Inverse SDK for Unity

Build touch-enabled experiences with Haply hardware. Please follow installation guide in documentation page.

v2.0.0

Released Feb 6, 2024 at 12:00 AM

...Detecting your system...

Release Notes

Dependencies

Haply Inverse Runtime SDK version 2.0.0

haply-inverse-service.exe: version 2.0.0 minimum (must be running in the background)

haply-inverse-c.dll: version 2.0.0 (included)

Haply.Inverse.dll: version 2.0.0 (included)

Breaking Changes

Replaced HapticThread and HandleThread with Inverse3 and VerseGrip.

Replaced the Run(callback) method with the DeviceStateChanged(device) high-frequency event for subscription.

Replaced hapticThread.onInitialized event with Inverse3.DeviceOpened.

Replaced handleThread.onInitialized event with VerseGrip.DeviceOpened.

Cursor position and velocity are no longer passed in haptic callback parameters.

Removed thread-safe managed AdditionalData in favor of user-defined data handling.

New Features

Monitoring window (Window > Haply > Connection Monitor) for visualizing the status of connected devices.

Haply creation menu (GameObject > Haply > Haptic Rig) for easy scene setup with all required GameObjects.

DeviceMapper for auto-assigning Inverse3 and VerseGrip devices.

Client Configuration component for specific connection use cases and controlling the desired haptic loop

frequency.

Inverse3 component _(replaces HapticThread)_ for positioning the Inverse3 device in space, retrieving its

position, and controlling force in a high-frequency thread.

Inverse3.DeviceStateChanged event, triggered in a separate haptic thread running at high frequency.

Automatic conversion from device local space to scene world space with thread-safe cached transformation

matrices LocalToWorldMatrix and WorldToLocalMatrix.

Inverse3.LocalPosition and Inverse3.LocalVelocity provide unprocessed cursor coordinates in device local

space.

Inverse3.Position and Inverse3.Velocity offer world space transformed cursor coordinates.

Inverse3.SetLocalForce and Inverse3.SetLocalPosition methods for controlling the device using local

coordinates.

Inverse3.SetForce and Inverse3.SetPosition methods for controlling the device using world coordinates.

Inverse3.JointsSetTorque for direct motor control.

Inverse3.JointsSetAngles for direct control of the device's arm positions.

Inverse3.WorkspaceCenter provides workspace center coordinates based on handedness.

VerseGrip component _(replaces HandleThread)_ for retrieving the VerseGrip orientation in a high-frequency thread,

along with button states and attachment status.

VerseGrip.DeviceStateChanged event, triggered in a separate haptic thread running at high frequency.

VerseGrip.GetButton, VerseGrip.GetButtonDown, and VerseGrip.GetButtonUp methods for use within the

haptic thread, following the same logic as UnityEngine.Input.

Unity events triggered on the main thread for scene and UI

interactions: VerseGrip.ButtonDown, VerseGrip.ButtonUp, VerseGrip.Attached,

and VerseGrip.Detached.

Inverse3Cursor and VerseGripCursor components for visualizing cursor position and orientation in the scene and

managing models.

HapticOrigin GameObject for facilitating workspace scaling and positioning.

Device position, orientation, and handedness visualization with gizmos.

Reachable workspace visualization with gizmos.

Filtered logging.

Tutorial samples.

Experimental samples.

Bug Fixes and Improvements

Provided Inverse3 handedness upon device detection. Opening the device to query handedness is no longer necessary.

Automatic device detection _(with Haply Inverse Service and DeviceMapper)_

Increased haptic loop frequency from ~1000Hz to ~4000kHz.

All Downloads

All available downloads for this release:

Inverse SDK for Unity 2.0.0 Unity 2021.3+

2021.3+

Artifacts: Tarball

Download

Back to inverse-sdk-unity releases