Alright I changed some things up, and you were on the right track. Instead of using Linq, Obi has a new method for the constraints called GetFirstBatch(), but the real problem was the colliders hit registration.
Here is the updated code for ObiRope 3.4 and VRTK 3.3.0 alpha. I have also attached the files which is probably easier lol.
This has minimal functionality, a lot of things can be done like attaching 2 particles on grab so the rope doesn't rotate while grabbing with one hand.
Add this to the same gameobject as ObiSolver:
Add this to the same gameobject as your ObiActor:
Here is the updated code for ObiRope 3.4 and VRTK 3.3.0 alpha. I have also attached the files which is probably easier lol.
This has minimal functionality, a lot of things can be done like attaching 2 particles on grab so the rope doesn't rotate while grabbing with one hand.
Add this to the same gameobject as ObiSolver:
Code:
using System.Collections;
using UnityEngine;
using Obi;
using VRTK;
[System.Serializable]
public class InteractingInfo
{
[Header("Grab Options")]
public bool grabbingEnabled = true;
[Header("Pin Options")]
public Vector3 pinOffset;
[Range(0f, 1f)]
public float stiffness = 1;
[HideInInspector]
public bool isTouchingParticle;
[HideInInspector]
public int touchingParticle;
[HideInInspector]
public int? grabbedParticle;
[HideInInspector]
public int? pinIndex;
[HideInInspector]
public VRTK_InteractGrab interactGrab;
[HideInInspector]
public Collider collider;
[HideInInspector]
public ObiCollider obiCollider;
[HideInInspector]
public VRTK_ObiInteractableActor currentInteraction;
public void Clear()
{
isTouchingParticle = false;
}
}
[RequireComponent(typeof(ObiSolver))]
public class VRTK_ObiInteractableSolver : MonoBehaviour
{
#region Fields
public Vector3 colliderSize;
public Vector3 colliderOffset;
public Vector3 colliderRotation;
[Header("Controller Info")]
public InteractingInfo leftControllerInfo = new InteractingInfo();
public InteractingInfo rightControllerInfo = new InteractingInfo();
private ObiSolver solver;
private GameObject leftController;
private GameObject rightController;
#endregion
#region Mono Events
private void Awake()
{
solver = GetComponent<ObiSolver>();
VRTK_SDKManager.instance.AddBehaviourToToggleOnLoadedSetupChange(this);
}
private void OnDestroy()
{
VRTK_SDKManager.instance.RemoveBehaviourToToggleOnLoadedSetupChange(this);
}
private void Reset()
{
colliderSize = new Vector3(0.06f, 0.06f, 0.06f);
colliderOffset = new Vector3(0, 0, .02f);
colliderRotation = new Vector3(45, 0, 0);
}
private void OnEnable()
{
leftController = VRTK.VRTK_DeviceFinder.GetControllerLeftHand(false);
rightController = VRTK.VRTK_DeviceFinder.GetControllerRightHand(false);
leftController.GetComponent<VRTK_ControllerEvents>().ControllerModelAvailable += ControllerModelAvailiable;
rightController.GetComponent<VRTK_ControllerEvents>().ControllerModelAvailable += ControllerModelAvailiable;
if (!ReferenceEquals(solver, null))
{
solver.OnCollision += HandleSolverCollision;
}
}
private void OnDisable()
{
if (!ReferenceEquals(solver, null))
{
solver.OnCollision -= HandleSolverCollision;
}
}
#endregion
#region Private Methods
private bool SetupController(GameObject controller, bool isLeft)
{
if (controller.transform.childCount == 0) return false;
GameObject colliderObject = new GameObject();
colliderObject.name = "ObiCollider";
colliderObject.layer = LayerMask.NameToLayer("Ignore Raycast");
colliderObject.transform.SetParent(controller.transform);
colliderObject.transform.localPosition = colliderOffset;
colliderObject.transform.localRotation = Quaternion.Euler(colliderRotation);
var collider = colliderObject.AddComponent<BoxCollider>();
collider.isTrigger = true;
collider.size = colliderSize;
var obiCollider = colliderObject.AddComponent<ObiCollider>();
if (isLeft)
{
if (ReferenceEquals(obiCollider, null))
{
leftControllerInfo.obiCollider = colliderObject.gameObject.AddComponent<ObiCollider>();
}
else
{
leftControllerInfo.obiCollider = obiCollider;
}
leftControllerInfo.collider = colliderObject.GetComponent<Collider>();
leftControllerInfo.interactGrab = controller.GetComponent<VRTK_InteractGrab>();
leftControllerInfo.interactGrab.GrabButtonPressed += HandleGrabButtonPressed;
leftControllerInfo.interactGrab.GrabButtonReleased += HandleGrabButtonReleased;
}
else
{
if (ReferenceEquals(obiCollider, null))
{
rightControllerInfo.obiCollider = colliderObject.gameObject.AddComponent<ObiCollider>();
}
else
{
rightControllerInfo.obiCollider = obiCollider;
}
rightControllerInfo.collider = colliderObject.GetComponent<Collider>();
rightControllerInfo.interactGrab = controller.GetComponent<VRTK_InteractGrab>();
rightControllerInfo.interactGrab.GrabButtonPressed += HandleGrabButtonPressed;
rightControllerInfo.interactGrab.GrabButtonReleased += HandleGrabButtonReleased;
}
return true;
}
#endregion
#region Controller Events
private void ControllerModelAvailiable(object sender, ControllerInteractionEventArgs e)
{
StartCoroutine(ModelLoaded(sender as VRTK_ControllerEvents));
}
private IEnumerator ModelLoaded(VRTK_ControllerEvents events)
{
yield return new WaitForEndOfFrame();
bool succeeded = true;
if (ReferenceEquals(events.gameObject, leftController))
{
succeeded = SetupController(events.gameObject as GameObject, true);
}
else if (ReferenceEquals(events.gameObject, rightController))
{
succeeded = SetupController(events.gameObject as GameObject, false);
}
if (!succeeded)
StartCoroutine(ModelLoaded(events as VRTK_ControllerEvents));
}
private void HandleGrabButtonPressed(object sender, ControllerInteractionEventArgs e)
{
if (ReferenceEquals(sender, leftControllerInfo.interactGrab) && leftControllerInfo.grabbingEnabled)
{
if (leftControllerInfo.isTouchingParticle)
{
// Get actor and apply constraint
leftControllerInfo.currentInteraction.GrabActor(leftControllerInfo);
}
}
else if (ReferenceEquals(sender, rightControllerInfo.interactGrab) && rightControllerInfo.grabbingEnabled)
{
if (rightControllerInfo.isTouchingParticle)
{
// Get actor and apply constraint
rightControllerInfo.currentInteraction.GrabActor(rightControllerInfo);
}
}
}
private void HandleGrabButtonReleased(object sender, ControllerInteractionEventArgs e)
{
if (rightControllerInfo.grabbedParticle != null && ReferenceEquals(sender, rightControllerInfo.interactGrab) && rightControllerInfo.grabbingEnabled)
{
rightControllerInfo.currentInteraction.ReleaseActor(rightControllerInfo);
if (leftControllerInfo.pinIndex.HasValue && leftControllerInfo.isTouchingParticle && leftControllerInfo.pinIndex > rightControllerInfo.pinIndex)
leftControllerInfo.pinIndex--;
rightControllerInfo.grabbedParticle = null;
rightControllerInfo.pinIndex = null;
}
else if (leftControllerInfo.grabbedParticle != null && ReferenceEquals(sender, leftControllerInfo.interactGrab) && leftControllerInfo.grabbingEnabled)
{
leftControllerInfo.currentInteraction.ReleaseActor(leftControllerInfo);
if (rightControllerInfo.pinIndex.HasValue && rightControllerInfo.isTouchingParticle && rightControllerInfo.pinIndex > leftControllerInfo.pinIndex)
rightControllerInfo.pinIndex--;
leftControllerInfo.grabbedParticle = null;
leftControllerInfo.pinIndex = null;
}
}
#endregion
#region Obi Solver Events
private void HandleSolverCollision(object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
{
if (e == null || e.contacts == null || !rightControllerInfo.grabbingEnabled && !leftControllerInfo.grabbingEnabled) return;
// Reset every frame
leftControllerInfo.Clear();
rightControllerInfo.Clear();
for (int i = 0; i < e.contacts.Count; ++i)
{
var contact = e.contacts[i];
var pia = solver.particleToActor[e.contacts[i].particle];
var actor = pia.actor;
var particleIndex = pia.indexInActor;
// make sure this is an actual contact
if (contact.distance < 0.01f)
{
Collider collider = ObiColliderBase.idToCollider[contact.other] as Collider;
if (ReferenceEquals(collider, leftControllerInfo.collider))
{
leftControllerInfo.isTouchingParticle = true;
leftControllerInfo.touchingParticle = particleIndex;
leftControllerInfo.currentInteraction = actor.gameObject.GetComponent<VRTK_ObiInteractableActor>();
}
else if (ReferenceEquals(collider, rightControllerInfo.collider))
{
rightControllerInfo.isTouchingParticle = true;
rightControllerInfo.touchingParticle = particleIndex;
rightControllerInfo.currentInteraction = actor.gameObject.GetComponent<VRTK_ObiInteractableActor>();
}
}
}
}
#endregion
}Add this to the same gameobject as your ObiActor:
Code:
using UnityEngine;
using Obi;
[RequireComponent(typeof(ObiPinConstraints))]
public class VRTK_ObiInteractableActor : MonoBehaviour
{
#region Fields
public bool isGrabbable = true;
private ObiPinConstraints pinConstraints;
#endregion
#region Mono Events
private void Awake()
{
pinConstraints = GetComponent<ObiPinConstraints>();
}
private void Reset()
{
isGrabbable = true;
}
#endregion
#region Actor Interaction
public void GrabActor(InteractingInfo interactingInfo)
{
if (!isGrabbable) return;
ObiPinConstraintBatch batch = pinConstraints.GetFirstBatch() as ObiPinConstraintBatch;
pinConstraints.RemoveFromSolver(null);
interactingInfo.pinIndex = batch.ConstraintCount;
interactingInfo.grabbedParticle = interactingInfo.touchingParticle;
batch.AddConstraint(interactingInfo.grabbedParticle.Value, interactingInfo.obiCollider, interactingInfo.pinOffset, interactingInfo.stiffness);
pinConstraints.AddToSolver(null);
pinConstraints.PushDataToSolver();
}
public void ReleaseActor(InteractingInfo interactingInfo)
{
if (!isGrabbable) return;
ObiPinConstraintBatch batch = pinConstraints.GetFirstBatch() as ObiPinConstraintBatch;
pinConstraints.RemoveFromSolver(null);
if (interactingInfo.pinIndex.HasValue)
batch.RemoveConstraint(interactingInfo.pinIndex.Value);
pinConstraints.AddToSolver(null);
pinConstraints.PushDataToSolver();
}
#endregion
}