/// <summary> /// Returns the global rotation of the specified constraint /// </summary> /// <param name="constraint"></param> /// <param name="sceneAccess"></param> /// <returns></returns> public static MQuaternion GetGlobalRotation(this MGeometryConstraint constraint, MSceneAccess.Iface sceneAccess) { MTransform parentTransform = sceneAccess.GetTransformByID(constraint.ParentObjectID); if (parentTransform != null) { if (constraint.ParentToConstraint != null) { return(parentTransform.TransformRotation(constraint.ParentToConstraint.Rotation)); } else { return(parentTransform.Rotation); } } //No parent defined else { if (constraint.ParentToConstraint != null) { return(constraint.ParentToConstraint.Rotation); } } return(null); }
/// <summary> /// Method is repsonsible for modeling the actual carry for both handed objects /// </summary> /// <param name="result"></param> private void BothHandedCarry(ref MSimulationResult result) { //Create an empty transform representing the next object transform MTransform nextObjectTransform = new MTransform(); //Update the desired object transform if (this.CarryTargetName != null && this.CarryTargetName.Length > 0) { MTransform targetTransform = SceneAccess.GetTransformByID(this.CarryTargetName); nextObjectTransform.Position = targetTransform.Position; nextObjectTransform.Rotation = targetTransform.Rotation; } else { MTransform refTransform = GetTransform(this.simulationState.Initial, bothHandedCarryReferenceJoint); MVector3 forward = GetRootForwad(this.simulationState.Initial); //Determine the ref transform rotation refTransform.Rotation = MQuaternionExtensions.FromEuler(new MVector3(0, Extensions.SignedAngle(new MVector3(0, 0, 1), forward, new MVector3(0, 1, 0)), 0)); nextObjectTransform.Position = refTransform.TransformPoint(this.internalCarryTransform.Position); nextObjectTransform.Rotation = refTransform.TransformRotation(this.internalCarryTransform.Rotation); } //Compute the object transform result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = instruction.Properties["TargetID"], Position = nextObjectTransform.Position, Rotation = nextObjectTransform.Rotation } } }); List <MIKProperty> ikProperties = new List <MIKProperty>(); //Update the hands foreach (HandContainer hand in this.ActiveHands) { //Update the hands MTransform nextHandPose = new MTransform("", nextObjectTransform.TransformPoint(hand.HandOffset.Position), nextObjectTransform.TransformRotation(hand.HandOffset.Rotation)); this.constraintManager.SetEndeffectorConstraint(hand.JointType, nextHandPose.Position, nextHandPose.Rotation, hand.ConstraintID); } }
/// <summary> /// Performs a single handed carry /// Just sets the object relative to the hand /// </summary> /// <param name="result"></param> /// <param name="hand"></param> /// <returns></returns> private List <MIKProperty> SingleHandedCarry(ref MSimulationResult result, double time, HandContainer hand) { List <MIKProperty> ikProperties = new List <MIKProperty>(); //Check if a carry target is specified if (hand.CarryTargetName != null) { //Compute the root velocity double rootVelocity = this.ComputeRootVelocity(time); //Get the current transform of the carry target for the respective hand MTransform targetTr = SceneAccess.GetTransformByID(this.CarryTargetName); //The transform of the carry target MTransform targetTransform = new MTransform("", targetTr.Position, targetTr.Rotation); //Compute the global position of the respective hand based on the object MVector3 targetHandPosition = targetTransform.TransformPoint(hand.HandOffset.Position); MQuaternion targetHandRotation = targetTransform.TransformRotation(hand.HandOffset.Rotation); //Get the current hand transform MTransform currentHandTransform = GetTransform(simulationState.Initial, hand.Type); //Compute the new hand pose MTransform nextHandPose = this.DoLocalMotionPlanning(rootVelocity + hand.Velocity, TimeSpan.FromSeconds(time), currentHandTransform.Position, currentHandTransform.Rotation, targetHandPosition, targetHandRotation); //Compute the object transform result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = hand.Instruction.Properties["TargetID"], Position = nextHandPose.TransformPoint(hand.ObjectOffset.Position), Rotation = nextHandPose.TransformRotation(hand.ObjectOffset.Rotation) } } }); //Set the position and rotation parameters of the ik this.constraintManager.SetEndeffectorConstraint(hand.JointType, nextHandPose.Position, nextHandPose.Rotation, hand.ConstraintID); } //Just set the object relative to the current hand else { //Create a transform representing the hand transform for the planned frame MTransform handTransform = GetTransform(simulationState.Current, hand.Type); if (this.UseCarryIK) { this.constraintManager.SetEndeffectorConstraint(hand.JointType, handTransform.Position, handTransform.Rotation, hand.ConstraintID); } //Compute the object transform result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = hand.Instruction.Properties["TargetID"], Position = handTransform.TransformPoint(hand.ObjectOffset.Position), Rotation = handTransform.TransformRotation(hand.ObjectOffset.Rotation) } } }); } //To do optionally consider self-collisions return(ikProperties); }
/// <summary> /// Performs the position step for a single hand /// </summary> /// <param name="result"></param> /// <param name="time"></param> /// <param name="hand"></param> /// <returns></returns> private void PositionObjectSingleHand(ref MSimulationResult result, double time, HandContainer hand) { //Compute the root velocity double rootVelocity = this.ComputeRootVelocity(time); //The current hand transform (the approved result of the last frame) MTransform currentHandTransform = GetTransform(simulationState.Initial, hand.Type); //The desired hand transform (of the underlying animation) MTransform targetHandTransform = GetTransform(simulationState.Current, hand.Type); //Check if for the hand a carry target is defined if (hand.CarryTargetName != null) { //Get the target transform if a carry target is defined MTransform carryTargetTransform = SceneAccess.GetTransformByID(this.CarryTargetName); //Compute the global position of the respective hand based on the object targetHandTransform.Position = carryTargetTransform.TransformPoint(hand.HandOffset.Position); targetHandTransform.Rotation = carryTargetTransform.TransformRotation(hand.HandOffset.Rotation); } rootVelocity = 0f; //Compute the new hand pose at the end of this frame MTransform nextHandTransform = this.DoLocalMotionPlanning(rootVelocity + hand.Velocity, TimeSpan.FromSeconds(time), currentHandTransform.Position, currentHandTransform.Rotation, targetHandTransform.Position, targetHandTransform.Rotation); //Compute the object transform result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = hand.Instruction.Properties["TargetID"], //Compute the object location with respect to the offset Position = nextHandTransform.TransformPoint(hand.ObjectOffset.Position), Rotation = nextHandTransform.TransformRotation(hand.ObjectOffset.Rotation) } } }); float translationDistance = targetHandTransform.Position.Subtract(nextHandTransform.Position).Magnitude(); float angularDistance = (float)MQuaternionExtensions.Angle(nextHandTransform.Rotation, targetHandTransform.Rotation); //Check if goal reached -> change state if (translationDistance < 0.01f && angularDistance < 2) { result.Events.Add(new MSimulationEvent("PositioningFinished", "PositioningFinished", hand.Instruction.ID)); //Finally in carry state hand.State = CarryState.Carry; //Set the constraint if the carry ik is enabled if (UseCarryIK || hand.CarryTargetName != null) { //Remove the endeffector constraint no carry ik this.constraintManager.SetEndeffectorConstraint(hand.JointType, nextHandTransform.Position, nextHandTransform.Rotation, hand.ConstraintID); } else { //Remove the endeffector constraint no carry ik this.constraintManager.RemoveEndeffectorConstraints(hand.JointType); } } //Not finished else { //Set the position and rotation parameters of the ik this.constraintManager.SetEndeffectorConstraint(hand.JointType, nextHandTransform.Position, nextHandTransform.Rotation, hand.ConstraintID); } }
/// <summary> /// Method is responsible for modeling the positiong the object and hands which is the first part of the carry for both handed objects /// </summary> /// <param name="result"></param> /// <param name="time"></param> private void PositionObjectBothHanded(ref MSimulationResult result, double time) { double rootVelocity = this.ComputeRootVelocity(time); MAvatarPostureValues avatarPose = this.simulationState.Initial; MTransform currentObjectTransform = this.SceneAccess.GetTransformByID(this.instruction.Properties["TargetID"]); //Move the object to a central spot in front of the avatar //Create a new transform for the target object transform MTransform targetObjectTransform = new MTransform(); if (this.CarryTargetName != null && this.CarryTargetName.Length > 0) { MTransform targetTransform = SceneAccess.GetTransformByID(this.CarryTargetName); targetObjectTransform.Position = targetTransform.Position; targetObjectTransform.Rotation = targetTransform.Rotation; } else { MTransform refTransform = GetTransform(this.simulationState.Initial, bothHandedCarryReferenceJoint); MVector3 forward = GetRootForwad(this.simulationState.Initial); //Determine the ref transform rotation refTransform.Rotation = MQuaternionExtensions.FromEuler(new MVector3(0, Extensions.SignedAngle(new MVector3(0, 0, 1), forward, new MVector3(0, 1, 0)), 0)); targetObjectTransform.Position = refTransform.TransformPoint(this.internalCarryTransform.Position); targetObjectTransform.Rotation = refTransform.TransformRotation(this.internalCarryTransform.Rotation); } MTransform nextObjectPose = this.DoLocalMotionPlanning(rootVelocity + positionObjectVelocity, TimeSpan.FromSeconds(time), currentObjectTransform.Position, currentObjectTransform.Rotation, targetObjectTransform.Position, targetObjectTransform.Rotation); MTransform nextObjectTransform = new MTransform("", nextObjectPose.Position, nextObjectPose.Rotation); //Update the position of the object result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = instruction.Properties["TargetID"], Position = nextObjectPose.Position, Rotation = nextObjectPose.Rotation } } }); //Update the hands foreach (HandContainer hand in this.ActiveHands) { //Update the hands MTransform nextHandPose = new MTransform("", nextObjectTransform.TransformPoint(hand.HandOffset.Position), nextObjectTransform.TransformRotation(hand.HandOffset.Rotation)); //Set a new endeffector constraint this.constraintManager.SetEndeffectorConstraint(hand.JointType, nextHandPose.Position, nextHandPose.Rotation, hand.ConstraintID); //Assign the hand pose to preserve finger rotations result.Posture = AssignHandPose(result.Posture, hand.HandPose, hand.Type); } //Check if position is finished if ((targetObjectTransform.Position.Subtract(nextObjectPose.Position)).Magnitude() < 0.01f && MQuaternionExtensions.Angle(targetObjectTransform.Rotation, nextObjectPose.Rotation) < 0.1f) { result.Events.Add(new MSimulationEvent("PositioningFinished", "PositioningFinished", instruction.ID)); //Only consider the rotation around y axis double yRotation = this.GetRootRotation(this.simulationState.Initial).ToEuler().Y; MTransform rootTransform = new MTransform("", this.GetRootPosition(this.simulationState.Initial), MQuaternionExtensions.FromEuler(new MVector3(0, yRotation, 0))); //Update the new relative coordinates this.relativeObjectRotation = rootTransform.InverseTransformRotation(nextObjectTransform.Rotation); this.relativeObjectPosition = rootTransform.InverseTransformPoint(nextObjectTransform.Position); this.bothHandedState = CarryState.Carry; //Get the joint constraints List <MConstraint> jointConstraints = this.constraintManager.GetJointConstraints(); //Solve using ik if constraints are defined if (jointConstraints.Count > 0) { MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(result.Posture, jointConstraints, new Dictionary <string, string>()); result.Posture = ikResult.Posture; } } }
/// <summary> /// Basic to step routine which computes the result of the current frame /// </summary> /// <param name="time"></param> /// <returns></returns> public override MSimulationResult DoStep(double time, MSimulationState simulationState) { //Create a new result MSimulationResult result = new MSimulationResult() { Events = simulationState.Events ?? new List <MSimulationEvent>(), DrawingCalls = new List <MDrawingCall>(), SceneManipulations = simulationState.SceneManipulations ?? new List <MSceneManipulation>(), Posture = simulationState.Current, Constraints = simulationState.Constraints ?? new List <MConstraint>() }; //The presently active constraints List <MConstraint> globalConstraints = new List <MConstraint>(result.Constraints); //The local constraints defined within the MMU List <MConstraint> localConstraints = new List <MConstraint>(); //Setup the constraint manager and use the local constraints this.constraintManager.SetConstraints(ref localConstraints); //Handle each active hand for (int i = this.activeHands.Count - 1; i >= 0; i--) { //Get the current hand HandContainer hand = this.activeHands[i]; //Skip if hand is not initialized if (!hand.Initialized) { continue; } //Get the transform of the object to be positioned MTransform currentObjectTransform = this.SceneAccess.GetTransformByID(hand.Instruction.Properties["SubjectID"]); //Get the transform of the target MTransform targetObjectTransform = null; //Determine the next location of the object (at the end of the frame) MTransform nextObjectTransform = null; //Check if trajectory is defined if (hand.Trajectory != null) { //The last point is the target transform targetObjectTransform = hand.Trajectory.Last(); //The current rajectory point MTransform currentTrajectoryPoint = hand.Trajectory[hand.TrajectoryIndex]; //Estimate the next transfom based on local motion planning nextObjectTransform = this.DoLocalMotionPlanning(hand.Velocity, hand.AngularVelocity, TimeSpan.FromSeconds(time), currentObjectTransform.Position, currentObjectTransform.Rotation, currentTrajectoryPoint.Position, currentTrajectoryPoint.Rotation, hand.CollisionAvoidance); //Get the current distance float currentDistance = nextObjectTransform.Position.Subtract(hand.Trajectory[hand.TrajectoryIndex].Position).Magnitude(); float currentAngularDistance = (float)MQuaternionExtensions.Angle(nextObjectTransform.Rotation, hand.Trajectory[hand.TrajectoryIndex].Rotation); //Check if close to current target -> move to next target if (currentDistance < this.translationThreshold && currentAngularDistance < this.rotationThreshold && hand.TrajectoryIndex < hand.Trajectory.Count - 1) { hand.TrajectoryIndex++; } } //Default behavior if no trajectory is specified else { targetObjectTransform = this.ComputeTargetTransform(hand); //Estimate the next pose of the scene object nextObjectTransform = this.DoLocalMotionPlanning(hand.Velocity, hand.AngularVelocity, TimeSpan.FromSeconds(time), currentObjectTransform.Position, currentObjectTransform.Rotation, targetObjectTransform.Position, targetObjectTransform.Rotation, hand.CollisionAvoidance); } //Set the pose of the object to the next estimated pose result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = hand.Instruction.Properties.GetValue("SubjectID", "subjectID"), Position = nextObjectTransform.Position, Rotation = nextObjectTransform.Rotation } } }); //Compute the next handpose based on the offset MTransform nextHandTransform = new MTransform("", nextObjectTransform.TransformPoint(hand.Offset.Position), nextObjectTransform.TransformRotation(hand.Offset.Rotation)); //Set the ik constraints constraintManager.SetEndeffectorConstraint(hand.Type, nextHandTransform.Position, nextHandTransform.Rotation); //To do add constraints float distance = (nextObjectTransform.Position.Subtract(targetObjectTransform.Position)).Magnitude(); float angularDistance = (float)MQuaternionExtensions.Angle(nextObjectTransform.Rotation, targetObjectTransform.Rotation); //Check if goal criteria fulfilled if (distance < this.translationThreshold && angularDistance < this.rotationThreshold) { //Increment the time hand.ElapsedHoldTime += time; if (hand.ElapsedHoldTime < hand.HoldTime) { continue; } this.activeHands.RemoveAt(i); //Add new finished event if (hand.BothHanded) { if (activeHands.Count == 0) { result.Events.Add(new MSimulationEvent(hand.Instruction.Name, mmiConstants.MSimulationEvent_End, hand.Instruction.ID)); } } //Single handed grasp else { result.Events.Add(new MSimulationEvent(hand.Instruction.Name, mmiConstants.MSimulationEvent_End, hand.Instruction.ID)); } } } //Get the properties from the constraint manager List <MConstraint> jointConstraints = this.constraintManager.GetJointConstraints(); //Use the ik service if at least one constraint must be solved if (jointConstraints.Count > 0) { MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(simulationState.Current, jointConstraints, new Dictionary <string, string>()); result.Posture = ikResult.Posture; } //Configure the constraint manager to operate on the global constraints constraintManager.SetConstraints(ref globalConstraints); //Combine the global with the local ones constraintManager.Combine(localConstraints); //Provide the combined constraints as result result.Constraints = globalConstraints; //Return the simulation result return(result); }
/// <summary> /// Basic to step routine which computes the result of the current frame /// </summary> /// <param name="time"></param> /// <returns></returns> public override MSimulationResult DoStep(double time, MSimulationState simulationState) { //Create a new result MSimulationResult result = new MSimulationResult() { Events = this.simulationState.Events ?? new List <MSimulationEvent>(), DrawingCalls = new List <MDrawingCall>(), SceneManipulations = this.simulationState.SceneManipulations ?? new List <MSceneManipulation>(), Posture = this.simulationState.Current, Constraints = this.simulationState.Constraints ?? new List <MConstraint>() }; List <MConstraint> constraints = result.Constraints; //Setup the constraint manager this.constraintManager.SetConstraints(ref constraints); //Set the simulation sate this.simulationState = simulationState; //Handle each active hand for (int i = this.ActiveHands.Count - 1; i >= 0; i--) { //Get the current hand HandContainer hand = this.ActiveHands[i]; if (!hand.Initialized) { continue; } //Get the transform of the object to be positioned MTransform currentObjectTransform = hand.Subject.Transform; //Get the transform of the target MTransform targetObjectTransform = null; //Determine the next location of the object (at the end of the frame) MTransform nextObjectTransform = null; //Check if trajectory is defined if (hand.Trajectory != null) { //The last point is the target transform targetObjectTransform = hand.Trajectory.Last(); //Estimate the next transfom based on local motion planning nextObjectTransform = this.DoLocalMotionPlanning(hand.Velocity, hand.AngularVelocity, TimeSpan.FromSeconds(time), currentObjectTransform.Position, currentObjectTransform.Rotation, hand.Trajectory[hand.TrajectoryIndex].Position, hand.Trajectory[hand.TrajectoryIndex].Rotation); float translationDistance = (nextObjectTransform.Position.Subtract(hand.Trajectory[hand.TrajectoryIndex].Position)).Magnitude(); double angularDistance = MQuaternionExtensions.Angle(nextObjectTransform.Rotation, hand.Trajectory[hand.TrajectoryIndex].Rotation); //Check if close to current target -> move to next target if (translationDistance < 0.01f && angularDistance < 0.5f && hand.TrajectoryIndex < hand.Trajectory.Count - 1) { hand.TrajectoryIndex++; } } //Default behavior if no trajectory is specified else { targetObjectTransform = hand.Target.Transform; //Estimate the next pose of the scene object nextObjectTransform = this.DoLocalMotionPlanning(hand.Velocity, hand.AngularVelocity, TimeSpan.FromSeconds(time), currentObjectTransform.Position, currentObjectTransform.Rotation, targetObjectTransform.Position, targetObjectTransform.Rotation); } //Set the pose of the object to the next estimated pose result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = hand.Subject.ID, Position = nextObjectTransform.Position, Rotation = nextObjectTransform.Rotation } } }); //Compute the next handpose based on the offset MTransform nextHandTransform = new MTransform("", nextObjectTransform.TransformPoint(hand.Offset.Position), nextObjectTransform.TransformRotation(hand.Offset.Rotation)); //Set the ik constraints constraintManager.SetEndeffectorConstraint(new MJointConstraint(hand.JointType) { GeometryConstraint = new MGeometryConstraint("") { ParentToConstraint = new MTransform(Guid.NewGuid().ToString(), nextHandTransform.Position, nextHandTransform.Rotation) } }); //To do add constraints float distance = (nextObjectTransform.Position.Subtract(targetObjectTransform.Position)).Magnitude(); double angularDist = MQuaternionExtensions.Angle(nextObjectTransform.Rotation, targetObjectTransform.Rotation); if (hand.Trajectory != null && hand.TrajectoryIndex < hand.Trajectory.Count - 2) { //Do nothing } else { if (distance < 0.01f && angularDist < 0.5f) { //Increment the time hand.ElapsedHoldTime += time; if (hand.ElapsedHoldTime < hand.HoldTime) { continue; } this.ActiveHands.RemoveAt(i); //Add new finished event if (hand.BothHanded) { if (ActiveHands.Count == 0) { result.Events.Add(new MSimulationEvent(hand.Instruction.Name, mmiConstants.MSimulationEvent_End, hand.Instruction.ID)); } } //Single handed grasp else { result.Events.Add(new MSimulationEvent(hand.Instruction.Name, mmiConstants.MSimulationEvent_End, hand.Instruction.ID)); } } } } //Use the ik service if (result.Constraints.Count > 0) { MIKServiceResult ikResult = ServiceAccess.IKService.CalculateIKPosture(this.simulationState.Current, result.Constraints, new Dictionary <string, string>()); result.Posture = ikResult.Posture; } return(result); }
public override MSimulationResult DoStep(double time, MSimulationState simulationState) { //Create a new simulation result MSimulationResult result = new MSimulationResult() { Events = simulationState.Events ?? new List <MSimulationEvent>(), Constraints = simulationState.Constraints ?? new List <MConstraint>(), SceneManipulations = simulationState.SceneManipulations ?? new List <MSceneManipulation>() }; //Assign the constraints to a temp varilable List <MConstraint> constraints = result.Constraints; //Use the constraint manager to manage the constraints constraintManager.SetConstraints(ref constraints); //Get the hand position and rotation of the last frame (approved result) this.SkeletonAccess.SetChannelData(simulationState.Initial); MVector3 currentHandPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint); MQuaternion currentHandRotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint); //Get the desired hand position (of the underlying motion e.g. idle) this.SkeletonAccess.SetChannelData(simulationState.Current); MVector3 targetHandPosition = this.SkeletonAccess.GetGlobalJointPosition(this.AvatarDescription.AvatarID, this.handJoint); MQuaternion targetHandRotation = this.SkeletonAccess.GetGlobalJointRotation(this.AvatarDescription.AvatarID, this.handJoint); //Add an offset on top of the position if desired if (this.addOffset) { targetHandPosition = ComputeNewPositionWithOffset(targetHandPosition, simulationState.Current); } //Move the hand from the current position to the target position MVector3 deltaPosition = targetHandPosition.Subtract(currentHandPosition); //Compute the distance of the hand to the target hand position float distanceToGoal = deltaPosition.Magnitude(); //Create positioning finished event if not already created and distance below threshold if (distanceToGoal < this.positioningFinishedThreshold && !this.positioningFinished) { result.Events.Add(new MSimulationEvent("PositioningFinished", "PositioningFinished", this.instruction.ID)); this.positioningFinished = true; } //Compute the current velocity based on the general max velocity and the velocity of the root motion float currentVelocity = this.velocity + this.ComputeRootVelocity(time, simulationState); //Compute the max distance which can be covered within the current frame float maxDistance = (float)(time * currentVelocity); //Compute the weight for slerping (weight increases with shrinking distance to target) float weight = Math.Max(0, 1 - distanceToGoal); //Create a new transform representing the next hand transform MTransform newHandTransform = new MTransform("", currentHandPosition.Clone(), currentHandRotation.Clone()) { //Compute the new hand position (normalize delta position and multiply by max distance) Position = currentHandPosition.Add(deltaPosition.Normalize().Multiply(Math.Min(deltaPosition.Magnitude(), maxDistance))), //Just perform an interpolation to gather new hand rotation (weight is determined by the translation distance) Rotation = MQuaternionExtensions.Slerp(currentHandRotation, targetHandRotation, weight) }; //Compute the corresponding positon/rotation of the object and //adjust the transformation of the object which should be moved result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = this.objectTransform.ID, //Compute the new global position of the object Position = newHandTransform.TransformPoint(this.objectPositionOffset), //Compute the new global rotation of the object Rotation = newHandTransform.TransformRotation(this.objectRotationOffset) } } }); //Set the desired endeffector constraints constraintManager.SetEndeffectorConstraint(this.handJoint, newHandTransform.Position, newHandTransform.Rotation); //Generate a new posture using the ik solver and the specified constraints MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(simulationState.Current, constraintManager.GetJointConstraints(), new Dictionary <string, string>()); result.Posture = ikResult.Posture; //Return the result return(result); }
/// <summary> /// Do step routine in which the actual simulation result is generated /// </summary> /// <param name="time"></param> /// <param name="simulationState"></param> /// <returns></returns> public override MSimulationResult DoStep(double time, MSimulationState simulationState) { //Create a new simulation result MSimulationResult result = new MSimulationResult() { Events = simulationState.Events != null ? simulationState.Events : new List <MSimulationEvent>(), Constraints = simulationState.Constraints, SceneManipulations = simulationState.SceneManipulations != null ? simulationState.SceneManipulations : new List <MSceneManipulation>() }; //Create variables representing the next object position/rotation MTransform nextObjectTransform = subjectTransform.Clone(); //Use the constraint manager to manage the constraints List <MConstraint> tmpConstraints = result.Constraints; //Set the constraints constraintManager.SetConstraints(ref tmpConstraints); //Compute the new hand position and rotation MVector3 deltaPosition = this.targetObjectTransform.Position.Subtract(subjectTransform.Position); float distanceToGoal = deltaPosition.Magnitude(); //Get the current object position float maxDistance = (float)time * 1.0f; //Check the current distance to goal if (distanceToGoal < 0.01f) { result.Events.Add(new MSimulationEvent(this.instruction.Name, mmiConstants.MSimulationEvent_End, this.instruction.ID)); } else { //Compute the new hand position (normalize delta position and multiply by max distance) nextObjectTransform.Position = this.subjectTransform.Position.Add(deltaPosition.Normalize().Multiply(Math.Min(distanceToGoal, maxDistance))); //Compute the weight for slerping (weight increases with shrinking distance to target) float weight = Math.Max(0, 1 - distanceToGoal); //Just perform an interpolation to gather new hand rotation (weight is determined by the translation distance) nextObjectTransform.Rotation = MQuaternionExtensions.Slerp(this.subjectTransform.Rotation, this.targetObjectTransform.Rotation, weight); } //Adjust the transformation of the object which should be moved result.SceneManipulations.Add(new MSceneManipulation() { Transforms = new List <MTransformManipulation>() { new MTransformManipulation() { Target = this.subjectTransform.ID, Position = nextObjectTransform.Position, Rotation = nextObjectTransform.Rotation } } }); //Get the current hand position in global space MVector3 globalHandPosition = nextObjectTransform.TransformPoint(this.handPositionOffset); MQuaternion globalHandRotation = nextObjectTransform.TransformRotation(this.handRotationOffset); //Set the desired endeffector constraints constraintManager.SetEndeffectorConstraint(this.handJoint, globalHandPosition, globalHandRotation); MIKServiceResult ikResult = this.ServiceAccess.IKService.CalculateIKPosture(simulationState.Current, constraintManager.GetJointConstraints(), new Dictionary <string, string>()); //Generate a new posture using the ik solver and the specified constraints result.Posture = ikResult.Posture; //Return the result return(result); }