/// <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);
}
// 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;
}