public InstructionDefinitionWindow(MMIAvatar avatar, ref MInstruction rootInstruction, MInstruction availableInstruction = null)
{
this.avatar = avatar;
this.mmuDescriptions = this.avatar.MMUAccess.GetLoadableMMUs();
this.motionTypeOptions = mmuDescriptions.Select(s => s.MotionType).ToArray();
this.instructionList = rootInstruction.Instructions;
if (availableInstruction == null)
{
this.instruction = new MInstruction();
this.instruction.ID = MInstructionFactory.GenerateID();
this.instruction.Properties = new Dictionary <string, string>();
}
else
{
this.instruction = availableInstruction;
//Preselect the motion type
if (this.motionTypeOptions.Contains(this.instruction.MotionType))
{
this.motionTypeIndex = this.motionTypeOptions.ToList().IndexOf(this.instruction.MotionType);
}
}
}
public override MBoolResponse AssignInstruction(MInstruction instruction, MSimulationState simulationState)
{
this.instruction = instruction;
//Get the carry object (if available)
this.carryObject = this.SceneAccess.GetSceneObjectByID(instruction.Properties["TargetID"]);
//Add the carry object to the virtual scene
this.virtualScene.Apply(new MSceneUpdate()
{
AddedSceneObjects = new List <MSceneObject>()
{
carryObject
}
}, true);
//Create a new id for the instruction
this.currentInstructionID = MInstructionFactory.GenerateID();
//Create a new subinstruction utilizing the moving target
MInstruction subInstruction = new MInstruction(currentInstructionID, "NestedMove", "move")
{
Properties = PropertiesCreator.Create("TargetID", moveTarget.ID, "SubjectID", instruction.Properties["TargetID"], "Hand", instruction.Properties["Hand"])
};
//Assign the instruction at the co-simulation and create a new wrapper instruction
return(this.coSimulator.AssignInstruction(subInstruction, simulationState));
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="avatar"></param>
public BehaviorDefinitionWindow(MMIAvatar avatar)
{
this.avatar = avatar;
this.rootInstruction = new MInstruction()
{
Instructions = new List <MInstruction>(),
ID = MInstructionFactory.GenerateID(),
MotionType = "Composite"
};
this.instructionsArray = this.rootInstruction.Instructions.Select(s => s.Name + " , " + s.MotionType + " , " + s.ID).ToArray();
}
private void StartInstruction()
{
this.WalkTarget.transform.position = new Vector3(Random.Range(-9, 9), 0, Random.Range(-9, 9));
this.WalkTarget.Synchronize();
this.currentInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", "Locomotion/Walk")
{
Properties = new Dictionary <string, string>()
{
{ "TargetID", this.WalkTarget.MSceneObject.ID },
{ "ForcePath", true.ToString() },
{ "UseTargetOrientation", false.ToString() }
}
};
this.CoSimulator.AssignInstruction(this.currentInstruction, null);
}
/// <summary>
/// Basic update routine
/// </summary>
void Update()
{
///Handle the walk command on mouse click
if (Input.GetKey(KeyCode.LeftShift) && Input.GetMouseButtonDown(0))
{
Vector3 mousePos = Input.mousePosition;
Ray mouseRay = Camera.main.ScreenPointToRay(mousePos);
RaycastHit hit = new RaycastHit();
if (Physics.Raycast(mouseRay, out hit, 10000))
{
//Ray for visual guide from camera to mouse position.
Debug.DrawRay(mouseRay.origin, mouseRay.direction * hit.distance, Color.red, 1);
GameObject walkTarget = GameObject.Find("WalkTarget");
walkTarget.transform.position = new Vector3(hit.point.x, walkTarget.transform.position.y, hit.point.z);
walkTarget.GetComponent <MMISceneObject>().UpdateTransform();
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", "Locomotion/Walk")
{
Properties = PropertiesCreator.Create("TargetName", "WalkTarget", "UseTargetOrientation", false.ToString())
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", "Pose/Idle")
{
//Start idle after walk has been finished
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End //synchronization constraint similar to bml "id:End" (bml original: <bml start="id:End"/>
};
//Abort all current tasks
this.CoSimulator.Abort();
MSimulationState currentState = new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
};
//Assign walk and idle instruction
this.CoSimulator.AssignInstruction(walkInstruction, currentState);
this.CoSimulator.AssignInstruction(idleInstruction, currentState);
}
}
}
/// <summary>
/// Walk to selected object
/// </summary>
public void WalkTo()
{
GameObject go;
GameObject walkTarget;
try
{
//Get selected object
go = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If walk target is selected, switch to parent
if (go.transform.name.Equals("WalkTarget"))
{
go = go.transform.parent.gameObject;
}
try
{
//Get walk target of selected object
//walkTarget = go.transform.GetChildRecursiveByName("WalkTarget").gameObject;
walkTarget = go.transform.Find("WalkTarget").gameObject;
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No walk target found", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
String objectID = walkTarget.GetComponent <MMISceneObject>().MSceneObject.ID;
//Create instruction
MInstruction walkInstruction =
new MInstruction(MInstructionFactory.GenerateID(), "Walk", "Locomotion/Walk")
{
Properties = PropertiesCreator.Create("TargetID", objectID, "ForcePath", "true")
};
//Add instruction to queue
queueController.AddItem(walkInstruction, "Walk to " + go.name);
}
/// <summary>
/// Function is called to control the avatar by using predefined buttons in the GUI.
/// </summary>
protected virtual void GUIBehaviorInput()
{
if (GUI.Button(new Rect(10, 10, 120, 50), "Idle"))
{
MInstruction instruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", "Pose/Idle");
//MInstruction instruction = new MInstruction(MInstructionFactory.GenerateID(), "MMUTest", "move");
MSimulationState simstate = new MSimulationState(this.avatar.GetPosture(), this.avatar.GetPosture());
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(instruction, simstate);
}
if (GUI.Button(new Rect(140, 10, 120, 50), "Walk to"))
{
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", "Locomotion/Walk")
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget").ID)
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", "Pose/Idle")
{
//Start idle after walk has been finished
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End //synchronization constraint similar to bml "id:End" (bml original: <bml start="id:End"/>
};
this.CoSimulator.Abort();
MSimulationState currentState = new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
};
//Assign walk and idle instruction
this.CoSimulator.AssignInstruction(walkInstruction, currentState);
this.CoSimulator.AssignInstruction(idleInstruction, currentState);
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
}
protected override void GUIBehaviorInput()
{
if (GUI.Button(new Rect(10, 10, 120, 50), "Idle"))
{
MSkeletonAccess.Iface skeletonAccess = this.avatar.GetSkeletonAccess();
skeletonAccess.SetChannelData(this.avatar.GetPosture());
MInstruction instruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
//MInstruction instruction = new MInstruction(MInstructionFactory.GenerateID(), "MMUTest", "Object/Move");
MSimulationState simstate = new MSimulationState(this.avatar.GetPosture(), this.avatar.GetPosture());
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(instruction, simstate);
}
if (GUI.Button(new Rect(140, 10, 120, 50), "Walk to"))
{
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget").ID)
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
//Start idle after walk has been finished
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End //synchronization constraint similar to bml "id:End" (bml original: <bml start="id:End"/>
};
this.CoSimulator.Abort();
MSimulationState currentState = new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
};
//Assign walk and idle instruction
this.CoSimulator.AssignInstruction(walkInstruction, currentState);
this.CoSimulator.AssignInstruction(idleInstruction, currentState);
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
if (GUI.Button(new Rect(270, 10, 120, 50), "Reach Object"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right", "MinDistance", 2.0.ToString()),
};
//MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reach left", "Pose/Reach")
//{
// Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetL"].ID, "Hand", "Left"),
//};
//this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
//this.CoSimulator.AssignInstruction(reachLeft, new MSimulationState() { Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture() });
}
if (GUI.Button(new Rect(400, 10, 120, 50), "Move Object"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("SubjectID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Right", "TargetID", UnitySceneAccess.Instance["PositioningTarget"].ID),
};
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(moveObject, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(530, 10, 120, 50), "Pick-up"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction reachInstruction = new MInstruction(MInstructionFactory.GenerateID(), "reach", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right"),
};
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Right"),
StartCondition = reachInstruction.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
if (GUI.Button(new Rect(660, 10, 120, 50), "Carry Object"))
{
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Right")//, "CarryTarget", UnitySceneAccess.Instance["CarryTarget"].ID),
};
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(790, 10, 120, 50), "Release Object"))
{
MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release object", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Right", CoSimTopic.OnStart, carryID + ":" + CoSimAction.EndInstruction),
};
MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release object", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Left", CoSimTopic.OnStart, carryID + ":" + CoSimAction.EndInstruction),
};
this.CoSimulator.AssignInstruction(releaseRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(releaseLeft, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
}
// Update is called once per frame
void Update()
{
if (Execute && !lastState)
{
//Pickup the object
MSimulationState state = new MSimulationState(this.avatar.GetPosture(), this.avatar.GetPosture());
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "idle: " + ObjectToTurn.name, "idle");
MInstruction reachInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Reach: " + ObjectToTurn.name, "Pose/Reach")
{
Properties = new Dictionary <string, string>()
{
{ "Hand", "Right" },
{ "TargetID", GraspTarget.MSceneObject.ID }
}
};
if (this.HandPose != null)
{
MInstruction moveFingersInstruction = new MInstruction(System.Guid.NewGuid().ToString(), "Move fingers", "Pose/MoveFingers")
{
Properties = new Dictionary <string, string>()
{
{ "Hand", this.HandPose.HandType.ToString() }
},
Constraints = new List <MConstraint>(),
StartCondition = reachInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
if (HandPose != null)
{
string constraintID = Guid.NewGuid().ToString();
moveFingersInstruction.Properties.Add("HandPose", constraintID);
moveFingersInstruction.Constraints.Add(new MConstraint()
{
ID = constraintID,
PostureConstraint = HandPose.GetPostureConstraint()
});
}
this.avatar.CoSimulator.AssignInstruction(moveFingersInstruction, state);
}
MInstruction turnObjectInstruction = new MInstruction(Guid.NewGuid().ToString(), "turn: " + ObjectToTurn.name, "Object/Turn")
{
Properties = new Dictionary <string, string>()
{
{ "SubjectID", ObjectToTurn.MSceneObject.ID },
{ "Axis", this.TurnAxis.MSceneObject.ID },
{ "Repetitions", this.Repetitions.ToString() },
{ "Angle", this.Angle.ToString(System.Globalization.CultureInfo.InvariantCulture) },
{ "Hand", Hand.ToString() }
},
Constraints = new List <MConstraint>(),
StartCondition = reachInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
InstructionValidation validator = new InstructionValidation();
MBoolResponse res = validator.Validate(turnObjectInstruction, this.avatar.MMUAccess.GetLoadableMMUs());
if (!res.Successful)
{
foreach (string s in res.LogData)
{
Debug.LogError(s);
}
}
this.avatar.CoSimulator.AssignInstruction(idleInstruction, state);
this.avatar.CoSimulator.AssignInstruction(reachInstruction, state);
this.avatar.CoSimulator.AssignInstruction(turnObjectInstruction, state);
}
if (!Execute && lastState)
{
//Terminate
this.avatar.CoSimulator.Abort();
}
lastState = Execute;
}
/// <summary>
/// Place selected object
/// </summary>
public void MoveObject()
{
GameObject obj;
try
{
//Get selected object
obj = 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(obj))
{
obj = obj.transform.parent.gameObject;
}
if (!HandChecker.HasHands(obj))
{
SSTools.ShowMessage("No hands placed", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
GameObject positionTarget;
try
{
//Get move target
positionTarget = obj.transform.Find("moveTarget").gameObject;
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No move target defined", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//List for instructions
List <MInstruction> list = new List <MInstruction>();
//Get IDs of objects
String objectID = obj.GetComponent <MMISceneObject>().MSceneObject.ID;
String targetPositionID = positionTarget.GetComponent <MMISceneObject>().MSceneObject.ID;
//Instruction if both hands are present on object
if (HandChecker.HasBothHands(obj))
{
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", "Object/Move")
{
Properties = PropertiesCreator.Create("SubjectID", objectID, "Hand",
"Both", "TargetID", targetPositionID, CoSimTopic.OnStart,
_carryIDManager.CurrentCarryIdBoth + ":" + CoSimAction.EndInstruction)
};
list.Add(moveObject);
}
//Instruction if only right hand is present on object
else if (HandChecker.HasRightHand(obj))
{
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", "Object/Move")
{
Properties = PropertiesCreator.Create("SubjectID", objectID, "Hand",
"Right", "TargetID", targetPositionID, CoSimTopic.OnStart,
_carryIDManager.CurrentCarryIdRight + ":" + CoSimAction.EndInstruction)
};
list.Add(moveObject);
}
//Instruction if only left hand is present on object
else if (HandChecker.HasLeftHand(obj))
{
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", "Object/Move")
{
Properties = PropertiesCreator.Create("SubjectID", objectID, "Hand",
"Left", "TargetID", targetPositionID, CoSimTopic.OnStart,
_carryIDManager.CurrentCarryIdLeft + ":" + CoSimAction.EndInstruction)
};
list.Add(moveObject);
}
//Indicates that an object has been moved and thus the Carry Instruction is finished
pickedUp = false;
//Add instructions to queue
queueController.AddItem(list, "Place " + obj.name);
}
/// <summary>
/// Play list of instructions
/// </summary>
/// <param name="list">Instructions to play</param>
public void RunInstruction(List <MInstruction> list)
{
//IdleInstruction to ensure a underlying instruction to fall back
string idleInstructionID = MInstructionFactory.GenerateID();
MInstruction idleInstruction = new MInstruction(idleInstructionID, "Idle", "Pose/Idle");
//Add Event handler
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
//Instruction for signal an finished queue
MInstruction defaultInstruction = new MInstruction(MInstructionFactory.GenerateID(), "FinishedQueue", "Pose/Idle")
{
StartCondition = list[list.Count - 1].ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.1",
Properties = PropertiesCreator.Create(CoSimTopic.OnStart,
idleInstructionID + ":" + CoSimAction.EndInstruction)
};
list.Add(defaultInstruction);
for (int i = 0; i < list.Count; i++)
{
if (i > 0)
{
if (list[i - 1].Name.Equals("carry object"))
{
list[i].StartCondition = list[i - 1].ID + ":" + "PositioningFinished + 0.1";
}
else if (list[i - 1].Name.Equals("Move Fingers"))
{
list[i].StartCondition = list[i - 1].ID + ":" + "FingersPositioned + 0.1";
}
else if (list[i - 1].Name.Equals("Release Fingers"))
{
list[i].StartCondition = list[i - 1].StartCondition;
//list[i].StartCondition = list[i - 1].ID + ":" + "FingersPositioned + 0.1";
}
else
{
list[i].StartCondition = list[i - 1].ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.1";
}
}
}
//Assign default idle
CoSimulator.AssignInstruction(idleInstruction,
new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
//Assign instruction from list
foreach (var t in list)
{
CoSimulator.AssignInstruction(t,
new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
}
protected override void GUIBehaviorInput()
{
if (GUI.Button(new Rect(10, 10, 220, 50), "Pickup large object"))
{
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTargetLargeObject").ID)
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reachLeft", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["LargeObjectGraspL"].ID, "Hand", "Left"),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reachRight", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["LargeObjectGraspR"].ID, "Hand", "Right"),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["LargeObject"].ID, "Hand", "Both", "CarryDistance", 0.4f.ToString(), "CarryTarget", UnitySceneAccess.Instance["CarryTarget"].ID),
StartCondition = reachLeft.ID + ":" + mmiConstants.MSimulationEvent_End + " && " + reachRight.ID + ":" + mmiConstants.MSimulationEvent_End
};
this.CoSimulator.AssignInstruction(walkInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachLeft, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
if (GUI.Button(new Rect(240, 10, 220, 50), "Move Large Object both handed"))
{
MInstruction moveInstruction = new MInstruction(MInstructionFactory.GenerateID(), "move object", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("SubjectID", UnitySceneAccess.Instance["LargeObject"].ID, "Hand", "Both", "TargetID", UnitySceneAccess.Instance["LargeObjectPositioningTarget"].ID, "HoldDuration", 1.0f.ToString()),
//Terminate the carry
Action = CoSimTopic.OnStart + "->" + carryID + ":" + CoSimAction.EndInstruction,
};
MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release object left", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Left"),
StartCondition = moveInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release object right", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Right"),
StartCondition = moveInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
this.CoSimulator.AssignInstruction(moveInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(releaseLeft, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(releaseRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(470, 10, 220, 50), "Carry Object both handed"))
{
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Both", "CarryTarget", UnitySceneAccess.Instance["CarryTarget"].ID),
};
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
// if (GUI.Button(new Rect(920, 70, 160, 50), "Abort"))
// {
// this.CoSimulator.Abort();
// }
}
public override MSimulationResult DoStep(double time, MSimulationState simulationState)
{
//Set the position of the move target
this.SkeletonAccess.SetChannelData(simulationState.Current);
this.moveTarget.Transform.Position = this.SkeletonAccess.GetGlobalJointPosition(simulationState.Current.AvatarID, MJointType.RightWrist);
//Update the scene objects within the virtual scene
this.virtualScene.Apply(new MSceneUpdate()
{
//Add the changed objects
ChangedSceneObjects = new List <MSceneObjectUpdate>()
{
//Add the move target (just existing in the local co-simulation)
new MSceneObjectUpdate()
{
ID = this.moveTarget.ID,
Transform = new MTransformUpdate()
{
Position = this.moveTarget.Transform.Position.GetValues(),
Rotation = this.moveTarget.Transform.Rotation.GetValues()
}
},
//Add the carry object (externally modified)
new MSceneObjectUpdate()
{
ID = this.carryObject.ID,
Transform = new MTransformUpdate()
{
Position = this.carryObject.Transform.Position.GetValues(),
Rotation = this.carryObject.Transform.Rotation.GetValues()
}
},
}
});
//Transmit the virtual scene (if first frame-> transmit full scene otherwise just deltas)
this.mmuAccess.PushScene(this.transmitFullScene);
//Full transmission only required at first frame
this.transmitFullScene = false;
//Execute the co-simulation
MSimulationResult result = this.coSimulator.DoStep(time, simulationState);
//Check if the present instruction is finished
if (result.Events != null && result.Events.Count > 0)
{
if (result.Events.Exists(s => s.Reference == this.currentInstructionID && s.Type == mmiConstants.MSimulationEvent_End))
{
//Create a new id for the instruction
this.currentInstructionID = MInstructionFactory.GenerateID();
//Create a new subinstruction utilizing the moving target
MInstruction subInstruction = new MInstruction(currentInstructionID, "NestedMove", "move")
{
Properties = PropertiesCreator.Create("TargetID", moveTarget.ID, "SubjectID", instruction.Properties["TargetID"], "Hand", instruction.Properties["Hand"])
};
//Assign the new instruction to the co-simulator
this.coSimulator.AssignInstruction(subInstruction, simulationState);
}
}
return(result);
}
/// <summary>
/// Basic constructor
/// </summary>
public CoSimulationMMUImpl()
{
this.Name = "CoSimulation";
this.sessionId = this.Name + MInstructionFactory.GenerateID();
}
/// <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);
}
/// <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);
}
}
protected override void GUIBehaviorInput()
{
if (GUI.Button(new Rect(10, 10, 120, buttonHeight), "Idle"))
{
MSkeletonAccess.Iface skeletonAccess = this.avatar.GetSkeletonAccess();
skeletonAccess.SetChannelData(this.avatar.GetPosture());
MInstruction instruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
//MInstruction instruction = new MInstruction(MInstructionFactory.GenerateID(), "MMUTest", "Object/Move");
MSimulationState simstate = new MSimulationState(this.avatar.GetPosture(), this.avatar.GetPosture());
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(instruction, simstate);
}
if (GUI.Button(new Rect(140, 10, 120, buttonHeight), "Walk to"))
{
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget").ID)
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
//Start idle after walk has been finished
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End //synchronization constraint similar to bml "id:End" (bml original: <bml start="id:End"/>
};
this.CoSimulator.Abort();
MSimulationState currentState = new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
};
//Assign walk and idle instruction
this.CoSimulator.AssignInstruction(walkInstruction, currentState);
this.CoSimulator.AssignInstruction(idleInstruction, currentState);
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
if (GUI.Button(new Rect(270, 10, 120, buttonHeight), "Reach Object"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right", "MinDistance", 2.0.ToString()),
};
//MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reach left", "Pose/Reach")
//{
// Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetL"].ID, "Hand", "Left"),
//};
//this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
//this.CoSimulator.AssignInstruction(reachLeft, new MSimulationState() { Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture() });
}
if (GUI.Button(new Rect(400, 10, 120, buttonHeight), "Move Object"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("SubjectID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Right", "TargetID", UnitySceneAccess.Instance["PositioningTarget"].ID),
};
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(moveObject, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(530, 10, 120, buttonHeight), "Pick-up"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction reachInstruction = new MInstruction(MInstructionFactory.GenerateID(), "reach", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right"),
};
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Right"),
StartCondition = reachInstruction.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
if (GUI.Button(new Rect(660, 10, 120, buttonHeight), "Carry Object"))
{
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Right")//, "CarryTarget", UnitySceneAccess.Instance["CarryTarget"].ID),
};
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(790, 10, 120, buttonHeight), "Release Object"))
{
MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release object", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Right", CoSimTopic.OnStart, carryID + ":" + CoSimAction.EndInstruction),
};
MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release object", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Left", CoSimTopic.OnStart, carryID + ":" + CoSimAction.EndInstruction),
};
this.CoSimulator.AssignInstruction(releaseRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(releaseLeft, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(10, 40, 160, buttonHeight), "Concurrent scenario"))
{
MInstruction walkInstruction1 = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTargetConcurrent").ID),
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction1.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTarget2R"].ID, "Hand", "Right"),
StartCondition = walkInstruction1.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reach left", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetL"].ID, "Hand", "Left"),
StartCondition = walkInstruction1.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction carryLeft = new MInstruction(MInstructionFactory.GenerateID(), "carry left", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Left", "AddOffset", false.ToString()),
StartCondition = reachLeft.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
MInstruction carryRight = new MInstruction(MInstructionFactory.GenerateID(), "carry right", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject2"].ID, "Hand", "Right", "AddOffset", false.ToString()),
StartCondition = reachRight.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget2").ID),
//Both carries must me finished with positioning
StartCondition = carryRight.ID + ":" + "PositioningFinished" + " && " + carryLeft.ID + ":" + "PositioningFinished",
//Finish the idle instruction
Action = CoSimTopic.OnStart + "->" + idleInstruction.ID + ":" + CoSimAction.EndInstruction,
};
MInstruction idleInstruction2 = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction moveRight = new MInstruction(MInstructionFactory.GenerateID(), "move right", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["PositioningTargetRight"].ID, "SubjectID", UnitySceneAccess.Instance["GraspObject2"].ID, "Hand", "Right", CoSimTopic.OnStart, carryRight.ID + ":" + CoSimAction.EndInstruction),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction moveLeft = new MInstruction(MInstructionFactory.GenerateID(), "move left", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["PositioningTargetLeft"].ID, "SubjectID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Left", CoSimTopic.OnStart, carryLeft.ID + ":" + CoSimAction.EndInstruction),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release right", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Right"),
StartCondition = moveRight.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release left", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Left"),
StartCondition = moveLeft.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction walkInstruction2 = new MInstruction(MInstructionFactory.GenerateID(), "Walk2", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTargetConcurrent").ID, CoSimTopic.OnStart, idleInstruction.ID + ":" + CoSimAction.EndInstruction),
StartCondition = releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End// + "|" + releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction idleInstruction3 = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction2.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction reachRight2 = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTarget3R"].ID, "Hand", "Right"),
StartCondition = walkInstruction2.ID + ":" + mmiConstants.MSimulationEvent_End// + "|>" + releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction carryRight2 = new MInstruction(MInstructionFactory.GenerateID(), "carry right", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject3"].ID, "Hand", "Right", "AddOffset", false.ToString()),
StartCondition = reachRight2.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
MInstruction walkInstruction3 = new MInstruction(MInstructionFactory.GenerateID(), "Walk2", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget2").ID, CoSimTopic.OnStart, idleInstruction3.ID + ":" + CoSimAction.EndInstruction),
StartCondition = carryRight2.ID + ":" + "PositioningFinished"// + "|" + releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction idleInstruction4 = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction3.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MSimulationState state = new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
};
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(walkInstruction1, state);
this.CoSimulator.AssignInstruction(idleInstruction, state);
this.CoSimulator.AssignInstruction(reachRight, state);
this.CoSimulator.AssignInstruction(reachLeft, state);
this.CoSimulator.AssignInstruction(carryRight, state);
this.CoSimulator.AssignInstruction(carryLeft, state);
this.CoSimulator.AssignInstruction(walkInstruction, state);
this.CoSimulator.AssignInstruction(idleInstruction2, state);
this.CoSimulator.AssignInstruction(moveRight, state);
this.CoSimulator.AssignInstruction(moveLeft, state);
this.CoSimulator.AssignInstruction(releaseLeft, state);
this.CoSimulator.AssignInstruction(releaseRight, state);
this.CoSimulator.AssignInstruction(walkInstruction2, state);
this.CoSimulator.AssignInstruction(idleInstruction3, state);
this.CoSimulator.AssignInstruction(reachRight2, state);
this.CoSimulator.AssignInstruction(carryRight2, state);
this.CoSimulator.AssignInstruction(walkInstruction3, state);
this.CoSimulator.AssignInstruction(idleInstruction4, state);
}
if (GUI.Button(new Rect(10, 70, 220, buttonHeight), "Pickup large object"))
{
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTargetLargeObject").ID)
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reachLeft", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["LargeObjectGraspL"].ID, "Hand", "Left"),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reachRight", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["LargeObjectGraspR"].ID, "Hand", "Right"),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["LargeObject"].ID, "Hand", "Both", "CarryDistance", 0.4f.ToString(), "CarryTarget", UnitySceneAccess.Instance["CarryTarget"].ID),
StartCondition = reachLeft.ID + ":" + mmiConstants.MSimulationEvent_End + " && " + reachRight.ID + ":" + mmiConstants.MSimulationEvent_End
};
this.CoSimulator.AssignInstruction(walkInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachLeft, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.MSimulationEventHandler += this.CoSimulator_MSimulationEventHandler;
}
if (GUI.Button(new Rect(240, 70, 220, buttonHeight), "Move Large Object both handed"))
{
MInstruction moveInstruction = new MInstruction(MInstructionFactory.GenerateID(), "move object", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("SubjectID", UnitySceneAccess.Instance["LargeObject"].ID, "Hand", "Both", "TargetID", UnitySceneAccess.Instance["LargeObjectPositioningTarget"].ID, "HoldDuration", 1.0f.ToString()),
//Terminate the carry
Action = CoSimTopic.OnStart + "->" + carryID + ":" + CoSimAction.EndInstruction,
};
MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release object left", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Left"),
StartCondition = moveInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release object right", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Right"),
StartCondition = moveInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
this.CoSimulator.AssignInstruction(moveInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(releaseLeft, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(releaseRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(470, 70, 220, buttonHeight), "Carry Object both handed"))
{
carryID = MInstructionFactory.GenerateID();
MInstruction carryInstruction = new MInstruction(carryID, "carry object", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Both", "CarryTarget", UnitySceneAccess.Instance["CarryTarget"].ID),
};
this.CoSimulator.AssignInstruction(carryInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(700, 70, 210, buttonHeight), "Reach Object Single"))
{
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE);
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right"),
};
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(idleInstruction, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
this.CoSimulator.AssignInstruction(reachRight, new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
});
}
if (GUI.Button(new Rect(180, 40, 160, buttonHeight), "Abort"))
{
this.CoSimulator.Abort();
}
}
/// <summary>
/// Pick up selected object
/// </summary>
public void PickUp()
{
GameObject obj;
try
{
//Get selected object
obj = 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(obj))
{
obj = obj.transform.parent.gameObject;
}
if (!HandChecker.HasHands(obj))
{
SSTools.ShowMessage("No hands placed", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
List <MInstruction> list = new List <MInstruction>();
//Get IDs of object
String objID = obj.GetComponent <MMISceneObject>().MSceneObject.ID;
//Instructions if both hands are present on object
if (HandChecker.HasBothHands(obj))
{
_carryIDManager.CurrentCarryIdBoth = MInstructionFactory.GenerateID();
MInstruction carryInstruction =
new MInstruction(_carryIDManager.CurrentCarryIdBoth, "carry object", "Object/Carry")
{
Properties = PropertiesCreator.Create("TargetID", objID, "Hand",
"Both")
};
list.Add(carryInstruction);
}
//Instructions if only right hand is present on object
else if (HandChecker.HasRightHand(obj))
{
_carryIDManager.CurrentCarryIdRight = MInstructionFactory.GenerateID();
MInstruction carryInstruction =
new MInstruction(_carryIDManager.CurrentCarryIdRight, "carry object", "Object/Carry")
{
Properties = PropertiesCreator.Create("TargetID", objID, "Hand",
"Right"),
};
list.Add(carryInstruction);
}
//Instructions if only left hand is present on object
else if (HandChecker.HasLeftHand(obj))
{
_carryIDManager.CurrentCarryIdLeft = MInstructionFactory.GenerateID();
MInstruction carryInstruction =
new MInstruction(_carryIDManager.CurrentCarryIdLeft, "carry object", "Object/Carry")
{
Properties = PropertiesCreator.Create("TargetID", objID, "Hand",
"Left"),
};
list.Add(carryInstruction);
}
//Indicates that an object has been picked up, so it cannot be released
pickedUp = true;
//Add instructions to queue
queueController.AddItem(list, "Pick up " + obj.name);
}
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()
});
}
}
/// <summary>
/// Basic constructor
/// </summary>
public NestedMMUBase()
{
this.Name = "CoSimulation";
this.sessionId = this.Name + MInstructionFactory.GenerateID();
}
protected override void GUIBehaviorInput()
{
if (GUI.Button(new Rect(10, 10, 160, 50), "Concurrent scenario"))
{
MInstruction walkInstruction1 = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTargetConcurrent").ID),
};
MInstruction idleInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction1.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTarget2R"].ID, "Hand", "Right"),
StartCondition = walkInstruction1.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reach left", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetL"].ID, "Hand", "Left"),
StartCondition = walkInstruction1.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction carryLeft = new MInstruction(MInstructionFactory.GenerateID(), "carry left", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Left", "AddOffset", false.ToString()),
StartCondition = reachLeft.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
MInstruction carryRight = new MInstruction(MInstructionFactory.GenerateID(), "carry right", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject2"].ID, "Hand", "Right", "AddOffset", false.ToString()),
StartCondition = reachRight.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
MInstruction walkInstruction = new MInstruction(MInstructionFactory.GenerateID(), "Walk", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget2").ID),
//Both carries must me finished with positioning
StartCondition = carryRight.ID + ":" + "PositioningFinished" + " && " + carryLeft.ID + ":" + "PositioningFinished",
//Finish the idle instruction
Action = CoSimTopic.OnStart + "->" + idleInstruction.ID + ":" + CoSimAction.EndInstruction,
};
MInstruction idleInstruction2 = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction moveRight = new MInstruction(MInstructionFactory.GenerateID(), "move right", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["PositioningTargetRight"].ID, "SubjectID", UnitySceneAccess.Instance["GraspObject2"].ID, "Hand", "Right", CoSimTopic.OnStart, carryRight.ID + ":" + CoSimAction.EndInstruction),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction moveLeft = new MInstruction(MInstructionFactory.GenerateID(), "move left", MOTION_MOVE)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["PositioningTargetLeft"].ID, "SubjectID", UnitySceneAccess.Instance["GraspObject"].ID, "Hand", "Left", CoSimTopic.OnStart, carryLeft.ID + ":" + CoSimAction.EndInstruction),
StartCondition = walkInstruction.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release right", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Right"),
StartCondition = moveRight.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release left", MOTION_RELEASE)
{
Properties = PropertiesCreator.Create("Hand", "Left"),
StartCondition = moveLeft.ID + ":" + mmiConstants.MSimulationEvent_End
};
MInstruction walkInstruction2 = new MInstruction(MInstructionFactory.GenerateID(), "Walk2", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTargetConcurrent").ID, CoSimTopic.OnStart, idleInstruction.ID + ":" + CoSimAction.EndInstruction),
StartCondition = releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End// + "|" + releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction idleInstruction3 = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction2.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction reachRight2 = new MInstruction(MInstructionFactory.GenerateID(), "reach right", MOTION_REACH)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTarget3R"].ID, "Hand", "Right"),
StartCondition = walkInstruction2.ID + ":" + mmiConstants.MSimulationEvent_End// + "|>" + releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction carryRight2 = new MInstruction(MInstructionFactory.GenerateID(), "carry right", MOTION_CARRY)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspObject3"].ID, "Hand", "Right", "AddOffset", false.ToString()),
StartCondition = reachRight2.ID + ":" + mmiConstants.MSimulationEvent_End + "+ 0.01"
};
MInstruction walkInstruction3 = new MInstruction(MInstructionFactory.GenerateID(), "Walk2", MOTION_WALK)
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance.GetSceneObjectByName("WalkTarget2").ID, CoSimTopic.OnStart, idleInstruction3.ID + ":" + CoSimAction.EndInstruction),
StartCondition = carryRight2.ID + ":" + "PositioningFinished"// + "|" + releaseLeft.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MInstruction idleInstruction4 = new MInstruction(MInstructionFactory.GenerateID(), "Idle", MOTION_IDLE)
{
StartCondition = walkInstruction3.ID + ":" + mmiConstants.MSimulationEvent_End,
};
MSimulationState state = new MSimulationState()
{
Initial = this.avatar.GetPosture(), Current = this.avatar.GetPosture()
};
this.CoSimulator.Abort();
this.CoSimulator.AssignInstruction(walkInstruction1, state);
this.CoSimulator.AssignInstruction(idleInstruction, state);
this.CoSimulator.AssignInstruction(reachRight, state);
this.CoSimulator.AssignInstruction(reachLeft, state);
this.CoSimulator.AssignInstruction(carryRight, state);
this.CoSimulator.AssignInstruction(carryLeft, state);
this.CoSimulator.AssignInstruction(walkInstruction, state);
this.CoSimulator.AssignInstruction(idleInstruction2, state);
this.CoSimulator.AssignInstruction(moveRight, state);
this.CoSimulator.AssignInstruction(moveLeft, state);
this.CoSimulator.AssignInstruction(releaseLeft, state);
this.CoSimulator.AssignInstruction(releaseRight, state);
this.CoSimulator.AssignInstruction(walkInstruction2, state);
this.CoSimulator.AssignInstruction(idleInstruction3, state);
this.CoSimulator.AssignInstruction(reachRight2, state);
this.CoSimulator.AssignInstruction(carryRight2, state);
this.CoSimulator.AssignInstruction(walkInstruction3, state);
this.CoSimulator.AssignInstruction(idleInstruction4, state);
}
}
