/// <summary>
/// Computes the new (desired) hand position considering the offset of the collider (to avoid self-collisions)
/// </summary>
/// <param name="targetHandPosition"></param>
/// <param name="currentPosture"></param>
/// <returns></returns>
private MVector3 ComputeNewPositionWithOffset(MVector3 targetHandPosition, MAvatarPostureValues currentPosture)
{
//Optionally ensure that the object does not intersect the avatar
MCollider collider = this.SceneAccess.GetColliderById(this.objectTransform.ID);
//Determine the offset based on the respective collider
float offset = 0;
if (collider.SphereColliderProperties != null)
{
offset = (float)collider.SphereColliderProperties.Radius;
}
if (collider.BoxColliderProperties != null)
{
offset = (float)collider.BoxColliderProperties.Size.Magnitude();
}
if (collider.CapsuleColliderProperties != null)
{
offset = Math.Max((float)collider.CapsuleColliderProperties.Height, (float)collider.CapsuleColliderProperties.Radius);
}
//The offset could be also dynamically determined (using the mesh intersection distance or using Physics Compute Pentration in unity)
this.SkeletonAccess.SetChannelData(currentPosture);
//Get the shoulder positions
MVector3 leftShoulderPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, MJointType.LeftShoulder);
MVector3 rightShoulderPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, MJointType.RightShoulder);
//Compute the direction vector pointing from the avatar towards the respective hand
MVector3 dir = new MVector3(0, 0, 0);
switch (this.handJoint)
{
case MJointType.LeftWrist:
dir = leftShoulderPosition.Subtract(rightShoulderPosition).Normalize();
break;
case MJointType.RightWrist:
dir = rightShoulderPosition.Subtract(leftShoulderPosition).Normalize();
break;
}
//Add an offset on top of the position
return(targetHandPosition.Add(dir.Multiply(offset)));
}
/// <summary>
/// Sets up the collider of the MSceneObject
/// </summary>
private void SetupCollider()
{
try
{
//Set the collider (if defined)
if (this.GetComponent <Collider>() != null)
{
//Create a new MCollider instance
MCollider mCollider = new MCollider()
{
ID = this.MSceneObject.ID
};
//Get the collider instance
Collider collider = this.GetComponent <Collider>();
//Check if collider is a box collider and create corresponding representation in MMI framework
if (collider is BoxCollider)
{
mCollider.Type = MColliderType.Box;
BoxCollider boxCollider = collider as BoxCollider;
//Set the specific box collider properties
mCollider.BoxColliderProperties = new MBoxColliderProperties
{
//Calculate the size by consdering the scaling
Size = new MVector3(boxCollider.size.x * this.transform.localScale.x, boxCollider.size.y * this.transform.localScale.y, boxCollider.size.z * this.transform.localScale.z)
};
mCollider.PositionOffset = new MVector3(boxCollider.center.x * this.transform.localScale.x, boxCollider.center.y * this.transform.localScale.y, boxCollider.center.z * this.transform.localScale.z);
}
//Check if collider is a sphere collider and create corresponding representation in MMI framework
if (collider is SphereCollider)
{
mCollider.Type = MColliderType.Sphere;
SphereCollider sphereCollider = collider as SphereCollider;
//Set the specific sphere collider properties
mCollider.SphereColliderProperties = new MSphereColliderProperties
{
Radius = sphereCollider.radius * Mathf.Max(this.transform.localScale.x, this.transform.localScale.y, this.transform.localScale.z)
};
mCollider.PositionOffset = new MVector3(sphereCollider.center.x * this.transform.localScale.x, sphereCollider.center.y * this.transform.localScale.y, sphereCollider.center.z * this.transform.localScale.z);
}
//Check if collider is a capsule collider and create corresponding representation in MMI framework
if (collider is CapsuleCollider)
{
mCollider.Type = MColliderType.Capsule;
CapsuleCollider capsuleCollider = collider as CapsuleCollider;
//Set the specific capsule collider properties
mCollider.CapsuleColliderProperties = new MCapsuleColliderProperties
{
Radius = capsuleCollider.radius * Mathf.Max(this.transform.localScale.x, this.transform.localScale.z),
Height = capsuleCollider.height * this.transform.localScale.y,
};
//Set the position offset
mCollider.PositionOffset = new MVector3(capsuleCollider.center.x * this.transform.localScale.x, capsuleCollider.center.y * this.transform.localScale.y, capsuleCollider.center.z * this.transform.localScale.z);
}
//Check if collider is a mesh collider and create corresponding representation in MMI framework
if (collider is MeshCollider)
{
mCollider.Type = MColliderType.Mesh;
MeshCollider meshCollider = collider as MeshCollider;
mCollider.MeshColliderProperties = new MMeshColliderProperties();
mCollider.MeshColliderProperties.Vertices = meshCollider.sharedMesh.vertices.Select(s => s.ToMVector3()).ToList();
mCollider.MeshColliderProperties.Triangles = meshCollider.sharedMesh.triangles.ToList();
//To do provide further option to just consider the bounds as approximation of the mesh collider
}
//Assign the collider
this.MSceneObject.Collider = mCollider;
}
}
catch (System.Exception e)
{
Debug.LogError("Problem setting up the collider: " + e.Message + " " + e.StackTrace);
}
}
/// <summary>
/// Creates a Unity collider based on the MCollider and a transform
/// </summary>
/// <param name="collider"></param>
/// <param name="transform"></param>
/// <returns></returns>
public static Collider CreateCollider(MCollider collider, MTransform transform)
{
if (collider == null || transform == null)
{
return(null);
}
GameObject result = null;
switch (collider.Type)
{
case MColliderType.Box:
MBoxColliderProperties mboxCollider = collider.BoxColliderProperties;
if (mboxCollider == null)
{
Debug.Log("Box collider is null");
return(null);
}
GameObject boxGameObject = GameObject.CreatePrimitive(PrimitiveType.Cube);
boxGameObject.transform.position = transform.Position.ToVector3();
boxGameObject.transform.rotation = transform.Rotation.ToQuaternion();
//Assign the properties of the collider
BoxCollider boxCollider = boxGameObject.GetComponent <BoxCollider>();
boxCollider.center = collider.PositionOffset.ToVector3();
boxCollider.size = mboxCollider.Size.ToVector3();
result = boxGameObject;
break;
case MColliderType.Sphere:
MSphereColliderProperties mSphereCollider = collider.SphereColliderProperties;
if (mSphereCollider == null)
{
Debug.Log("Sphere collider is null");
return(null);
}
GameObject sphereGameObject = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphereGameObject.transform.position = transform.Position.ToVector3();
sphereGameObject.transform.rotation = transform.Rotation.ToQuaternion();
SphereCollider sphereCollider = sphereGameObject.GetComponent <SphereCollider>();
sphereCollider.center = collider.PositionOffset.ToVector3();
sphereCollider.radius = (float)mSphereCollider.Radius;
result = sphereGameObject;
break;
case MColliderType.Capsule:
MCapsuleColliderProperties mCapsuleCollider = collider.CapsuleColliderProperties;
if (mCapsuleCollider == null)
{
Debug.Log("Capsule collider is null");
return(null);
}
GameObject capsule = GameObject.CreatePrimitive(PrimitiveType.Capsule);
capsule.transform.position = transform.Position.ToVector3();
capsule.transform.rotation = transform.Rotation.ToQuaternion();
CapsuleCollider capsuleCollider = capsule.GetComponent <CapsuleCollider>();
capsuleCollider.center = collider.PositionOffset.ToVector3();
capsuleCollider.radius = (float)mCapsuleCollider.Radius;
capsuleCollider.height = (float)mCapsuleCollider.Height;
result = capsule;
break;
case MColliderType.Mesh:
MMeshColliderProperties mMeshCollider = collider.MeshColliderProperties;
if (mMeshCollider == null)
{
Debug.Log("Mesh collider is null");
return(null);
}
//To do
break;
}
return(result.GetComponent <Collider>());
}
