/// <summary>
/// Method parses the parameters
/// </summary>
/// <param name="instruction"></param>
/// <returns></returns>
private MBoolResponse ParseParameters(MInstruction instruction)
{
MBoolResponse response = new MBoolResponse(true);
//Get the target hand
if (instruction.Properties.ContainsKey("Hand"))
{
if (instruction.Properties["Hand"] == "Left")
{
this.handJoint = MJointType.LeftWrist;
}
if (instruction.Properties["Hand"] == "Right")
{
this.handJoint = MJointType.RightWrist;
}
}
//Error target hand not specified
else
{
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Required parameter hand not defined"
}
});
}
if (instruction.Properties.ContainsKey("Velocity"))
{
this.velocity = float.Parse(instruction.Properties["Velocity"], System.Globalization.CultureInfo.InvariantCulture);
}
if (instruction.Properties.ContainsKey("AngularVelocity"))
{
this.angularVelocity = float.Parse(instruction.Properties["AngularVelocity"], System.Globalization.CultureInfo.InvariantCulture);
}
if (instruction.Properties.ContainsKey("UseBlending"))
{
bool.TryParse("UseBlending", out bool useBlending);
this.useIK = !useBlending;
}
if (instruction.Properties.ContainsKey("EndBlendDuration"))
{
this.endBlendDuration = float.Parse(instruction.Properties["EndBlendDuration"], System.Globalization.CultureInfo.InvariantCulture);
}
//First extract all parameters
if (instruction.Properties.ContainsKey("Trajectory"))
{
string pathConstraintID = instruction.Properties["Trajectory"];
if (instruction.Constraints != null || instruction.Constraints.Where(s => s.PathConstraint != null && s.ID == pathConstraintID).Count() == 0)
{
//Get the path constraint
MPathConstraint pathConstraint = instruction.Constraints.Find(s => s.PathConstraint != null && s.ID == pathConstraintID).PathConstraint;
//Extract the trajectory
this.trajectory = pathConstraint.GetMTransformList();
//Add the target transform
this.trajectory.Add(new MTransform("targetTransform", new MVector3(0, 0, 0), new MQuaternion(0, 0, 0, 1)));
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_INFO, $"Assigned hand trajectory. Number elements: {trajectory.Count}, hand: {this.handJoint}");
}
else
{
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_ERROR, $"Cannot assign trajectory of hand: {this.handJoint}. No suitable MPathConstraint available.");
}
}
return(response);
}
/// <summary>
/// Methods parses the parameters defined in the MInstruction
/// </summary>
/// <param name="instruction"></param>
/// <returns></returns>
private MBoolResponse ParseParameters(MInstruction instruction)
{
//Extract the single shot ik parameter if defined
if (instruction.Properties.ContainsKey("SingleShotIK"))
{
bool.TryParse(instruction.Properties["SingleShotIK"], out singleShotIK);
}
//Extract the velocity if defined
if (instruction.Properties.ContainsKey("Velocity"))
{
this.velocity = float.Parse(instruction.Properties["Velocity"], System.Globalization.CultureInfo.InvariantCulture);
}
//Extract the angular velocity
if (instruction.Properties.ContainsKey("AngularVelocity"))
{
this.angularVelocity = float.Parse(instruction.Properties["AngularVelocity"], System.Globalization.CultureInfo.InvariantCulture);
}
//Extract the information with regard to the target
if (instruction.Properties.ContainsKey("TargetID"))
{
//Use the constraint (if defined)
if (instruction.Constraints != null && instruction.Constraints.Exists(s => s.ID == instruction.Properties["TargetID"]))
{
MConstraint match = instruction.Constraints.Find(s => s.ID == instruction.Properties["TargetID"]);
this.targetTransform = new MTransform()
{
ID = "target",
Position = match.GeometryConstraint.GetGlobalPosition(this.SceneAccess),
Rotation = match.GeometryConstraint.GetGlobalRotation(this.SceneAccess)
};
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_DEBUG, "Using MGeometryConstraint for target definition");
}
//Gather from the scene
else
{
this.targetTransform = this.SceneAccess.GetTransformByID(instruction.Properties["TargetID"]);
}
}
//Error id not available
else
{
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Required parameter Target ID not defined"
}
});
}
//Get the target hand
if (instruction.Properties.ContainsKey("Hand"))
{
if (instruction.Properties["Hand"] == "Left")
{
this.handJoint = MJointType.LeftWrist;
}
if (instruction.Properties["Hand"] == "Right")
{
this.handJoint = MJointType.RightWrist;
}
}
//Error target hand not specified
else
{
return(new MBoolResponse(false)
{
LogData = new List <string>()
{
"Required parameter hand not defined"
}
});
}
//First extract all parameters
if (instruction.Properties.ContainsKey("Trajectory"))
{
string pathConstraintID = instruction.Properties["Trajectory"];
if (instruction.Constraints != null || instruction.Constraints.Where(s => s.PathConstraint != null && s.ID == pathConstraintID).Count() == 0)
{
//Get the path constraint
MPathConstraint pathConstraint = instruction.Constraints.Find(s => s.PathConstraint != null && s.ID == pathConstraintID).PathConstraint;
//Extract the trajectory
this.trajectory = pathConstraint.GetMTransformList();
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_INFO, $"Assigned hand trajectory. Number elements: {trajectory.Count}, hand: {this.handJoint}");
}
else
{
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_ERROR, $"Cannot assign trajectory of hand: {this.handJoint}. No suitable MPathConstraint available.");
}
}
return(new MBoolResponse(true));
}
/// <summary>
/// Method is used to setup the parameters of one individual hand
/// </summary>
/// <param name="type"></param>
/// <param name="instruction"></param>
private void SetupHand(MJointType type, MInstruction instruction)
{
HandContainer hand = this.activeHands.Find(s => s.Type == type);
if (hand != null)
{
this.activeHands.Remove(hand);
}
//Create a new hand
hand = new HandContainer(type, instruction, true);
if (instruction.Properties.ContainsKey("Velocity"))
{
hand.Velocity = float.Parse(instruction.Properties["Velocity"], System.Globalization.CultureInfo.InvariantCulture);
}
if (instruction.Properties.ContainsKey("AngularVelocity"))
{
hand.AngularVelocity = float.Parse(instruction.Properties["AngularVelocity"], System.Globalization.CultureInfo.InvariantCulture);
}
if (instruction.Properties.ContainsKey("Acceleration"))
{
hand.Acceleration = float.Parse(instruction.Properties["Acceleration"], System.Globalization.CultureInfo.InvariantCulture);
}
if (instruction.Properties.ContainsKey("HoldDuration"))
{
hand.HoldTime = float.Parse(instruction.Properties["HoldDuration"], System.Globalization.CultureInfo.InvariantCulture);
}
if (instruction.Properties.ContainsKey("CollisionAvoidance"))
{
hand.CollisionAvoidance = bool.Parse(instruction.Properties["CollisionAvoidance"]);
if (hand.CollisionAvoidance)
{
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_INFO, $"Using local collision avoidance, hand: {hand.Type}");
}
}
//First extract all parameters
if (instruction.Properties.ContainsKey("Trajectory"))
{
string pathConstraintID = instruction.Properties["Trajectory"];
if (instruction.Constraints != null || instruction.Constraints.Where(s => s.PathConstraint != null && s.ID == pathConstraintID).Count() == 0)
{
//Get the path constraint
MPathConstraint pathConstraint = instruction.Constraints.Find(s => s.PathConstraint != null && s.ID == pathConstraintID).PathConstraint;
//Extract the trajectory
hand.Trajectory = pathConstraint.GetMTransformList();
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_INFO, $"Assigned hand trajectory. Number elements: {hand.Trajectory.Count}, hand: {hand.Type}");
}
else
{
MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_ERROR, $"Cannot assign trajectory of hand: {hand.Type}. No suitable MPathConstraint available.");
}
}
this.activeHands.Add(hand);
}