/// <summary>
/// Method to setup the simulation controller
/// </summary>
public virtual void Setup()
{
//Manually update the phsyics
Physics.autoSimulation = false;
//Specify the target frame rate
Application.targetFrameRate = 90;
//Creates a new session ID
if (this.AutoCreateSessionID)
{
//Create a new session id
this.SessionId = UnitySceneAccess.CreateUUID();
}
//Get all avatars
this.Avatars = this.GetComponentsInChildren <MMIAvatar>().ToList();
MMISettings settings = this.GetComponent <MMISettings>();
//Setup the avatars
foreach (MMIAvatar avatar in this.Avatars)
{
//Setup the avatar
avatar.Setup(settings.MMIRegisterAddress, settings.MMIRegisterPort, this.SessionId);
}
//Wait and check if all connections are initialized
this.StartCoroutine(CheckInitialization());
}
// Use this for initialization
protected virtual void Start()
{
//Manually update the phsyics
Physics.autoSimulation = false;
//Specify the target frame rate
Application.targetFrameRate = 90;
//Creates a new session ID
if (this.AutoCreateSessionID)
{
//Create a new session id
this.SessionId = UnitySceneAccess.CreateUUID();
}
//Get all avatars
this.Avatars = this.GetComponentsInChildren <MMIAvatar>().ToList();
//Setup the avatars
foreach (MMIAvatar avatar in this.Avatars)
{
//Setup the avatar
avatar.Setup(this.RegisterAddress, this.RegisterPort, this.SessionId);
}
//Wait and check if all connections are initialized
this.StartCoroutine(CheckInitialization());
//Create a timer
this.timer = new Timer(TimerCallback, "finished", 0, (int)(this.FixedStepTime * 1000.0f));
}
/// <summary>
/// Basic awake routine
/// </summary>
protected virtual void Awake()
{
//Create a unique id for the scene object (only valid in the current session -> otherwise UUID required)
string id = UnitySceneAccess.CreateSceneObjectID();
//To check -> Is this informaton be required for every use case? Or should be remove it from here.
Dictionary <string, string> _dict = new Dictionary <string, string>();
if (Type == Types.Part)
{
_dict.Add("type", Type.ToString());
if (InitialLocation != null)
{
_dict.Add("initialLocation", InitialLocation.MSceneObject.ID);
}
if (FinalLocation != null)
{
_dict.Add("finalLocation", FinalLocation.MSceneObject.ID);
}
if (IsLocatedAt != null)
{
_dict.Add("isLocatedAt", InitialLocation.MSceneObject.ID);
}
}
else if (Type == Types.Tool)
{
_dict.Add("type", Tool);
if (InitialLocation != null)
{
_dict.Add("initialLocation", InitialLocation.MSceneObject.ID);
}
if (FinalLocation != null)
{
_dict.Add("finalLocation", FinalLocation.MSceneObject.ID);
}
if (IsLocatedAt != null)
{
_dict.Add("isLocatedAt", InitialLocation.MSceneObject.ID);
}
}
else
{
_dict.Add("type", Type.ToString());
}
//Create a new instance
this.MSceneObject = new MSceneObject()
{
Name = this.name,
ID = id,
Properties = _dict,
Transform = new MTransform(id, new MVector3(0, 0, 0), new MQuaternion(0, 0, 0, 1)),
Constraints = this.Constraints
};
//Create a new transform tracker
this.transformTracker = new TransformTracker(this.MSceneObject);
}
/// <summary>
/// Synchronizes the (internal) MSceneObject with the present data
/// </summary>
public virtual void Synchronize()
{
this.UpdateTransform(false);
this.MSceneObject.Constraints = Constraints;
//To do -> further actions in here
UnitySceneAccess.SceneObjectChanged(this.MSceneObject);
}
/// <summary>
/// Method to setup the actual retargeting
/// </summary>
protected virtual void SetupRetargeting()
{
//Only do the retargeting setup if not happened in before
if (!setupRetargeting)
{
setupRetargeting = true;
// find and load retargeting configuration file
//Create a unique id for the avatar (only valid in the current session -> otherwise UUID required)
string id = UnitySceneAccess.CreateAvatarID();
//Only load the configuration if defined
if (LoadRetargetingConfiguration)
{
if (!System.IO.File.Exists(Application.dataPath + "/" + this.ConfigurationFilePath))
{
Debug.LogError($"Problem setting up retargeting: The required file: {Application.dataPath + "/" + this.ConfigurationFilePath} is not available");
return;
}
string skelConf = System.IO.File.ReadAllText(Application.dataPath + "/" + this.ConfigurationFilePath);
MAvatarPosture p = MMICSharp.Common.Communication.Serialization.FromJsonString <MAvatarPosture>(skelConf);//JsonConvert.DeserializeObject<MAvatarPosture>(skelConf);
p.AvatarID = id;
this.SetupRetargeting(id, p);
this.AssignPostureValues(retargetingService.RetargetToIntermediate(p));
}
//If not defined use the global posture
else
{
this.SetupRetargeting(id);
}
MAvatarDescription avatarDescription = this.GetSkeletonAccess().GetAvatarDescription(id);
//Create a new MAvatar (the representation within MMI framework)
MAvatarPostureValues zeroPosture = this.GetSkeletonAccess().GetCurrentPostureValues(id);
//Create the avatar
this.MAvatar = new MAvatar()
{
Name = this.name,
ID = id,
Description = avatarDescription,
PostureValues = zeroPosture,
Properties = new Dictionary <string, string>(),
SceneObjects = new List <string>()
};
//Add the avatar to the scene access
UnitySceneAccess.AddAvatar(this.MAvatar);
Debug.Log("Retargeting successfully set up");
}
}
/// <summary>
/// Pushes the scene to each adapter/MMU
/// Scene synchronization
/// </summary>
protected void PushScene()
{
//Synchronizes the scene in before each update
//To do parallelize in future
for (int i = 0; i < this.Avatars.Count; i++)
{
this.Avatars[i].MMUAccess.PushScene(false);
}
//Clear the events since the current events have been already synchronized
UnitySceneAccess.ClearChanges();
}
/// <summary>
/// Update routine which is called for each frame
/// </summary>
protected virtual void Update()
{
//Check if avatar instance is already created (should be the case)
if (this.MAvatar != null)
{
//Get the posture values of the current posture
this.MAvatar.PostureValues = this.GetPosture();
//To do define a threshold to avoid unnecessary calls
//Notify the scene concerning the update
UnitySceneAccess.PostureValuesChanged(this.MAvatar, this.MAvatar.PostureValues);
}
}
/// <summary>
/// Updates the transform of the corresponding MSceneObject
/// </summary>
public virtual void UpdateTransform(bool raiseEvent = true)
{
string parent = this.MSceneObject.Transform.Parent;
//Set the transform to the current values
this.MSceneObject.Transform.Position = this.transform.position.ToMVector3();
this.MSceneObject.Transform.Rotation = this.transform.rotation.ToMQuaternion();
this.MSceneObject.Transform.Parent = parent;
if (raiseEvent)
{
//only transmit the changed data
UnitySceneAccess.TransformationChanged(this.MSceneObject, this.MSceneObject.Transform.Position, this.MSceneObject.Transform.Rotation, this.MSceneObject.Transform.Parent);
this.transform.hasChanged = false;
}
}
// Update is called once per frame
protected virtual void Update()
{
//Handle physics
if (this.rigidBody != null && physicsEnabled)
{
this.rigidBody.detectCollisions = this.UpdatePhysicsCurrentFrame;
this.rigidBody.isKinematic = !this.UpdatePhysicsCurrentFrame;
//Reset the value
this.UpdatePhysicsCurrentFrame = true;
}
//Handle fixed velocity
if (this.Velocity.magnitude > 0 && this.rigidBody != null)
{
if (this.rigidBody != null)
{
this.rigidBody.velocity = this.Velocity;
}
}
//Check the transformation changes
if (this.transform.hasChanged && this.transformTracker.HasChanged(this.transform))
{
//Write the transform of the mscene object
this.transformTracker.Update(transform);
//Signalize transformation change
UnitySceneAccess.TransformationChanged(this.MSceneObject, this.MSceneObject.Transform.Position, this.MSceneObject.Transform.Rotation, this.MSceneObject.Transform.Parent);
}
//Also track the changes in terms of physics
if (this.rigidBody != null)
{
List <MPhysicsInteraction> physicsChanges = this.physicsTracker.GetChanges(this.rigidBody);
//If some changes occur -> Update the phsysics properties and inform the UnitySceneAccess
if (physicsChanges.Count > 0)
{
this.physicsTracker.Update(this.rigidBody);
UnitySceneAccess.PhysicsPropertiesChanged(this.MSceneObject, this.MSceneObject.PhysicsProperties);
}
}
}
// Use this for initialization
protected virtual void Start()
{
//Setup the transforms of the MSceneObject
this.SetupTransform();
//Try to get the rigid body (if available)
this.rigidBody = this.GetComponent <Rigidbody>();
//Add the physics properties if rigid body is available
if (this.rigidBody != null)
{
this.MSceneObject.PhysicsProperties = new MPhysicsProperties()
{
Mass = this.rigidBody.mass,
Inertia = this.rigidBody.inertiaTensor.ToList(),
CenterOfMass = this.rigidBody.centerOfMass.ToList()
};
//Create a new physics tracker to monitor potential changes with regard to physics
this.physicsTracker = new PhysicsTracker(this.MSceneObject);
}
//Setup the collider and write the result to MSceneObject
if (!this.IgnoreCollision)
{
this.SetupCollider();
}
//Setup the mesh and write the result to MSceneObject
if (this.TransferMesh)
{
this.SetupMesh();
}
//Add the scene object to the scene access
UnitySceneAccess.AddSceneObject(this.MSceneObject);
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="sceneAccess"></param>
public RemoteSceneManipulationRequest(UnitySceneAccess sceneAccess)
{
this.sceneAccess = sceneAccess;
}
