public override MBoolResponse AssignInstruction(MInstruction instruction, MSimulationState avatarState)
{
//Initialize the ik service
this.ServiceAccess.IKService.Setup(this.AvatarDescription, new Dictionary <string, string>());
//Create a new constraint manager
this.constraintManager = new ConstraintManager(this.SceneAccess);
//Assign the instruction
this.instruction = instruction;
//Set state to ik
this.state = ReleaseMotionState.IK;
this.trajectoryIndex = 0;
//Parse the parameters
MBoolResponse response = this.ParseParameters(instruction);
if (!response.Successful)
{
return(response);
}
return(new MBoolResponse(true));
}
/// <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 DoStepIK(double time, MSimulationState simulationState)
{
//Create a default result
MSimulationResult result = new MSimulationResult()
{
Events = new List <MSimulationEvent>(),
Constraints = simulationState.Constraints ?? new List <MConstraint>(),
SceneManipulations = new List <MSceneManipulation>(),
Posture = simulationState.Current
};
//The presently active constraints
List <MConstraint> globalConstraints = result.Constraints;
//The local constraints defined within the MMU
List <MConstraint> localConstraints = new List <MConstraint>();
//Use the constraint manager to manage the local constraints
constraintManager.SetConstraints(ref localConstraints);
//Set the channel data to the approved state of the last frame (all MMUs were executed including the low prio grasp/positioning)
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);
//Set the skeleton acess data to the current
this.SkeletonAccess.SetChannelData(simulationState.Current);
//Determine the target hand position (either underlying MMU or given via boundary constraints)
MTransform targetTransform = new MTransform()
{
Position = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint),
Rotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint)
};
MTransform nextPose = null;
float translationWeight = 0;
//Use the trajectory if defined
if (this.trajectory != null && this.trajectory.Count > 0)
{
//Update the last element dynamically
trajectory.Last().Position = targetTransform.Position;
trajectory.Last().Rotation = targetTransform.Rotation;
//Compute the next pose
nextPose = this.DoLocalMotionPlanning(this.velocity, this.angularVelocity, TimeSpan.FromSeconds(time), currentHandPosition, currentHandRotation, this.trajectory[trajectoryIndex].Position, this.trajectory[trajectoryIndex].Rotation, out translationWeight);
//Check if close to current target -> move to next target -> To do consider rotation
if ((nextPose.Position.Subtract(trajectory[trajectoryIndex].Position)).Magnitude() < 0.1f && MQuaternionExtensions.Angle(nextPose.Rotation, trajectory[trajectoryIndex].Rotation) < 1f && trajectoryIndex < trajectory.Count - 1)
{
trajectoryIndex++;
}
}
else
{
//Compute the next pose
nextPose = this.DoLocalMotionPlanning(this.velocity, this.angularVelocity, TimeSpan.FromSeconds(time), currentHandPosition, currentHandRotation, targetTransform.Position, targetTransform.Rotation, out translationWeight);
}
////Determine the next pose using local motion planning
//MTransform nextPose = this.DoLocalMotionPlanning(this.velocity, this.angularVelocity, TimeSpan.FromSeconds(time), currentHandPosition, currentHandRotation, targetHandPosition, targetHandRotation, out float translationWeight);
//Perform a partial blend
//result.Posture = this.PerformPartialBlend(this.handJoint, translationWeight, simulationState);
//Get the current distance
float currentDistance = (nextPose.Position.Subtract(targetTransform.Position)).Magnitude();
float currentAngularDistance = (float)MQuaternionExtensions.Angle(nextPose.Rotation, targetTransform.Rotation);
//Handle the present state (either in ik mode oder blending)
switch (this.state)
{
case ReleaseMotionState.IK:
if (currentDistance < 0.02f && currentAngularDistance < 5f)
{
//Switch to blending to realize the final share
this.state = ReleaseMotionState.Blending;
this.elapsedBlendTime = 0;
//Set to global constraints
this.constraintManager.SetConstraints(ref globalConstraints);
//Remove all constraints for the respective hand
this.constraintManager.RemoveEndeffectorConstraints(this.handJoint);
}
else
{
//Update the constraint
this.constraintManager.SetEndeffectorConstraint(this.handJoint, nextPose.Position, nextPose.Rotation);
}
break;
}
//Use the local constraint to compute the ik
this.constraintManager.SetConstraints(ref localConstraints);
//React depending on the given state
switch (this.state)
{
//In ik mode the ik solver must be called
case ReleaseMotionState.IK:
//Create a list with the specific constraints for the reach MMU -> Only get the specific ones that must be solved (local constraints)
List <MConstraint> ikConstraints = constraintManager.GetJointConstraints();
//Only solve if at least one constraint is defined
if (ikConstraints.Count > 0)
{
//Compute twice
MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(result.Posture, ikConstraints, new Dictionary <string, string>());
result.Posture = ikResult.Posture;
}
break;
//In blending mode, motion blending must be performed
case ReleaseMotionState.Blending:
//Perform a blend
elapsedBlendTime += (float)time;
float blendWeight = Math.Min(1, elapsedBlendTime / endBlendDuration);
result.Posture = MMICSharp.Common.Tools.Blending.PerformBlend(this.SkeletonAccess as IntermediateSkeleton, simulationState.Initial, simulationState.Current, blendWeight, true);
//Perform a partial blend
//result.Posture = this.PerformPartialBlend(this.handJoint, blendWeight, simulationState);
if (blendWeight >= 1f)
{
result.Events.Add(new MSimulationEvent()
{
Name = "Release Finished",
Reference = this.instruction.ID,
Type = mmiConstants.MSimulationEvent_End
});
}
break;
}
//Combine the constraints
this.constraintManager.SetConstraints(ref globalConstraints);
this.constraintManager.Combine(localConstraints);
return(result);
}
