private void Start()
{
if (this.SourceAvatar == null)
{
this.SourceAvatar = this.GetComponent <MMIAvatar>();
}
}
public InstructionDefinitionWindow(MMIAvatar avatar, ref MInstruction rootInstruction, MInstruction availableInstruction = null)
{
this.avatar = avatar;
this.mmuDescriptions = this.avatar.MMUAccess.GetLoadableMMUs();
this.motionTypeOptions = mmuDescriptions.Select(s => s.MotionType).ToArray();
this.instructionList = rootInstruction.Instructions;
if (availableInstruction == null)
{
this.instruction = new MInstruction();
this.instruction.ID = MInstructionFactory.GenerateID();
this.instruction.Properties = new Dictionary <string, string>();
}
else
{
this.instruction = availableInstruction;
//Preselect the motion type
if (this.motionTypeOptions.Contains(this.instruction.MotionType))
{
this.motionTypeIndex = this.motionTypeOptions.ToList().IndexOf(this.instruction.MotionType);
}
}
}
void LateUpdate()
{
if (Execute && !lastState && GazeTarget != null)
{
MInstruction instruction = new MInstruction(System.Guid.NewGuid().ToString(), "gaze", "Pose/Gaze")
{
Properties = new Dictionary <string, string>()
{
{ "TargetID", this.GazeTarget.MSceneObject.ID }
}
};
this.lastInstructionID = instruction.ID;
MMIAvatar avatar = this.GetComponent <MMIAvatar>();
//Add the motion type to the cosim
avatar.CoSimulator.SetPriority("Pose/Gaze", 10);
avatar.CoSimulator.AssignInstruction(instruction, new MSimulationState(avatar.GetPosture(), avatar.GetPosture()));
}
if (!Execute && lastState)
{
this.avatar.CoSimulator.Abort(lastInstructionID);
}
lastState = Execute;
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="mmus"></param>
/// <param name="avatar"></param>
public RemoteCoSimulation(IMotionModelUnitAccess coSimulationMMU, IServiceAccess serviceAccess, MMIAvatar avatar, Dictionary <string, string> priorities) : base(new List <IMotionModelUnitAccess>() { coSimulationMMU })
{
this.avatar = avatar;
this.serviceAccess = serviceAccess;
this.remoteCoSimulationMMU = coSimulationMMU;
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="avatar"></param>
public BehaviorDefinitionWindow(MMIAvatar avatar)
{
this.avatar = avatar;
this.rootInstruction = new MInstruction()
{
Instructions = new List <MInstruction>(),
ID = MInstructionFactory.GenerateID(),
MotionType = "Composite"
};
this.instructionsArray = this.rootInstruction.Instructions.Select(s => s.Name + " , " + s.MotionType + " , " + s.ID).ToArray();
}
/// <summary>
/// Basic constructpr
/// </summary>
/// <param name="avatar"></param>
public NodeBasedEditor(MMIAvatar avatar)
{
this.avatar = avatar;
if (this.avatar.MMUAccess == null || !this.avatar.MMUAccess.IsInitialized)
{
return;
}
///Use the priorities of the co-simulator
Dictionary <string, float> priorities = this.avatar.CoSimulator.GetPriorities();
this.sortedPriorities = priorities.ToList().OrderBy(s => s.Value).ToList();
Dictionary <float, int> indexMap = new Dictionary <float, int>();
for (int i = 0; i < sortedPriorities.Count; i++)
{
var item = sortedPriorities[i];
if (!indexMap.ContainsKey(item.Value))
{
indexMap.Add(item.Value, 0);
}
string motionType = sortedPriorities[i].Key;
int xPos = (int)(10 + 200 * sortedPriorities[i].Value);
int yPos = (int)(100 + 50 * indexMap[item.Value]);
Node node = new Node(new Vector2(xPos, yPos), 150, 50, nodeStyle, selectedNodeStyle, inPointStyle, outPointStyle, OnClickInPoint, OnClickOutPoint, OnClickRemoveNode)
{
title = motionType,
Depth = (int)item.Value
};
indexMap[item.Value]++;
this.nodes.Add(node);
}
AddConnections();
}
// Start is called before the first frame update
void Start()
{
this.avatar = this.GetComponent <MMIAvatar>();
}
private void OnGUI()
{
if (GUI.Button(new Rect(300, 200, 200, 100), "Grasp object (trajectory)"))
{
MPathConstraint pathConstraint = new MPathConstraint()
{
PolygonPoints = new List <MGeometryConstraint>()
};
foreach (Transform transform in this.TrajectoryPoints)
{
MVector3 position = transform.position.ToMVector3();
MVector3 rotationEuler = transform.rotation.eulerAngles.ToMVector3();
pathConstraint.PolygonPoints.Add(new MGeometryConstraint("")
{
TranslationConstraint = new MTranslationConstraint()
{
Type = MTranslationConstraintType.BOX,
Limits = position.ToMInterval3(this.TranslationTolerance)
},
RotationConstraint = new MRotationConstraint()
{
Limits = rotationEuler.ToMInterval3(this.RotationTolerance)
}
});
}
MConstraint moveConstraint = new MConstraint(System.Guid.NewGuid().ToString())
{
PathConstraint = pathConstraint
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", "idle");
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", "Pose/Reach")
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right", "MinDistance", 2.0.ToString()),
};
MInstruction moveRight = new MInstruction(MInstructionFactory.GenerateID(), "move right", "Object/Move")
{
Properties = new Dictionary <string, string>()
{
{ "SubjectID", this.GetComponent <MMISceneObject>().MSceneObject.ID },
{ "Hand", "Right" },
{ "MinDistance", 2.0.ToString() },
{ "trajectory", moveConstraint.ID }
},
StartCondition = reachRight.ID + ":" + mmiConstants.MSimulationEvent_End,
Constraints = new List <MConstraint>()
{
moveConstraint
}
};
MMIAvatar avatar = GameObject.FindObjectOfType <MMIAvatar>();
//this.CoSimulator.Abort();
avatar.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = avatar.GetPosture(), Current = avatar.GetPosture()
});
avatar.CoSimulator.AssignInstruction(reachRight, new MSimulationState()
{
Initial = avatar.GetPosture(), Current = avatar.GetPosture()
});
avatar.CoSimulator.AssignInstruction(moveRight, new MSimulationState()
{
Initial = avatar.GetPosture(), Current = avatar.GetPosture()
});
}
}
/// <summary>
/// Method which is called for each frame and avatar.
/// In here further processing can be done (e.g. setting variables of the MMIAvatar).
/// </summary>
/// <param name="result"></param>
/// <param name="avatar"></param>
protected virtual void OnResultComputed(MSimulationResult result, MMIAvatar avatar)
{
}
// Use this for initialization
protected virtual void Start()
{
this.avatar = this.GetComponent <MMIAvatar>();
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="mmus"></param>
/// <param name="avatar"></param>
public LocalCoSimulation(List <IMotionModelUnitAccess> mmus, IServiceAccess serviceAccess, MMIAvatar avatar) : base(mmus)
{
this.avatar = avatar;
this.serviceAccess = serviceAccess;
this.HierachicalSolving = false;
this.priorities = new Dictionary <string, float>()
{
{ "Default", -1 },
//Level 0
{ "Pose", 0 },
{ "Pose/Idle", 0 },
{ "idle", 0 },
//Level 1
{ "Locomotion", 1 },
{ "Locomotion/Walk", 1 },
{ "Locomotion/Run", 1 },
{ "Locomotion/Jog", 1 },
{ "Locomotion/Crouch", 1 },
{ "Locomotion/Turn", 1 },
{ "walk", 1 },
//Level 2
{ "Pose/Reach", 2 },
{ "positionObject", 2 },
{ "releaseObject", 2 },
{ "Object/Release", 2 },
{ "Object/Carry", 2 },
{ "Object/Move", 2 },
{ "Object/Turn", 2 },
{ "release", 2 },
{ "carry", 2 },
{ "move", 3 },
{ "putDown", 2 },
{ "pickupMTM-SD", 2 },
{ "turn", 2 },
{ "UseTool", 2 },
//Level 3
{ "Pose/MoveFingers", 3 },
{ "moveFingers", 3 },
{ "grasp", 3 },
//Level 4
{ "Pose/Gaze", 4 },
{ "Pose/EyeTravel", 4 },
};
//Create and add the solvers
this.Solvers = new List <ICoSimulationSolver>
{
new IKSolver(this.serviceAccess, avatar.GetSkeletonAccess(), avatar.MAvatar.ID)
};
this.SortMMUPriority();
}
// Update is called once per frame
void LateUpdate()
{
if (EnableIK)
{
MMIAvatar avatar = this.GetComponent <MMIAvatar>();
if (NewInterface)
{
List <MConstraint> constraints = new List <MConstraint>();
if (LeftHandTarget != null)
{
MJointConstraint leftHandConstraint = new MJointConstraint(MJointType.LeftWrist)
{
GeometryConstraint = new MGeometryConstraint()
{
ParentObjectID = "",
ParentToConstraint = this.LeftHandTarget.MSceneObject.Transform
}
};
constraints.Add(new MConstraint(System.Guid.NewGuid().ToString())
{
JointConstraint = leftHandConstraint
});
}
if (RightHandTarget != null)
{
MJointConstraint rightHandConstraint = new MJointConstraint(MJointType.RightWrist)
{
GeometryConstraint = new MGeometryConstraint()
{
ParentObjectID = "",
ParentToConstraint = this.RightHandTarget.MSceneObject.Transform
}
};
constraints.Add(new MConstraint(System.Guid.NewGuid().ToString())
{
JointConstraint = rightHandConstraint
});
}
MIKServiceResult result = avatar.MMUAccess.ServiceAccess.IKService.CalculateIKPosture(avatar.GetRetargetedPosture(), constraints, new Dictionary <string, string>());
avatar.AssignPostureValues(result.Posture);
}
else
{
List <MIKProperty> ikProperties = new List <MIKProperty>();
if (LeftHandTarget != null)
{
ikProperties.Add(new MIKProperty()
{
OperationType = MIKOperationType.SetPosition,
Target = MEndeffectorType.LeftHand,
Values = new List <double>()
{
LeftHandTarget.transform.position.x, LeftHandTarget.transform.position.y, LeftHandTarget.transform.position.z
},
Weight = 1
});
ikProperties.Add(new MIKProperty()
{
OperationType = MIKOperationType.SetRotation,
Target = MEndeffectorType.LeftHand,
Values = new List <double>()
{
LeftHandTarget.transform.rotation.x, LeftHandTarget.transform.rotation.y, LeftHandTarget.transform.rotation.z, LeftHandTarget.transform.rotation.w
},
Weight = 1
});
}
if (RightHandTarget != null)
{
ikProperties.Add(new MIKProperty()
{
OperationType = MIKOperationType.SetPosition,
Target = MEndeffectorType.RightHand,
Values = new List <double>()
{
RightHandTarget.transform.position.x, RightHandTarget.transform.position.y, RightHandTarget.transform.position.z
},
Weight = 1
});
ikProperties.Add(new MIKProperty()
{
OperationType = MIKOperationType.SetRotation,
Target = MEndeffectorType.RightHand,
Values = new List <double>()
{
RightHandTarget.transform.rotation.x, RightHandTarget.transform.rotation.y, RightHandTarget.transform.rotation.z, RightHandTarget.transform.rotation.w
},
Weight = 1
});
}
MAvatarPostureValues posture = avatar.MMUAccess.ServiceAccess.IKService.ComputeIK(avatar.GetRetargetedPosture(), ikProperties);
avatar.AssignPostureValues(posture);
}
}
}
void Start()
{
this.mmiAvatar = this.GetComponent<MMIAvatar>();
Load();
}
