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()
});
}
}