/// <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 = new List <MSimulationEvent>(), Constraints = simulationState.Constraints ?? new List <MConstraint>(), SceneManipulations = new List <MSceneManipulation>(), Posture = simulationState.Current }; //Compute the target transform at the beginning of each frame this.targetTransform = this.ComputeTargetTransform(); //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); //The next pose MTransform nextPose = null; //The current velocity used for path planning float currentVelocity = this.velocity;// + this.ComputeRootVelocity(time, simulationState); //Use the trajectory if defined if (this.trajectory != null) { //If a trajectory is used -> The target transform is the last point of the trajectory this.targetTransform = this.trajectory.Last(); //Compute the next pose nextPose = this.DoLocalMotionPlanning(currentVelocity, this.angularVelocity, TimeSpan.FromSeconds(time), currentHandPosition, currentHandRotation, this.trajectory[trajectoryIndex].Position, this.trajectory[trajectoryIndex].Rotation); //Check if close to current target -> move to next target -> To do consider rotation if ((nextPose.Position.Subtract(trajectory[trajectoryIndex].Position)).Magnitude() < this.translationThreshold && MQuaternionExtensions.Angle(nextPose.Rotation, trajectory[trajectoryIndex].Rotation) < this.rotationThreshold && trajectoryIndex < trajectory.Count - 1) { trajectoryIndex++; } } else { //Compute the next pose nextPose = this.DoLocalMotionPlanning(currentVelocity, this.angularVelocity, TimeSpan.FromSeconds(time), currentHandPosition, currentHandRotation, this.targetTransform.Position, this.targetTransform.Rotation); } //Get the current distance float currentDistance = (nextPose.Position.Subtract(targetTransform.Position)).Magnitude(); float currentAngularDistance = (float)MQuaternionExtensions.Angle(nextPose.Rotation, targetTransform.Rotation); //Check if the ik is only computed once and blending is performed subsequently if (this.singleShotIK) { //Estimate the weight for blending float weight = (float)Math.Min(1, (currentVelocity * time) / currentDistance); //To check -> Why is a deep copy required? result.Posture = Blending.PerformBlend((IntermediateSkeleton)this.SkeletonAccess, simulationState.Initial, this.singleShotIKTargetPosture.Copy(), weight, false); if (weight >= 1 - 1e-3) { result.Events.Add(new MSimulationEvent(this.instruction.Name, mmiConstants.MSimulationEvent_End, this.instruction.ID)); constraintManager.SetEndeffectorConstraint(new MJointConstraint(this.handJoint) { GeometryConstraint = new MGeometryConstraint() { ParentObjectID = "", ParentToConstraint = new MTransform(System.Guid.NewGuid().ToString(), targetTransform.Position, targetTransform.Rotation) } }); } } //Default scenario -> IK is computed for each frame else { if (currentDistance <= this.translationThreshold && currentAngularDistance <= this.rotationThreshold) { //Set the target nextPose.Position = targetTransform.Position; nextPose.Rotation = targetTransform.Rotation; MMICSharp.Adapter.Logger.Log(MMICSharp.Adapter.Log_level.L_INFO, "Reach finished"); result.Events.Add(new MSimulationEvent(this.instruction.Name, mmiConstants.MSimulationEvent_End, this.instruction.ID)); } //Set the desired endeffector constraints constraintManager.SetEndeffectorConstraint(this.handJoint, nextPose.Position, nextPose.Rotation); } //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) { int ikIterations = 1; MIKServiceResult ikResult = null; //Use the ik to compute a posture fulfilling the requested constraints //To do -> Try with different initial postures / compute suitability of the generated posture for (int i = 0; i < ikIterations; i++) { //Compute twice ikResult = this.ServiceAccess.IKService.CalculateIKPosture(result.Posture, ikConstraints, new Dictionary <string, string>()); result.Posture = ikResult.Posture; } } //Update the constraint manager to operate on the global constraints constraintManager.SetConstraints(ref globalConstraints); //Integrate the newly defined constraints in the global ones constraintManager.Combine(localConstraints); //Just for better understanding -> Assign the previous constraints + integrated ones to the result (this is not neccessary since the constraint manager is operating on the reference) result.Constraints = globalConstraints; //Return the 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 = 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); }