← Back to index page

2.1.1 Changelog

Dependencies

• Updated haply-inverse-c.dll version 2.1.1 (require Inverse SDK >= 2.1)
• Updated Haply.Inverse.dll version 2.1.1
• Added com.unity.xr.core-utils version 2.3.0

warning

Broke compatibility with Unity versions before 2022.1.0f1. Please update to a later version if you encounter compatibility issues.

Breaking Changes

• Inverse3 and VerseGrip pass device as ConnectionStateChanged event first argument
  • ConnectionStateChanged(state, prevState) > ConnectionStateChanged(device, state, prevState)
  • ConnectionStateChangedAsync(state, prevState) > ConnectionStateChangedAsync(device, state, prevState)
• DeviceMapper State property changed to readonly

New Features

• Inverse3Body component apply the body orientation of an Inverse3 device to a specified GameObject.
• Inverse3:
  • Device Data (inspector) displays ControlMode and last Force, Position or Angles sent to the device.
  • JointsAngles and JointsAngularVelocity.
  • Powered indicates whether the device is currently powered.
  • PowerSupplyStatusChanged unity event triggered whenever there is a change in the power supply status.
  • Orientation gets the current orientation of the Inverse3 device.
  • OrientationChangedAsync event triggered whenever the body orientation changes.
  • RequestOrientation() to manually request the body orientation.
  • ControlMode get the current control mode (CursorForce, CursorPosition, JointsTorques, JointsAngles).
  • ControlModeChanged unity event triggered whenever the control mode changes.
  • ForceOutput, PositionOutput, JointsTorqueOutput and JointsAnglesOutput get the current outputs.
  • Release() reset the device control by sending a null force (replace TryResetForce()).
  • CoordinateConverter to define coordinate conversion settings with preset file or direct value.
  • ErrorEvent fired (on main thread) when ClientConnection error event append with mapped device
• VerseGrip:
  • CoordinateConverter to define coordinate conversion settings with preset file or direct value.
  • ErrorEvent fired (on main thread) when ClientConnection error event append with mapped device
• DeviceMapper:
  • Map devices connected at runtime.
  • Gets Inverse3 Power Supply and Body Orientation for each Inverse3 devices.
  • DeviceInfoPollingMode modes Manual, Once (default) or Continuous
  • devicesInfoPollDelay with safe minimum set to 1sec if body orientation is requested, 0.5sec otherwise.
  • Initialize only on component enabled.
  • Filtered device getters:
    • GetInverse3Devices(handedness) retrieves Inverse3 devices filtered by the specified handedness.
    • GetVerseGripDevices(handedness) retrieves VerseGrip devices associated with Inverse3 devices that match the specified handedness.
    • GetInverse3(handedness) retrieves the first Inverse3 device that matches the specified handedness.
    • GetInverse3(verseGrip) retrieves the Inverse3 device associated with a given VerseGrip device.
    • GetVerseGrip(inverse3) retrieves the VerseGrip device associated with a specified Inverse3 device.
• OrientationSettings added on VerseGripCursor and Inverse3Body components .
• VerseGrip.Orientation replace VerseGrip.LocalRotation.
• Explicit Inverse3Data type for Inverse3 cache:
  • cached states properties: CursorPosition, JointsAngles, JointsAngularVelocity, Orientation,
  • GravityCompensation, StatusPowerSupply, ConfigTorqueScaling
  • cached control output properties: ControlMode, CursorForceOutput, CursorPositionOutput, JointsTorqueOutput, JointsAnglesOutput.
  • coordinateConverter used to convert received and sent data with specified coordinate system.
  • cache subscribe to client to be updated automatically.
  • fire events on cache updates.
• Explicit Joint3 struct with tree float members j0, j1 and j2 (used by JointsSetTorque and JointsSetAngles).
• Explicit VerseGripData type for VerseGrip cache:
  • cached states properties: Orientation, IsAttached, ButtonCount.
  • cached button states.
  • cache subscribe to client to be updated automatically.
  • coordinateConverter used to convert received data with specified coordinate system.
  • fire events on cache updates.
• CoordinateConverter (replace UnityConvert) to individually define how to convert device coordinate space into Unity coordinate space:
  • Inverse3CoordinateConverter to convert cursor coordinates and body orientation.
  • VerseGripCoordinateConverter to convert VerseGrip orientation.
  • Vector3Settings and QuaternionSettings structs used to store coordinate system conversion settings.
  • Create default coordinate converter presets for Inverse3 and VerseGrip from the components or Assets menu.
    • Inverse3 (Arm Forward Pose) converter with settings for device with the arm facing the user, the LED icon on the side.
    • Inverse3 (Icon Forward Pose) converter with settings for device with the LED icon facing the user, the arm on the side.
    • VerseGrip (default) converter for device pointing the screen with the user input button on top.
• ClientConnection gets FirmwareVersion, GravityCompensation and TorqueScaling on device opened.
• ConnectionMonitor displays GravityCompensation, TorqueScaling and PowerSupply.

Bug Fixes

• Inverse3.DeviceStateChanged triggered also with JointsSetTorque and JointsSetAngles.
• Automatically reconnect device after disconnect.
• Clean client polling thread on build exit.
• Fixed bugs and improved stability.
• Fixed device mapping after scene unload/load

Deprecated

• ClientConnection.Configuration.HapticFrequencyHz replaced by HapticPollFrequency
• ClientConnection.Configuration.PollDelayNs replaced by HapticPollDelayNs
• DeviceBehaviour.ConnectionStateChangedAsync will be removed on next major release
• Inverse3.Position replaced by Inverse3.CursorPosition
• Inverse3.LocalPosition replaced by Inverse3.CursorLocalPosition
• Inverse3.TryResetForce() replaced by Release()
• VerseGrip.LocalRotation replaced by VerseGrip.Orientation
• JointsSetTorque(Vector3) replaced by JointsSetTorques(Joint3)
• JointsSetTorque(float, float, float) replaced by JointsSetTorques(float, float, float)
• JointsSetAngles(Vector3) replaced by JointsSetAngles(Joint3)

← Back to index page