/// <summary>
/// Release selected object
/// </summary>
public void Release()
{
if (!pickedUp)
{
GameObject go;
try
{
//Get selected object
go = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If move target is selected, switch to parent
if (MoveTargetChecker.IsMoveTarget(go))
{
go = go.transform.parent.gameObject;
}
//List for instructions
List <MInstruction> list = new List <MInstruction>();
//List for hands on object
List <GameObject> hands = new List <GameObject>();
if (HandChecker.HasLeftHand(go))
{
MInstruction releaseLeft =
new MInstruction(MInstructionFactory.GenerateID(), "release object", "Object/Release")
{
Properties = PropertiesCreator.Create("Hand", "Left", CoSimTopic.OnStart,
_handPoseIdManager.CurrentHandIdLeft + ":" + CoSimAction.EndInstruction)
//Properties = PropertiesCreator.Create("Hand", "Left")
};
//Add instructions to position fingers
list.AddRange(ReleaseHandPose("Left"));
//Add instruction to release left hand
list.Add(releaseLeft);
//Remove left hand game object from object
//hands.Add(go.transform.Find("LeftHand(Clone)").gameObject);
hands.Add(HandChecker.GetLeftHand(go));
}
if (HandChecker.HasRightHand(go))
{
MInstruction releaseRight =
new MInstruction(MInstructionFactory.GenerateID(), "release object", "Object/Release")
{
Properties = PropertiesCreator.Create("Hand", "Right", CoSimTopic.OnStart,
_handPoseIdManager.CurrentHandIdRight + ":" + CoSimAction.EndInstruction)
//Properties = PropertiesCreator.Create("Hand", "Right")
};
//Add instructions to position fingers
list.AddRange(ReleaseHandPose("Right"));
//Add instruction to release right hand
list.Add(releaseRight);
//Remove right hand game object from object
//hands.Add(go.transform.Find("RightHand(Clone)").gameObject);
hands.Add(HandChecker.GetRightHand(go));
}
//Destroy the hands after moving an object
foreach (var hand in hands)
{
Destroy(hand);
}
//Add instructions to queue
queueController.AddItem(list, "Release " + go.name);
}
else
{
SSTools.ShowMessage("Object needs to be moved first!", SSTools.Position.bottom, SSTools.Time.twoSecond);
}
}
/// <summary>
/// Position fingers on hand pose
/// </summary>
private IEnumerable <MInstruction> MakeHandPose(GameObject go, string side)
{
List <MInstruction> list = new List <MInstruction>();
if (side.Equals("Left"))
{
//Get UnitySceneAccess ID of hand
//GameObject hand = go.transform.Find("LeftHand(Clone)").gameObject;
GameObject hand = HandChecker.GetLeftHand(go);
//The desired Hand pose (rotations of the finger Joints)
UnityHandPose leftHandPose = hand.GetComponent <UnityHandPose>();
_handPoseIdManager.CurrentHandIdLeft = Guid.NewGuid().ToString();
//Create the instruction to move the fingers
MInstruction moveFingersInstructionsLeft = new MInstruction(_handPoseIdManager.CurrentHandIdLeft, "Move Fingers", "Pose/MoveFingers")
{
Properties = new Dictionary <string, string>()
{
{ "Release", "false" },
{ "Hand", "Left" }
},
Constraints = new List <MConstraint>()
};
//Add properties to the instruction
var constraintID = Guid.NewGuid().ToString();
moveFingersInstructionsLeft.Properties.Add("HandPose", constraintID);
moveFingersInstructionsLeft.Constraints.Add(new MConstraint()
{
ID = constraintID,
PostureConstraint = leftHandPose.GetPostureConstraint()
});
list.Add(moveFingersInstructionsLeft);
}
if (side.Equals("Right"))
{
//Get UnitySceneAccess ID of hand
//GameObject hand = go.transform.Find("RightHand(Clone)").gameObject;
GameObject hand = HandChecker.GetRightHand(go);
//String objectID = hand.GetComponent<MMISceneObject>().MSceneObject.ID;
//The desired Hand pose (rotations of the finger Joints)
UnityHandPose leftHandPose = hand.GetComponent <UnityHandPose>();
_handPoseIdManager.CurrentHandIdRight = Guid.NewGuid().ToString();
//Create the instruction to move the fingers
MInstruction moveFingersInstructionsRight = new MInstruction(_handPoseIdManager.CurrentHandIdRight, "Move Fingers", "Pose/MoveFingers")
{
Properties = new Dictionary <string, string>()
{
{ "Release", "false" },
{ "Hand", "Right" }
},
Constraints = new List <MConstraint>()
};
//Add properties to the instruction
var constraintID = Guid.NewGuid().ToString();
moveFingersInstructionsRight.Properties.Add("HandPose", constraintID);
moveFingersInstructionsRight.Constraints.Add(new MConstraint()
{
ID = constraintID,
PostureConstraint = leftHandPose.GetPostureConstraint()
});
list.Add(moveFingersInstructionsRight);
}
return(list);
}
/// <summary>
/// Reach selected object
/// </summary>
public void ReachObject()
{
GameObject go;
try
{
//Get selected object
go = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If move target is selected, switch to parent
if (MoveTargetChecker.IsMoveTarget(go))
{
go = go.transform.parent.gameObject;
}
//Check for hands
if (!HandChecker.HasHands(go))
{
SSTools.ShowMessage("No hands placed", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//List of instructions
List <MInstruction> list = new List <MInstruction>();
if (HandChecker.HasLeftHand(go))
{
//Get UnitySceneAccess ID of hand
//GameObject hand = go.transform.Find("LeftHand(Clone)").gameObject;
GameObject hand = HandChecker.GetLeftHand(go);
String objectID = hand.GetComponent <MMISceneObject>().MSceneObject.ID;
//Now create a specific instruction to reach with the right hand
MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reach left", "Pose/Reach")
{
Properties = PropertiesCreator.Create("TargetID", objectID,
"Hand", "Left")
};
//Add instructions to list
list.Add(reachLeft);
list.AddRange(MakeHandPose(go, "Left"));
}
if (HandChecker.HasRightHand(go))
{
//Get UnitySceneAccess ID of hand
//GameObject hand = go.transform.Find("RightHand(Clone)").gameObject;
GameObject hand = HandChecker.GetRightHand(go);
String objectID = hand.GetComponent <MMISceneObject>().MSceneObject.ID;
//Now create a specific instruction to reach with the right hand
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", "Pose/Reach")
{
Properties = PropertiesCreator.Create("TargetID", objectID, "Hand", "Right")
};
//Add instructions to list
list.Add(reachRight);
list.AddRange(MakeHandPose(go, "Right"));
}
//Add instruction to queue
queueController.AddItem(list, "Reach " + go.name);
}