/// <summary>
/// Performs a local motion planning to estimate the next pose
/// </summary>
/// <param name="velocity"></param>
/// <param name="time"></param>
/// <param name="currentPosition"></param>
/// <param name="currentRotation"></param>
/// <param name="targetPosition"></param>
/// <param name="targetRotation"></param>
/// <returns></returns>
private MTransform DoLocalMotionPlanning(double velocity, TimeSpan time, MVector3 currentPosition, MQuaternion currentRotation, MVector3 targetPosition, MQuaternion targetRotation)
{
//Create a resulting transform
MTransform result = new MTransform();
//Estimate the delta
MVector3 deltaPosition = targetPosition.Subtract(currentPosition);
//Estimate the meximum allowed delta
double maxTranslationDelta = velocity * time.TotalSeconds;
//Limit the maximum
if (deltaPosition.Magnitude() >= maxTranslationDelta)
{
deltaPosition = deltaPosition.Normalize();
deltaPosition = deltaPosition.Multiply(maxTranslationDelta);
}
float angularVelocityReach = 100f;
double angle = Math.Abs(MQuaternionExtensions.Angle(currentRotation, targetRotation));
double maxAngle = angularVelocityReach * time.TotalSeconds;
//Estimate the blendweihgt for the oreitnation blending
double weight = Math.Min(1, maxAngle / angle);
result.Position = currentPosition.Add(deltaPosition);
result.Rotation = MQuaternionExtensions.Slerp(currentRotation, targetRotation, (float)weight);
//result.Time = time;
return(result);
}
/// <summary>
/// Performs the actual motion planning
/// </summary>
/// <param name="velocity"></param>
/// <param name="angularVelocity"></param>
/// <param name="time"></param>
/// <param name="currentPosition"></param>
/// <param name="currentRotation"></param>
/// <param name="targetPosition"></param>
/// <param name="targetRotation"></param>
/// <returns></returns>
private MTransform DoLocalMotionPlanning(float velocity, float angularVelocity, TimeSpan time, MVector3 currentPosition, MQuaternion currentRotation, MVector3 targetPosition, MQuaternion targetRotation)
{
MTransform result = new MTransform();
MVector3 delta = targetPosition.Subtract(currentPosition);
double angle = Math.Abs(MQuaternionExtensions.Angle(currentRotation, targetRotation));
double maxTranslationDelta = velocity * time.TotalSeconds;
if (delta.Magnitude() >= maxTranslationDelta)
{
delta = delta.Normalize();
delta = delta.Multiply(maxTranslationDelta);
}
//To do consider self collision
double maxAngle = angularVelocity * time.TotalSeconds;
if (angle < maxAngle)
{
angle = maxAngle;
}
double weight = Math.Min(1, maxAngle / angle);
result.Position = currentPosition.Add(delta);
result.Rotation = MQuaternionExtensions.Slerp(currentRotation, targetRotation, (float)weight);
//result.Time = time;
return(result);
}
/// <summary>
/// Computes the rotation to rotate from one vector to the other
/// </summary>
/// <param name="from">The start direction</param>
/// <param name="to">The desired direction</param>
/// <returns></returns>
private static MQuaternion FromToRotation(MVector3 from, MVector3 to)
{
//Normalize both vectors
from = from.Normalize();
to = to.Normalize();
//Estimate the rotation axis
MVector3 axis = MVector3Extensions.Cross(from, to).Normalize();
//Compute the phi angle
double phi = Math.Acos(MVector3Extensions.Dot(from, to)) / (from.Magnitude() * to.Magnitude());
//Create a new quaternion representing the rotation
MQuaternion result = new MQuaternion()
{
X = Math.Sin(phi / 2) * axis.X,
Y = Math.Sin(phi / 2) * axis.Y,
Z = Math.Sin(phi / 2) * axis.Z,
W = Math.Cos(phi / 2)
};
//Perform is nan check and return identity quaternion
if (double.IsNaN(result.W) || double.IsNaN(result.X) || double.IsNaN(result.Y) || double.IsNaN(result.Z))
{
result = new MQuaternion(0, 0, 0, 1);
}
//Return the estimated rotation
return(result);
}
/// <summary>
/// Performs local motion planning to reach the defined point
/// </summary>
/// <param name="velocity"></param>
/// <param name="time"></param>
/// <param name="currentPosition"></param>
/// <param name="currentRotation"></param>
/// <param name="targetPosition"></param>
/// <param name="targetRotation"></param>
/// <returns></returns>
private MTransform DoLocalMotionPlanning(double velocity, double angularVelocity, TimeSpan time, MVector3 currentPosition, MQuaternion currentRotation, MVector3 targetPosition, MQuaternion targetRotation)
{
//Create a new transform representing the result
MTransform result = new MTransform();
//Estimate the vector to reach the goal
MVector3 delta = targetPosition.Subtract(currentPosition);
float distance = delta.Magnitude();
//Determine the angular distance
double angle = Math.Abs(MQuaternionExtensions.Angle(currentRotation, targetRotation));
//Determine the max translation delta and max angle
double maxTranslationDelta = velocity * time.TotalSeconds;
double maxAngle = angularVelocity * time.TotalSeconds;
//Compute the translation weight
float translationWeight = (float)Math.Min(1, maxTranslationDelta / delta.Magnitude());
//Compute the rotation weight
float rotationWeight = (float)Math.Min(1, maxAngle / angle);
//Limit the translation
if (delta.Magnitude() >= maxTranslationDelta)
{
delta = delta.Normalize();
delta = delta.Multiply(maxTranslationDelta);
}
//Compute the new position
result.Position = currentPosition.Add(delta);
if (angularVelocity == 0)
{
result.Rotation = MQuaternionExtensions.Slerp(currentRotation, targetRotation, translationWeight);
}
else
{
result.Rotation = MQuaternionExtensions.Slerp(currentRotation, targetRotation, rotationWeight);
}
return(result);
}
/// <summary>
/// Do step routine in which the actual simulation result is generated
/// </summary>
/// <param name="time"></param>
/// <param name="simulationState"></param>
/// <returns></returns>
public override MSimulationResult DoStep(double time, MSimulationState simulationState)
{
//Create a new simulation result
MSimulationResult result = new MSimulationResult()
{
Events = new List <MSimulationEvent>(),
Constraints = simulationState.Constraints ?? new List <MConstraint>(),
SceneManipulations = new List <MSceneManipulation>()
};
this.SkeletonAccess.SetChannelData(simulationState.Current.Copy());
// Target position we want to transform to
MVector3 targetPos = this.targetTransform.Position;
// Fully body posture. Only Pelvis Center (first joint) has to be manipulated.
List <double> posture = simulationState.Current.PostureData;
// Current position and distance to target.
MVector3 currentPos = this.SkeletonAccess.GetRootPosition(simulationState.Initial.AvatarID);
MVector3 distance = targetPos.Subtract(currentPos);
// Current rotation and rotational diff to target
MQuaternion currentRot = this.SkeletonAccess.GetRootRotation(simulationState.Initial.AvatarID);
MQuaternion targetRot = this.targetTransform.Rotation;
MVector3 newPos;
MVector3 deltaDistance = distance.Clone();
if (this.velocity > 0)
{
deltaDistance = distance.Normalize().Multiply(this.velocity * time);
Console.WriteLine("Delta v: " + deltaDistance.Magnitude() + " " + time + " " + this.velocity);
}
// If no velocity set or distance very close, directly morph to target position and rotation.
if (this.velocity <= 0 || distance.Magnitude() < deltaDistance.Magnitude())
{
newPos = targetPos;
// Set rotation
//posture[3] = this.targetTransform.Rotation.W;
//posture[4] = this.targetTransform.Rotation.X;
//posture[5] = this.targetTransform.Rotation.Y;
//posture[6] = this.targetTransform.Rotation.Z;
// Add end event.
Console.WriteLine("Finished with vel " + this.velocity + " at " + distance.Magnitude());
result.Events.Add(new MSimulationEvent(this.instruction.Name, mmiConstants.MSimulationEvent_End, this.instruction.ID));
}
else // if velocity > 0 and distance sufficiently large, we should apply linear translation with the provided velocity.
{
newPos = currentPos.Add(deltaDistance);
Console.WriteLine("Target Location: " + this.targetTransform.Position + " " + currentPos + " " + distance + " " + deltaDistance + " " + newPos);
}
Console.WriteLine("newposrot: " + newPos + " " + targetRot);
this.SkeletonAccess.SetRootPosition(simulationState.Current.AvatarID, newPos);
this.SkeletonAccess.SetRootRotation(simulationState.Current.AvatarID, targetRot);
result.Posture = this.SkeletonAccess.GetCurrentPostureValues(simulationState.Current.AvatarID);
Console.WriteLine("Frame : " + result.Posture.PostureData[0] + " " + result.Posture.PostureData[1] + " " + result.Posture.PostureData[2] + " " + result.Posture.PostureData[3] + " " + result.Posture.PostureData[4] + " " + result.Posture.PostureData[5] + " " + result.Posture.PostureData[6] + " ");
//Return the result
return(result);
}
/// <summary>
/// Basic do step routine that is executed for each frame and generates the actual motion.
/// </summary>
/// <param name="time"></param>
/// <param name="simulationState"></param>
/// <returns></returns>
private MSimulationResult DoStepBlending(double time, MSimulationState simulationState)
{
//Create a new simulation result
MSimulationResult result = new MSimulationResult()
{
Events = simulationState.Events ?? new List <MSimulationEvent>(),
Constraints = simulationState.Constraints,
SceneManipulations = simulationState.SceneManipulations ?? new List <MSceneManipulation>(),
Posture = simulationState.Current
};
//Directly operate on the global constraints -> since no ik is computed
List <MConstraint> globalConstraints = result.Constraints;
//Assign the global constraints to the constraint manager
this.constraintManager.SetConstraints(ref globalConstraints);
//Use the initial state (approved posture of last frame)
this.SkeletonAccess.SetChannelData(simulationState.Initial);
//Get the current hand position and rotation
MVector3 currentHandPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint);
MQuaternion currentHandRotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint);
MJointConstraint jointConstraint = null;
switch (this.handJoint)
{
case MJointType.LeftWrist:
jointConstraint = this.constraintManager.GetEndeffectorConstraint(MJointType.LeftWrist);
break;
case MJointType.RightWrist:
jointConstraint = this.constraintManager.GetEndeffectorConstraint(MJointType.RightWrist);
break;
}
//Handle the joint constraint
if (jointConstraint != null)
{
//Get the current hand positon based on the constraint
currentHandPosition = jointConstraint.GeometryConstraint.GetGlobalPosition(this.SceneAccess);
currentHandRotation = jointConstraint.GeometryConstraint.GetGlobalRotation(this.SceneAccess);
}
//Set the skeleton to the current state
this.SkeletonAccess.SetChannelData(simulationState.Current);
//Determine the target hand position (either underlying MMU or given via boundary constraints)
MVector3 targetHandPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint);
MQuaternion targetHandRotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint);
//Move the hand from the current position to the target position
MVector3 deltaPosition = targetHandPosition.Subtract(currentHandPosition);
float angle = (float)MQuaternionExtensions.Angle(currentHandRotation, targetHandRotation);
//Compute the distance of the hand to the target hand position
float distanceToGoal = deltaPosition.Magnitude();
//Compute the max distance which can be covered within the current frame
float maxDistance = (float)(time * this.velocity);
//Compute the max allowed angle
float maxAngle = (float)(time * this.angularVelocity);
//Compute the weight for slerping (weight increases with shrinking distance to target)
float translationWeight = Math.Min(1.0f, maxDistance / distanceToGoal);
//Compute the rotation weight
float rotationWeight = Math.Min(1.0f, maxAngle / angle);
//Blend from the current rotation to the target
result.Posture = Blending.PerformBlend((IntermediateSkeleton)this.SkeletonAccess, simulationState.Initial, simulationState.Current, Math.Min(translationWeight, rotationWeight), true);
this.SkeletonAccess.SetChannelData(result.Posture);
if (distanceToGoal < 0.01f)
{
result.Events.Add(new MSimulationEvent()
{
Name = "Release Finished",
Reference = this.instruction.ID,
Type = mmiConstants.MSimulationEvent_End
});
//Remove all constraints for the respective hand
this.constraintManager.RemoveEndeffectorConstraints(this.handJoint);
}
else
{
//Remove the endeffector constraint
this.constraintManager.RemoveEndeffectorConstraints(this.handJoint);
//Update the constraint
this.constraintManager.SetEndeffectorConstraint(this.handJoint, this.SkeletonAccess.GetGlobalJointPosition(result.Posture.AvatarID, this.handJoint), this.SkeletonAccess.GetGlobalJointRotation(result.Posture.AvatarID, this.handJoint));
}
return(result);
}
public static double SqrMagnitude(this MVector3 vector)
{
return(vector.Magnitude() * vector.Magnitude());
}
public void ScaleSkeleton(MAvatarPosture globalTarget, Dictionary <MJointType, string> joint_map)
{
List <MJointType> spine = new List <MJointType>()
{
MJointType.S1L5Joint, MJointType.T12L1Joint, MJointType.T1T2Joint, MJointType.C4C5Joint, MJointType.HeadJoint
};
if (spine.Contains(this.GetMJoint().Type))
{
//float shoulder_height = getJointPosition(HumanBodyBones.LeftUpperArm, anim).y;
double shoulder_height = getJointPosition(globalTarget, joint_map[MJointType.HeadJoint]).Y;
double hip_height = getJointPosition(globalTarget, joint_map[MJointType.PelvisCentre]).Y;
double spine_length = shoulder_height - hip_height;
((RJoint)this.parentJoint).boneLength = (this.GetOffsetPositions()).Multiply(spine_length).Magnitude();
this.GetOffsetPositions().X = 0;
this.GetOffsetPositions().Y = 1.0;
this.GetOffsetPositions().Z = 0;
}
if (this.joint.Type == MJointType.Root)
{
//MVector3 rootPos = getJointPosition(globalTarget, joint_map[MJointType.Root]);
//this.SetOffsets(rootPos);
}
else if (this.joint.Type == MJointType.PelvisCentre)
{
MVector3 hips = getJointPosition(globalTarget, joint_map[MJointType.PelvisCentre]).Clone();
MVector3 shoulder = getJointPosition(globalTarget, joint_map[MJointType.LeftShoulder]);
MVector3 leftupleg = getJointPosition(globalTarget, joint_map[MJointType.LeftHip]);
// find the average z axis position of shoulders and hips to find initial position of hip
hips.Z = (shoulder.Z + leftupleg.Z) / 2;
// raise hip to the hight of the target avatars hip height.
hips.Y = leftupleg.Y;
MVector3 root = new MVector3(hips.X, 0, hips.Z);
((RJoint)this.parentJoint).SetOffsets(root);
hips.X = 0;
hips.Z = 0;
this.SetOffsets(hips);
}
else
{
double factor = 0.0d;
if (this.parentJoint.children.Count == 3 && this.parentJoint.children[0] != this)
{
// If there are two children (e.g. pelvis / upper spine), take the half distance between both children
factor = GetJointDistance(globalTarget, joint_map[this.parentJoint.children[1].GetMJoint().Type], joint_map[this.parentJoint.children[2].GetMJoint().Type]) / 2.0d;
}
else
{
// If there is one child, take the parent bone length to scale target position
factor = ((RJoint)this.parentJoint).boneLength;
}
// scale offset to scale the skeleton to match bone lengths.
this.SetOffsets(this.GetOffsetPositions().Multiply(factor));
// handle special cases for shoulders and hands
string jointID = this.GetMJoint().ID;
if (jointID.Contains("Shoulder"))
{
// in case of shoulders, they have to be raised in up direction.
double shoulder_height = getJointPosition(globalTarget, joint_map[this.GetMJoint().Type]).Y;
double current_Pos = this.GetShoulderHeight();
shoulder_height = shoulder_height - current_Pos;
this.GetOffsetPositions().Y = shoulder_height;
}
}
if (this.children.Count > 0 && this.children[0].GetMJoint().ID.Contains("Tip"))
{
// Finger Tips
MVector3 offsetVector = this.children[0].GetOffsetPositions();
this.boneLength = offsetVector.Magnitude();
}
else
{
// if this is not the last joint in a sequence, scale depending on distance to child human bone
if (joint_map.ContainsKey(this.children[0].GetMJoint().Type) && joint_map.ContainsKey(this.GetMJoint().Type))
{
this.boneLength = GetJointDistance(globalTarget, joint_map[this.GetMJoint().Type], joint_map[this.children[0].GetMJoint().Type]);
}
else
{
this.boneLength = 0.1;
}
}
// recurse
foreach (Joint child in this.children)
{
if (!child.GetMJoint().ID.Contains("Tip"))
{
((RJoint)(child)).ScaleSkeleton(globalTarget, joint_map);
}
}
if (this.GetMJoint().ID.Contains("Wrist"))
{
MVector3 wristPos = this.GetGlobalPosition();//getJointPosition(globalTarget, joint_map[this.GetMJoint().Type]);
MTransform Twrist = new MTransform("tmp", this.GetGlobalPosition(), this.GetGlobalRotation());
Joint middle = this.children[0];
Joint index = this.children[1];
Joint ring = this.children[2];
Joint little = this.children[3];
Joint thumb = this.children[4];
double middle_shift = 0.0;
if (joint_map.ContainsKey(middle.GetMJoint().Type))
{
MVector3 MiddlePos = ((RJoint)middle).GetFingerPosition(globalTarget, joint_map, 0);
middle_shift = MiddlePos.Z;
MiddlePos.Z = 0;
((RJoint)this.children[0]).SetOffsets(MiddlePos);
}
else
{
((RJoint)this.children[0]).SetOffsets(new MVector3(0, 0.1, 0));
}
if (joint_map.ContainsKey(index.GetMJoint().Type))
{
MVector3 IndexPos = ((RJoint)index).GetFingerPosition(globalTarget, joint_map, middle_shift);
((RJoint)this.children[1]).SetOffsets(IndexPos);
}
else
{
((RJoint)this.children[1]).SetOffsets(new MVector3(0, 0.1, 0.02));
}
if (joint_map.ContainsKey(ring.GetMJoint().Type))
{
MVector3 RingPos = ((RJoint)ring).GetFingerPosition(globalTarget, joint_map, middle_shift);
((RJoint)this.children[2]).SetOffsets(RingPos);
}
else
{
((RJoint)this.children[2]).SetOffsets(new MVector3(0, 0.1, -0.02));
}
if (joint_map.ContainsKey(little.GetMJoint().Type))
{
MVector3 LittlePos = ((RJoint)little).GetFingerPosition(globalTarget, joint_map, middle_shift);
((RJoint)this.children[3]).SetOffsets(LittlePos);
}
else
{
((RJoint)this.children[3]).SetOffsets(new MVector3(0, 0.1, -0.04));
}
if (joint_map.ContainsKey(thumb.GetMJoint().Type))
{
MVector3 ThumbPos = ((RJoint)thumb).GetFingerPosition(globalTarget, joint_map, middle_shift);
((RJoint)this.children[4]).SetOffsets(ThumbPos);
}
else
{
((RJoint)this.children[4]).SetOffsets(new MVector3(0, 0.02, 0.02));
}
}
}
/// <summary>
/// Method performs a local motion planning and tries to reach the specified goal position and rotation using the given velocity,angular velocity and time.
/// </summary>
/// <param name="velocity"></param>
/// <param name="angularVelocity"></param>
/// <param name="time"></param>
/// <param name="currentPosition"></param>
/// <param name="currentRotation"></param>
/// <param name="targetPosition"></param>
/// <param name="targetRotation"></param>
/// <returns></returns>
private MTransform DoLocalMotionPlanning(double velocity, double angularVelocity, TimeSpan time, MVector3 currentPosition, MQuaternion currentRotation, MVector3 targetPosition, MQuaternion targetRotation, bool collisionAvoidance)
{
//Create a new transform representing the result
MTransform result = new MTransform();
//Estimate the delta
MVector3 delta = targetPosition.Subtract(currentPosition);
//Determine the current delta angle
double angle = Math.Abs(MQuaternionExtensions.Angle(currentRotation, targetRotation));
//Determine the max translation delta and max angle in the current frame
double maxTranslationDelta = velocity * time.TotalSeconds;
double maxAngle = angularVelocity * time.TotalSeconds;
//Estimate the blend weight for the rotation and position
float rotationWeight = (float)Math.Min(1, maxAngle / angle);
float positionWeight = (float)Math.Min(1, maxTranslationDelta / delta.Magnitude());
//Limit the max translation
if (delta.Magnitude() >= maxTranslationDelta)
{
delta = delta.Normalize();
delta = delta.Multiply(maxTranslationDelta);
}
if (collisionAvoidance)
{
MVector3 collisionAvoidanceForce = this.ComputCollisionAvoidance(currentPosition, delta);
//if (collisionAvoidanceForce.Magnitude() > 0)
// MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_INFO, "Collision avoidance force: " + collisionAvoidanceForce.Magnitude());
//Add the collision avoidance force on top
delta = delta.Add(collisionAvoidanceForce);
//Limit the max translation
if (delta.Magnitude() >= maxTranslationDelta)
{
delta = delta.Normalize();
delta = delta.Multiply(maxTranslationDelta);
}
}
//Compute the new position
result.Position = currentPosition.Add(delta);
//Compute the new rotation by interpolating towards the target rotation
if (angularVelocity > 0)
{
result.Rotation = MQuaternionExtensions.Slerp(currentRotation, targetRotation, rotationWeight);
}
//Use the rotation weight
else
{
result.Rotation = MQuaternionExtensions.Slerp(currentRotation, targetRotation, positionWeight);
}
//Return the simulation result
return(result);
}
public override MSimulationResult DoStep(double time, MSimulationState simulationState)
{
//Create a new simulation result
MSimulationResult result = new MSimulationResult()
{
Events = simulationState.Events ?? new List <MSimulationEvent>(),
Constraints = simulationState.Constraints ?? new List <MConstraint>(),
SceneManipulations = simulationState.SceneManipulations ?? new List <MSceneManipulation>()
};
//Assign the constraints to a temp varilable
List <MConstraint> constraints = result.Constraints;
//Use the constraint manager to manage the constraints
constraintManager.SetConstraints(ref constraints);
//Get the hand position and rotation of the last frame (approved result)
this.SkeletonAccess.SetChannelData(simulationState.Initial);
MVector3 currentHandPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint);
MQuaternion currentHandRotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint);
//Get the desired hand position (of the underlying motion e.g. idle)
this.SkeletonAccess.SetChannelData(simulationState.Current);
MVector3 targetHandPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint);
MQuaternion targetHandRotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint);
//Add an offset on top of the position if desired
if (this.addOffset)
{
targetHandPosition = ComputeNewPositionWithOffset(targetHandPosition, simulationState.Current);
}
//Move the hand from the current position to the target position
MVector3 deltaPosition = targetHandPosition.Subtract(currentHandPosition);
//Compute the distance of the hand to the target hand position
float distanceToGoal = deltaPosition.Magnitude();
//Create positioning finished event if not already created and distance below threshold
if (distanceToGoal < this.positioningFinishedThreshold && !this.positioningFinished)
{
result.Events.Add(new MSimulationEvent("PositioningFinished", "PositioningFinished", this.instruction.ID));
this.positioningFinished = true;
}
//Compute the current velocity based on the general max velocity and the velocity of the root motion
float currentVelocity = this.velocity + this.ComputeRootVelocity(time, simulationState);
//Compute the max distance which can be covered within the current frame
float maxDistance = (float)(time * currentVelocity);
//Compute the weight for slerping (weight increases with shrinking distance to target)
float weight = Math.Max(0, 1 - distanceToGoal);
//Create a new transform representing the next hand transform
MTransform newHandTransform = new MTransform("", currentHandPosition.Clone(), currentHandRotation.Clone())
{
//Compute the new hand position (normalize delta position and multiply by max distance)
Position = currentHandPosition.Add(deltaPosition.Normalize().Multiply(Math.Min(deltaPosition.Magnitude(), maxDistance))),
//Just perform an interpolation to gather new hand rotation (weight is determined by the translation distance)
Rotation = MQuaternionExtensions.Slerp(currentHandRotation, targetHandRotation, weight)
};
//Compute the corresponding positon/rotation of the object and
//adjust the transformation of the object which should be moved
result.SceneManipulations.Add(new MSceneManipulation()
{
Transforms = new List <MTransformManipulation>()
{
new MTransformManipulation()
{
Target = this.objectTransform.ID,
//Compute the new global position of the object
Position = newHandTransform.TransformPoint(this.objectPositionOffset),
//Compute the new global rotation of the object
Rotation = newHandTransform.TransformRotation(this.objectRotationOffset)
}
}
});
//Set the desired endeffector constraints
constraintManager.SetEndeffectorConstraint(this.handJoint, newHandTransform.Position, newHandTransform.Rotation);
//Generate a new posture using the ik solver and the specified constraints
MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(simulationState.Current, constraintManager.GetJointConstraints(), new Dictionary <string, string>());
result.Posture = ikResult.Posture;
//Return the result
return(result);
}
/// <summary>
/// Do step routine in which the actual simulation result is generated
/// </summary>
/// <param name="time"></param>
/// <param name="simulationState"></param>
/// <returns></returns>
public override MSimulationResult DoStep(double time, MSimulationState simulationState)
{
//Create a new simulation result
MSimulationResult result = new MSimulationResult()
{
Events = simulationState.Events != null ? simulationState.Events : new List <MSimulationEvent>(),
Constraints = simulationState.Constraints,
SceneManipulations = simulationState.SceneManipulations != null ? simulationState.SceneManipulations : new List <MSceneManipulation>()
};
//Create variables representing the next object position/rotation
MTransform nextObjectTransform = subjectTransform.Clone();
//Use the constraint manager to manage the constraints
List <MConstraint> tmpConstraints = result.Constraints;
//Set the constraints
constraintManager.SetConstraints(ref tmpConstraints);
//Compute the new hand position and rotation
MVector3 deltaPosition = this.targetObjectTransform.Position.Subtract(subjectTransform.Position);
float distanceToGoal = deltaPosition.Magnitude();
//Get the current object position
float maxDistance = (float)time * 1.0f;
//Check the current distance to goal
if (distanceToGoal < 0.01f)
{
result.Events.Add(new MSimulationEvent(this.instruction.Name, mmiConstants.MSimulationEvent_End, this.instruction.ID));
}
else
{
//Compute the new hand position (normalize delta position and multiply by max distance)
nextObjectTransform.Position = this.subjectTransform.Position.Add(deltaPosition.Normalize().Multiply(Math.Min(distanceToGoal, maxDistance)));
//Compute the weight for slerping (weight increases with shrinking distance to target)
float weight = Math.Max(0, 1 - distanceToGoal);
//Just perform an interpolation to gather new hand rotation (weight is determined by the translation distance)
nextObjectTransform.Rotation = MQuaternionExtensions.Slerp(this.subjectTransform.Rotation, this.targetObjectTransform.Rotation, weight);
}
//Adjust the transformation of the object which should be moved
result.SceneManipulations.Add(new MSceneManipulation()
{
Transforms = new List <MTransformManipulation>()
{
new MTransformManipulation()
{
Target = this.subjectTransform.ID,
Position = nextObjectTransform.Position,
Rotation = nextObjectTransform.Rotation
}
}
});
//Get the current hand position in global space
MVector3 globalHandPosition = nextObjectTransform.TransformPoint(this.handPositionOffset);
MQuaternion globalHandRotation = nextObjectTransform.TransformRotation(this.handRotationOffset);
//Set the desired endeffector constraints
constraintManager.SetEndeffectorConstraint(this.handJoint, globalHandPosition, globalHandRotation);
MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(simulationState.Current, constraintManager.GetJointConstraints(), new Dictionary <string, string>());
//Generate a new posture using the ik solver and the specified constraints
result.Posture = ikResult.Posture;
//Return the result
return(result);
}
/// <summary>
/// Basic euclidean distance function for float arrays
/// </summary>
/// <param name="vector1"></param>
/// <param name="vector2"></param>
/// <returns></returns>
private static float EuclideanDistance(MVector3 vector1, MVector3 vector2)
{
MVector3 diff = vector1.Subtract(vector2);
return(diff.Magnitude());
}
