR_TrackedObject Hand;   
    SteamVR_Controller.Device device;

    // Use this for initialization
    void Start () {
        Hand = GetComponent<SteamVR_TrackedObject>();  //获得SteamVR_ TrackedObject组件
    }

    // Update is called once per frame
    void Update () {

        if (Hand.isValid)
          {
             //防止Start函数没加载成功，保证SteamVR_ TrackedObject组件获取成功！
            Hand = GetComponent<SteamVR_TrackedObject>(); 
          }
             //根据index，获得手柄 
         device = SteamVR_Controller.Input((int)Hand.index);

            //如果手柄的Trigger键被按下了
        if (device.GetPressDown(SteamVR_Controller.ButtonMask.Trigger)) 
          {
            Debug.Log("Trigger is pressed!"); //控制台输出Trigger is pressed!
            device.TriggerHapticPulse(500); //手柄震动函数，500代表振幅,是一个ushort类型
          }

    }

运行程序，扣一下Trigger键，咦，好像不对劲，都没感觉发生了什么。也许你会怀疑人生，是不是都没有捕捉到Trigger键被按下的事件？

No,No,No,明明控制台打印了Trigger is pressed !

这是为什么？……

因为，手柄只震动了一下下，你根本感觉不到。当然，你也可以修改这句代码device.TriggerHapticPulse(500); 将参数500调成1000，甚至更大（数值越大，振幅越大）, 然而，震感还是太低了，因为，持续时间太短了……

 

二、手柄持续震动（这次，真的很有震感了……）

自然想到，如果要让手柄有震感，那么震动持续的时间一定要有保证！！！

下面的代码中，你可以随便修改代码StartCoroutine(“Shock”,0.5f) 的第二个参数（代表震动持续时间），0.5f 代表手柄持续震动0.5s，想震多久就震多久……Cool !!!

我的想法：就是通过协程去执行手柄震动，然后通过Invoke函数来决定延迟时间，即控制手柄震动的持续时间。

全面修改 yzx_controller.cs脚本，代码如下：

using UnityEngine;
using System.Collections;

public class yzx_controller : MonoBehaviour
{
    SteamVR_TrackedObject Hand;
    SteamVR_Controller.Device device;

    bool IsShock = false;  //布尔型变量IsShock

    // Use this for initialization
    void Start ()
    {
        Hand = GetComponent<SteamVR_TrackedObject>();  //获得SteamVR_ TrackedObject组件  
    }

    // Update is called once per frame
    void Update ()
    {

      //防止Start函数没加载成功，保证SteamVR_ TrackedObject组件获取成功！
        if (Hand.isValid)
        {
            Hand = GetComponent<SteamVR_TrackedObject>();
        }     
        device = SteamVR_Controller.Input((int)Hand.index);    //根据index，获得手柄 
            //如果手柄的Trigger键被按下了
        if (device.GetPressDown(SteamVR_Controller.ButtonMask.Trigger))
        {

            IsShock = false;  //每次按下，IsShock为false,才能保证手柄震动
            StartCoroutine("Shock",0.5f); //开启协程Shock(),第二个参数0.5f 即为协程Shock()的形参
        }

    }

 //定义了一个协程

    IEnumerator Shock(float durationTime) 

    {

//Invoke函数，表示durationTime秒后，执行StopShock函数；
        Invoke("StopShock", durationTime);

//协程一直使得手柄产生震动，直到布尔型变量IsShock为false;
        while (!IsShock)
        {
            device.TriggerHapticPulse(500);

            yield return new WaitForEndOfFrame();

        }


    }

    void StopShock()
    {
        IsShock = true; //关闭手柄的震动
    }


}

运行程序，Amazing！手柄真的真的震动起来了，而且可以随意调节震动的持续时间， So cool ……