/// <summary>
/// Pick up selected object
/// </summary>
public void PickUp()
{
GameObject obj;
try
{
//Get selected object
obj = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If move target is selected, switch to parent
if (MoveTargetChecker.IsMoveTarget(obj))
{
obj = obj.transform.parent.gameObject;
}
if (!HandChecker.HasHands(obj))
{
SSTools.ShowMessage("No hands placed", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
List <MInstruction> list = new List <MInstruction>();
//Get IDs of object
String objID = obj.GetComponent <MMISceneObject>().MSceneObject.ID;
//Instructions if both hands are present on object
if (HandChecker.HasBothHands(obj))
{
_carryIDManager.CurrentCarryIdBoth = MInstructionFactory.GenerateID();
MInstruction carryInstruction =
new MInstruction(_carryIDManager.CurrentCarryIdBoth, "carry object", "Object/Carry")
{
Properties = PropertiesCreator.Create("TargetID", objID, "Hand",
"Both")
};
list.Add(carryInstruction);
}
//Instructions if only right hand is present on object
else if (HandChecker.HasRightHand(obj))
{
_carryIDManager.CurrentCarryIdRight = MInstructionFactory.GenerateID();
MInstruction carryInstruction =
new MInstruction(_carryIDManager.CurrentCarryIdRight, "carry object", "Object/Carry")
{
Properties = PropertiesCreator.Create("TargetID", objID, "Hand",
"Right"),
};
list.Add(carryInstruction);
}
//Instructions if only left hand is present on object
else if (HandChecker.HasLeftHand(obj))
{
_carryIDManager.CurrentCarryIdLeft = MInstructionFactory.GenerateID();
MInstruction carryInstruction =
new MInstruction(_carryIDManager.CurrentCarryIdLeft, "carry object", "Object/Carry")
{
Properties = PropertiesCreator.Create("TargetID", objID, "Hand",
"Left"),
};
list.Add(carryInstruction);
}
//Indicates that an object has been picked up, so it cannot be released
pickedUp = true;
//Add instructions to queue
queueController.AddItem(list, "Pick up " + obj.name);
}
/// <summary>
/// Release selected object
/// </summary>
public void Release()
{
if (!pickedUp)
{
GameObject go;
try
{
//Get selected object
go = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If move target is selected, switch to parent
if (MoveTargetChecker.IsMoveTarget(go))
{
go = go.transform.parent.gameObject;
}
//List for instructions
List <MInstruction> list = new List <MInstruction>();
//List for hands on object
List <GameObject> hands = new List <GameObject>();
if (HandChecker.HasLeftHand(go))
{
MInstruction releaseLeft =
new MInstruction(MInstructionFactory.GenerateID(), "release object", "Object/Release")
{
Properties = PropertiesCreator.Create("Hand", "Left", CoSimTopic.OnStart,
_handPoseIdManager.CurrentHandIdLeft + ":" + CoSimAction.EndInstruction)
//Properties = PropertiesCreator.Create("Hand", "Left")
};
//Add instructions to position fingers
list.AddRange(ReleaseHandPose("Left"));
//Add instruction to release left hand
list.Add(releaseLeft);
//Remove left hand game object from object
//hands.Add(go.transform.Find("LeftHand(Clone)").gameObject);
hands.Add(HandChecker.GetLeftHand(go));
}
if (HandChecker.HasRightHand(go))
{
MInstruction releaseRight =
new MInstruction(MInstructionFactory.GenerateID(), "release object", "Object/Release")
{
Properties = PropertiesCreator.Create("Hand", "Right", CoSimTopic.OnStart,
_handPoseIdManager.CurrentHandIdRight + ":" + CoSimAction.EndInstruction)
//Properties = PropertiesCreator.Create("Hand", "Right")
};
//Add instructions to position fingers
list.AddRange(ReleaseHandPose("Right"));
//Add instruction to release right hand
list.Add(releaseRight);
//Remove right hand game object from object
//hands.Add(go.transform.Find("RightHand(Clone)").gameObject);
hands.Add(HandChecker.GetRightHand(go));
}
//Destroy the hands after moving an object
foreach (var hand in hands)
{
Destroy(hand);
}
//Add instructions to queue
queueController.AddItem(list, "Release " + go.name);
}
else
{
SSTools.ShowMessage("Object needs to be moved first!", SSTools.Position.bottom, SSTools.Time.twoSecond);
}
}
/// <summary>
/// Place selected object
/// </summary>
public void MoveObject()
{
GameObject obj;
try
{
//Get selected object
obj = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If move target is selected, switch to parent
if (MoveTargetChecker.IsMoveTarget(obj))
{
obj = obj.transform.parent.gameObject;
}
if (!HandChecker.HasHands(obj))
{
SSTools.ShowMessage("No hands placed", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
GameObject positionTarget;
try
{
//Get move target
positionTarget = obj.transform.Find("moveTarget").gameObject;
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No move target defined", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//List for instructions
List <MInstruction> list = new List <MInstruction>();
//Get IDs of objects
String objectID = obj.GetComponent <MMISceneObject>().MSceneObject.ID;
String targetPositionID = positionTarget.GetComponent <MMISceneObject>().MSceneObject.ID;
//Instruction if both hands are present on object
if (HandChecker.HasBothHands(obj))
{
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", "Object/Move")
{
Properties = PropertiesCreator.Create("SubjectID", objectID, "Hand",
"Both", "TargetID", targetPositionID, CoSimTopic.OnStart,
_carryIDManager.CurrentCarryIdBoth + ":" + CoSimAction.EndInstruction)
};
list.Add(moveObject);
}
//Instruction if only right hand is present on object
else if (HandChecker.HasRightHand(obj))
{
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", "Object/Move")
{
Properties = PropertiesCreator.Create("SubjectID", objectID, "Hand",
"Right", "TargetID", targetPositionID, CoSimTopic.OnStart,
_carryIDManager.CurrentCarryIdRight + ":" + CoSimAction.EndInstruction)
};
list.Add(moveObject);
}
//Instruction if only left hand is present on object
else if (HandChecker.HasLeftHand(obj))
{
MInstruction moveObject = new MInstruction(MInstructionFactory.GenerateID(), "move object", "Object/Move")
{
Properties = PropertiesCreator.Create("SubjectID", objectID, "Hand",
"Left", "TargetID", targetPositionID, CoSimTopic.OnStart,
_carryIDManager.CurrentCarryIdLeft + ":" + CoSimAction.EndInstruction)
};
list.Add(moveObject);
}
//Indicates that an object has been moved and thus the Carry Instruction is finished
pickedUp = false;
//Add instructions to queue
queueController.AddItem(list, "Place " + obj.name);
}
/// <summary>
/// Reach selected object
/// </summary>
public void ReachObject()
{
GameObject go;
try
{
//Get selected object
go = selectObject.GetObject();
}
catch (NullReferenceException)
{
SSTools.ShowMessage("No object selected", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//If move target is selected, switch to parent
if (MoveTargetChecker.IsMoveTarget(go))
{
go = go.transform.parent.gameObject;
}
//Check for hands
if (!HandChecker.HasHands(go))
{
SSTools.ShowMessage("No hands placed", SSTools.Position.bottom, SSTools.Time.twoSecond);
return;
}
//List of instructions
List <MInstruction> list = new List <MInstruction>();
if (HandChecker.HasLeftHand(go))
{
//Get UnitySceneAccess ID of hand
//GameObject hand = go.transform.Find("LeftHand(Clone)").gameObject;
GameObject hand = HandChecker.GetLeftHand(go);
String objectID = hand.GetComponent <MMISceneObject>().MSceneObject.ID;
//Now create a specific instruction to reach with the right hand
MInstruction reachLeft = new MInstruction(MInstructionFactory.GenerateID(), "reach left", "Pose/Reach")
{
Properties = PropertiesCreator.Create("TargetID", objectID,
"Hand", "Left")
};
//Add instructions to list
list.Add(reachLeft);
list.AddRange(MakeHandPose(go, "Left"));
}
if (HandChecker.HasRightHand(go))
{
//Get UnitySceneAccess ID of hand
//GameObject hand = go.transform.Find("RightHand(Clone)").gameObject;
GameObject hand = HandChecker.GetRightHand(go);
String objectID = hand.GetComponent <MMISceneObject>().MSceneObject.ID;
//Now create a specific instruction to reach with the right hand
MInstruction reachRight = new MInstruction(MInstructionFactory.GenerateID(), "reach right", "Pose/Reach")
{
Properties = PropertiesCreator.Create("TargetID", objectID, "Hand", "Right")
};
//Add instructions to list
list.Add(reachRight);
list.AddRange(MakeHandPose(go, "Right"));
}
//Add instruction to queue
queueController.AddItem(list, "Reach " + go.name);
}