protected virtual IEnumerator ReleaseStim(PositionPayload payload)
{
float t = payload.position * growthFactorRelease;
int width = (int)Mathf.Lerp(offsetRelease, maxWidthReleaseT, t);
Debug.Log(width);
// Ramp up shortly
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.Triceps,
Side.Right,
width,
currentTriceps
),
burstDurationRelease
);
yield return(null);
//yield return new WaitForSecondsRealtime(wristTricepsDelay / 1000f);
//int width1 = (int)Mathf.Lerp(offsetRelease, maxWidthReleaseW, t);
//ArmStimulation.StimulateArmBurst(
// new StimulationInfo(
// Part.Wrist,
// Side.Right,
// width1,
// current
// ),
// wristBurstDurationRelease
//);
}
protected virtual void HandlePosition(Message msg)
{
VectorPayload payload = JsonUtility.FromJson <VectorPayload>(msg.payload);
float t = (0.5f + payload.vector.x);
int widthL = (int)Mathf.Lerp(offset, tricepsL, (1 - t) * positionFactor);
int widthR = (int)Mathf.Lerp(offset, tricepsR, t * positionFactor);
ArmStimulation.StimulateArm(
Part.Triceps,
Side.Left,
widthL,
currentTriceps
);
ArmStimulation.StimulateArm(
Part.Triceps,
Side.Right,
widthR,
currentTriceps
);
stopTime = DateTime.Now.AddMilliseconds(500);
stimulating = true;
}
protected virtual void ApplyStimulation()
{
ArmStimulation.StimulateArmBurst(
stimInfo,
duration
);
}
protected virtual void ApplyStimulation()
{
if (payload.direction <= 0)
{
int width = (int)Mathf.Round(
getPulseWidth(
payload.direction,
payload.side == Side.Left ? maxWidthWristL : maxWidthWristR
)
);
ArmStimulation.StimulateArm(
Part.Wrist,
payload.side,
width,
payload.side == Side.Left ? currentWristL : currentWristR
);
}
else
{
ChannelList.Stop();
// normally apply to frist flexor
}
//stopTime = DateTime.Now.AddMilliseconds(500);
}
public override void HandleMessage(Message msg)
{
switch (msg.type)
{
case MessageType.Cube:
base.HandleMessage(msg);
//ArmStimulation.StimulateArm(
// Part.Triceps,
// side,
// offsetTriceps,
// currentTriceps
//);
break;
case MessageType.CubeGrab:
// Flat stimulation triceps only
ArmStimulation.StimulateArm(
Part.Triceps,
Side.Left,
offsetTricepsL,
currentTricepsL
);
ArmStimulation.StimulateArm(
Part.Triceps,
Side.Right,
offsetTricepsR,
currentTricepsR
);
break;
}
}
protected virtual void HandleImpact(Message msg)
{
VectorPayload payload = JsonUtility.FromJson <VectorPayload>(msg.payload);
if (payload.vector.Equals(Vector3.down))
{
StimulationInfo[] infos = new StimulationInfo[]
{
new StimulationInfo(
Part.Triceps,
Side.Right,
impactWidth,
currentTriceps
),
new StimulationInfo(
Part.Triceps,
Side.Left,
impactWidth,
currentTriceps
),
};
// Ramp up shortly
ArmStimulation.StimulateArmBurst(
infos,
impactDuration
);
}
}
protected void HandleDetent(Message msg)
{
VectorPayload payload = JsonUtility.FromJson <VectorPayload>(msg.payload);
if (activeDetent < DateTime.Now)
{
if (payload.vector.x < 0)
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.Biceps,
Side.Right,
widthDetentB,
currentDetentB
),
detentDuration
);
}
else
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.Triceps,
Side.Right,
widthDetentT,
currentDetentT
),
detentDuration
);
}
activeDetent = DateTime.Now.AddMilliseconds(cooldownDetent);
}
}
public void HandleBoxLedgeMsg(Message msg)
{
if (ledgeDuration > 0)
{
Debug.Log("Ledge");
int current = 15;
StimulationInfo[] infos = new StimulationInfo[]
{
new StimulationInfo(
Part.Wrist,
Side.Right,
//Side.Left, // Wrist extensor
ledgeWidthWrist,
current
),
new StimulationInfo(
Part.Shoulder,
Side.Right,
ledgeWidthShoulder,
currentWrist
),
};
// Ramp up shortly
ArmStimulation.StimulateArmBurst(
infos,
ledgeDuration
);
}
}
public override void HandleMessage(Message msg)
{
SolidObjectPayload payload = JsonUtility.FromJson <SolidObjectPayload>(msg.payload);
InitParameters(msg.payload);
side = payload.side;
float t = Mathf.InverseLerp(0, maxPenetration, penetration) * growthFactor;
// Offset
// Alwways stimulate wrist
int widthWrist = (int)Mathf.Lerp(
offsetWrist,
maxWidthWrist,
t);
ArmStimulation.StimulateArm(
Part.Wrist,
side,
widthWrist,
currentWrist
);
float angle = Vector3.Angle(payload.cameraDirection, payload.handPosition);
if (Mathf.Abs(Mathf.Sin(angle * Mathf.PI / 180)) > .5f)
{
// close to orthogonal => pushing sideways
// Shoulder
int widthShoulder = (int)Mathf.Lerp(
offsetShoulder,
maxWidthShoulder,
t);
ArmStimulation.StimulateArm(
Part.Shoulder,
side,
widthShoulder,
currentShoulder
);
}
else
{
// pushing from the "front"
// Biceps
int widthBiceps = (int)Mathf.Lerp(
offsetBiceps,
maxWidthBiceps,
t);
ArmStimulation.StimulateArm(
Part.Biceps,
side,
widthBiceps,
currentBiceps
);
}
}
protected void HandleStatus(Message msg)
{
GenericStringPayload payload = JsonUtility.FromJson <GenericStringPayload>(msg.payload);
bool value = bool.Parse(payload.payload);
switch (payload.source)
{
case "Intensity":
activeIntensity = value;
// check last Detent
if (activeIntensity && currentIntensity >= 0)
{
//go to last detent
ArmStimulation.StimulateArm(
Part.OutwardsWrist,
Side.Right,
inDetentR,
current
);
targetIntensity = currentIntensity;
}
break;
case "Color":
activeColor = value;
break;
case "Thermo":
activeThermo = value;
break;
}
}
protected void HandleElectro(Message msg)
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.Biceps,
Side.Right,
widthBiceps,
currentBiceps),
durationBiceps
);
}
public void Update()
{
if (changing && invalidCombination())
{
ArmStimulation.StimulateArm(
Part.InwardsWrist,
Side.Right,
inDetentR,
current
);
}
}
protected virtual void ApplyStimulation()
{
for (int i = 0; i < 5; i++)
{
ArmStimulation.StimulateArmSinglePulse(
Part.Wrist,
side,
maxPulseWidth,
15
);
}
}
protected virtual void HandleArm(Message msg)
{
PositionPayload payload = JsonUtility.FromJson <PositionPayload>(msg.payload);
int width = (int)Mathf.Lerp(offset, maxTricepsWidth, payload.position * growthFactor);
ArmStimulation.StimulateArm(
Part.Triceps,
Side.Right,
width,
currentTriceps
);
stopTime = System.DateTime.Now.AddMilliseconds(500);
stimulating = true;
}
protected virtual void ApplyStimulation()
{
distance = Mathf.Abs(distance);
maxDistance = Mathf.Abs(maxDistance);
int width = (int)Mathf.Round(getPulseWidth(distance, maxDistance, maxPulseWidth));
ArmStimulation.StimulateArm(
Part.Wrist,
side,
width,
15
);
stopTime = DateTime.Now.AddMilliseconds(500);
stimulating = true;
}
protected void HandleButton(Message msg)
{
ContinuousPayload payload = JsonUtility.FromJson <ContinuousPayload>(msg.payload);
float t = (payload.distance / payload.maxDistance) - 1;
//Debug.Log(t);
//return;
int width = (int)Mathf.Lerp(buttonOffset, buttonWidth, t);
ArmStimulation.StimulateArm(
Part.Biceps,
Side.Right,
width,
current
);
}
protected override void ApplyStimulation()
{
offset = 0;
bool firstHalf = distance < 0 ? true : false;
maxDistance = Mathf.Abs(maxDistance);
distance = Mathf.Abs(distance);
// Reversed: Starts strong but gets weaker in the middle
distance = Mathf.Max(0, maxDistance - distance);
int width = (int)Mathf.Round(getPulseWidth(distance, maxDistance, maxPulseWidth));
//print(firstHalf ? width : -width);
if (firstHalf)
{
ArmStimulation.StimulateArm(
Part.Biceps, // should be triceps
side,
width,
15
);
ArmStimulation.StimulateArm(
Part.Wrist,
side,
0,
15
);
}
else
{
ArmStimulation.StimulateArm(
Part.Wrist,
side,
width,
15
);
ArmStimulation.StimulateArm(
Part.Biceps, // should be triceps
side,
0,
15
);
}
}
/**
* Overwrite me
*/
protected virtual void ApplyStimulation()
{
penetration = Mathf.Abs(penetration);
maxPenetration = Mathf.Abs(maxPenetration);
int width = (int)Mathf.Round(getPulseWidth(penetration, maxPenetration, defaultMaxWidth));
ArmStimulation.StimulateArm(
Part.Wrist,
side,
width,
15
);
stopTime = DateTime.Now.AddMilliseconds(500);
stimulating = true;
}
protected override void ApplyStimulation()
{
// how far the button was pressed
distance = Mathf.Max(0, distance);
// max push depth
maxDistance = Mathf.Abs(maxDistance);
int width, width1;
if (distance < maxDistance)
{
// constant while able to push
width = offset;
width1 = offset;
}
else
{
// scale for up to 10cm penetration
float maxPen = 0.1f;
float diff = Mathf.Max(0, maxDistance + maxPen - distance);
width = (int)Mathf.Round(getPulseWidth(
diff, maxPen, wristUpdatePW));
width1 = (int)Mathf.Round(getPulseWidth(
diff, maxPen, shoulderUpdatePW));
}
ArmStimulation.StimulateArm(
Part.Wrist,
side,
width,
15
);
ArmStimulation.StimulateArm(
Part.Shoulder,
side,
width1,
15
);
stopTime = DateTime.Now.AddMilliseconds(500);
}
protected override void ApplyStimulation()
{
float pen = Mathf.Abs(penetration);
int widthWrist, widthBiceps;
if (penetration <= 0)
{
widthWrist = 0;
widthBiceps = 0;
}
else
{
// Penetration adjusted value
widthWrist = (int)Mathf.Lerp(
offsetWrist,
maxWidthWrist,
pen * growthFactor);
widthBiceps = (int)Mathf.Lerp(
offsetBiceps,
maxWidthBiceps,
pen * growthFactor);
}
ArmStimulation.StimulateArm(
Part.Wrist,
side,
widthWrist,
currentWrist
);
ArmStimulation.StimulateArm(
Part.Biceps,
side,
widthBiceps,
currentBiceps
);
stopTime = DateTime.Now.AddMilliseconds(100);
stimulating = true;
}
protected void HandleBoxTouchMsg(Message msg)
{
GenericStringPayload payload = JsonUtility.FromJson <GenericStringPayload>(msg.payload);
float t = float.Parse(payload.payload);
string src = payload.source;
int width = (int)Mathf.Lerp(
offsetTouchShoulder,
src.Equals("Cube") ? touchShoulder : couchTouchShoulder,
t * growthFactor);
int width1 = (int)Mathf.Lerp(
offsetTouchWrist,
src.Equals("Cube") ? touchWrist : couchTouchWrist,
t * growthFactor);
if (t > 0)
{
Debug.Log("Touching: " + (t * growthFactor));
}
ArmStimulation.StimulateArm(
//Part.Triceps,
Part.Shoulder,
Side.Right,
width,
currentShoulder
);
ArmStimulation.StimulateArm(
Part.Wrist,
Side.Right, // Wrist Extensor Right
width1,
currentWrist
);
stopTime = DateTime.Now.AddMilliseconds(500);
stimulating = true;
}
protected void HandleBoxMovingMsg(Message msg)
{
GenericStringPayload payload = JsonUtility.FromJson <GenericStringPayload>(msg.payload);
float t = float.Parse(payload.payload);
Debug.Log("Moving:" + t);
string src = payload.source;
int width = (int)Mathf.Lerp(
src.Equals("Cube") ? moveOffsetShoulder : moveCouchOffsetShoulder,
src.Equals("Cube") ? moveShoulder : moveCouchShoulder,
t);
int width1 = (int)Mathf.Lerp(
src.Equals("Cube") ? moveOffsetWrist : moveCouchOffsetWrist,
src.Equals("Cube") ? moveWrist : moveCouchWrist,
t);
ArmStimulation.StimulateArm(
//Part.Triceps,
Part.Shoulder,
Side.Right,
width,
currentShoulder
);
ArmStimulation.StimulateArm(
Part.Wrist,
Side.Right,
//Side.Left, // Wrist extensor
width1,
currentWrist
);
stopTime = DateTime.Now.AddMilliseconds(500);
}
protected virtual void HandleWallCollision(Message msg)
{
VectorPayload payload = JsonUtility.FromJson <VectorPayload>(msg.payload);
if (Mathf.Abs(payload.vector.z) < wallThreshold)
{
return;
}
// z-Axis looks to the left
Side sideB = payload.vector.z > 0 ? Side.Left : Side.Right;
Side sideT = payload.vector.z > 0 ? Side.Right : Side.Left;
Debug.Log(payload.vector.z);
StimulationInfo[] infos = new StimulationInfo[]
{
new StimulationInfo(
Part.Triceps,
sideT,
wallImpactWidthTriceps,
currentTriceps
),
new StimulationInfo(
Part.Biceps,
sideB,
wallImpactWidthBiceps,
currentBiceps
),
};
// Ramp up shortly
ArmStimulation.StimulateArmBurst(
infos,
wallImpactDuration
);
}
// Use this for initialization
private void Start()
{
instance = this;
list_full = false;
}
protected void HandleDialDetent(Message msg)
{
VectorPayload payload = JsonUtility.FromJson <VectorPayload>(msg.payload);
Debug.Log(payload.source + (payload.vector.x < 0).ToString());
switch (payload.source)
{
case "Thermo":
if (!activeThermo)
{
break;
}
if (activeTimeThermo < DateTime.Now)
{
if (payload.vector.x < 0)
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.InwardsWrist,
Side.Right,
inDetentR,
current
),
detentDuration
);
}
else
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.OutwardsWrist,
Side.Right,
outDetentsR,
current
),
detentDuration
);
}
activeTimeThermo = DateTime.Now.AddMilliseconds(cooldown);
}
break;
case "Intensity":
currentIntensity = (int)payload.vector.y;
if (targetIntensity == currentIntensity)
{
ChannelList.Stop();
targetIntensity = -1;
Debug.Log("Snapped to last Intensity");
}
if (changing && !invalidCombination())
{
ChannelList.Stop();
Debug.Log("Changed To Valid Combination");
changing = false;
}
else if (invalidCombination())
{
Debug.Log("Invalid Combination");
changing = true;
}
if (!activeIntensity)
{
break;
}
if (activeTimeIntensity < DateTime.Now)
{
if (payload.vector.x < 0)
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.InwardsWrist,
Side.Right,
inDetentR,
current
),
detentDuration
);
}
else
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.OutwardsWrist,
Side.Right,
outDetentsR,
current
),
detentDuration
);
}
activeTimeIntensity = DateTime.Now.AddMilliseconds(cooldown);
}
break;
case "Color":
if (!activeColor)
{
break;
}
currentColor = (int)payload.vector.y;
// snap to intensity 2
if (invalidCombination())
{
Debug.Log("Invalid Combination");
changing = true;
}
if (activeTimeColor < DateTime.Now)
{
if (payload.vector.x < 0)
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.InwardsWrist,
Side.Left,
outDetentL,
current
),
detentDuration
);
}
else
{
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.OutwardsWrist,
Side.Left,
inDetentL,
current
),
detentDuration
);
}
activeTimeColor = DateTime.Now.AddMilliseconds(cooldown);
}
break;
}
}
public override void HandleMessage(Message msg)
{
if (!isActiveAndEnabled)
{
return;
}
switch (msg.type)
{
case MessageType.WalkthroughDial:
HandleDial(msg);
break;
case MessageType.WalkthroughDialDetent:
HandleDialDetent(msg);
break;
case MessageType.WalkthroughDialStatus:
HandleStatus(msg);
break;
case MessageType.WalkthroughButton:
HandleButton(msg);
break;
case MessageType.WalkthroughButtonContact:
if (activeButton < DateTime.Now)
{
//ArmStimulation.StimulateArmBurst(
// new StimulationInfo(
// Part.Biceps,
// Side.Right,
// ButtonI,
// current
// ),
// 1000
//);
ArmStimulation.StimulateArmBurst(
new StimulationInfo(
Part.InwardsWrist,
Side.Right,
inwardsR,
current
),
detentDuration
);
Debug.Log("Button Press");
activeButton = DateTime.Now.AddSeconds(1);
}
break;
case MessageType.WalkthroughButtonPosition:
trackingHandler.HandleMessage(msg);
break;
case MessageType.EscapeElectro:
case MessageType.EscapeDetent:
escapeHandler.HandleMessage(msg);
break;
}
}
// Use this for initialization
private void Start()
{
instance = this;
// Debug.Log("Arm Stimulation initialized");
}
public override void HandleMessage(Message msg)
{
SolidObjectPayload payload = JsonUtility.FromJson <SolidObjectPayload>(msg.payload);
InitParameters(msg.payload);
side = payload.side;
// higher cos => more aligned
float rightCos = Mathf.Cos(
Vector3.Angle(
payload.cameraDirections[0],
payload.handDirection)
* Mathf.PI / 180)
;
float upCos = Mathf.Cos(
Vector3.Angle(
payload.cameraDirections[1],
payload.handDirection)
* Mathf.PI / 180)
;
float frontCos = Mathf.Cos(
Vector3.Angle(
payload.cameraDirections[1],
payload.handDirection)
* Mathf.PI / 180)
;
float max = Mathf.Max(
Mathf.Abs(rightCos),
Mathf.Abs(upCos),
Mathf.Abs(frontCos)
);
// Check relative direction
bool useWrist = false;
bool useBiceps = false;
bool useShoulder = false;
if (max == Mathf.Abs(rightCos))
{
// From the side
useWrist = true;
useShoulder = true;
}
else if (max == Mathf.Abs(upCos))
{
// Top or bottom
useWrist = true;
useBiceps = upCos > 0;
}
else
{
// Front or back
useWrist = true;
useBiceps = frontCos > 0;
}
// Apply stimulation
float t = Mathf.InverseLerp(0, maxPenetration, penetration) * growthFactor;
// Wrist
if (useWrist)
{
// Alwways stimulate wrist
int widthWrist = (int)Mathf.Lerp(
offsetWrist,
maxWidthWrist,
t);
if (penetration <= 0)
{
widthWrist = 0;
}
ArmStimulation.StimulateArm(
Part.Wrist,
side,
widthWrist,
currentWrist
);
}
// Biceps
if (useBiceps)
{
int widthBiceps = (int)Mathf.Lerp(
offsetBiceps,
maxWidthBiceps,
t);
if (penetration <= 0)
{
widthBiceps = 0;
}
ArmStimulation.StimulateArm(
Part.Biceps,
side,
widthBiceps,
currentBiceps
);
}
// Shoulder
if (useShoulder)
{
// Shoulder
int widthShoulder = (int)Mathf.Lerp(
offsetShoulder,
maxWidthShoulder,
t);
if (penetration <= 0)
{
widthShoulder = 0;
}
ArmStimulation.StimulateArm(
Part.Shoulder,
side,
widthShoulder,
currentShoulder
);
}
}
protected override void ApplyStimulation()
{
// how far the button was pressed
float pen = Mathf.Max(0, penetration);
// max push depth
maxPenetration = Mathf.Abs(maxPenetration);
int widthWrist, widthBiceps;
int currentWrist = side == Side.Left ?
currentWristL:
currentWristR;
int currentBiceps = side == Side.Left ?
currentBicepsL:
currentBicepsR;
int offsetWrist = side == Side.Left ?
offsetWristL :
offsetWristR;
int offsetBicpes = side == Side.Left ?
offsetBicepsL :
offsetBicepsR;
if (pen < minPenetration)
{
// scale for initial contact
int maxWidthWrist = side == Side.Left ?
maxWidthWristL :
maxWidthWristR;
widthWrist = (int)Mathf.Lerp(
0,
offsetWrist, // stub
(pen / minPenetration));
int maxWidthBiceps = side == Side.Left ?
maxWidthBicepsL :
maxWidthBicepsR;
widthBiceps = (int)Mathf.Lerp(
0,
offsetBicpes, // stub
(pen / minPenetration));
}
else if (pen < maxPenetration)
{
// scale for moving
// constant while able to push
widthWrist = offsetWrist;
widthBiceps = offsetBicpes;
}
else
{
// scale for moving
// constant while able to push
int maxWidthWrist = side == Side.Left ?
maxWidthWristL :
maxWidthWristR;
widthWrist = (int)Mathf.Lerp(
offsetWrist,
maxWidthWrist,
growthFactor * (pen - maxPenetration) / (1 - maxPenetration));
int maxWidthBiceps = side == Side.Left ?
maxWidthBicepsL :
maxWidthBicepsR;
widthBiceps = (int)Mathf.Lerp(
offsetBicpes,
maxWidthBiceps,
growthFactor * (pen - maxPenetration) / (1 - maxPenetration));
}
if (penetration <= 0)
{
widthWrist = 0;
widthBiceps = 0;
}
ArmStimulation.StimulateArm(
Part.Wrist,
side,
widthWrist,
currentWrist
);
ArmStimulation.StimulateArm(
Part.Biceps,
side,
widthBiceps,
currentBiceps
);
stopTime = DateTime.Now.AddMilliseconds(500);
}
// Use this for initialization
private void Start()
{
instance = this;
}
