/// <summary>
/// Sets up the respective hand using the given parameters
/// </summary>
/// <param name="jointType"></param>
/// <param name="instruction"></param>
/// <param name="duration"></param>
/// <param name="angularVelocity"></param>
/// <param name="durationSet"></param>
/// <param name="release"></param>
private void SetupHand(MJointType jointType, MInstruction instruction, float duration, float angularVelocity, bool durationSet, bool release)
{
//Create a new hand container
HandContainer hand = new HandContainer()
{
Type = jointType,
Instruction = instruction,
Release = release,
Duration = duration,
AngularVelocity = angularVelocity,
HasDuration = durationSet,
Positioned = false
};
HandContainer old = this.ActiveHands.Find(s => s.Type == jointType);
if (old != null)
{
this.ActiveHands.Remove(old);
}
//Handle the hand pose (if defined)
if (instruction.Properties.ContainsKey("HandPose"))
{
//Get the constraint id
string constraintID = instruction.Properties["HandPose"];
//Get the corresponding hand constraint
MConstraint handConstraint = instruction.Constraints.Find(s => s.ID == constraintID);
//Check if hand constraint is defined and assign as final posture
if (handConstraint != null && handConstraint.PostureConstraint != null)
{
hand.FinalPosture = handConstraint.PostureConstraint;
}
}
//Add as active hand
this.ActiveHands.Add(hand);
}
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>()
};
//Cast to intermediate skeleton to get all functions
IntermediateSkeleton iS = this.SkeletonAccess as IntermediateSkeleton;
//Assign the approved posture of the last frame (proper finger rotations)
this.SkeletonAccess.SetChannelData(simulationState.Initial);
//First estimate the finger rotations
//------------------------------------------------------------------------------------------------------------------
//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.Release)
{
//Use all finger joint if in release mode
foreach (MJointType jointType in fingerJoints)
{
//Get the current rotation of the finger
if (!hand.CurrentFingerRotations.ContainsKey(jointType))
{
hand.CurrentFingerRotations.Add(jointType, iS.GetLocalJointRotation(this.AvatarDescription.AvatarID, jointType));
}
else
{
hand.CurrentFingerRotations[jointType] = iS.GetLocalJointRotation(this.AvatarDescription.AvatarID, jointType);
}
}
}
else
{
//Handle all joint constraints -> Use only the fingers that are constrained
foreach (MJointConstraint joint in hand.FinalPosture.JointConstraints)
{
//Skip if the joint is no finger joint
if (!this.IsFingerJoint(joint.JointType))
{
continue;
}
//Get the current rotation of the finger
if (!hand.CurrentFingerRotations.ContainsKey(joint.JointType))
{
hand.CurrentFingerRotations.Add(joint.JointType, iS.GetLocalJointRotation(this.AvatarDescription.AvatarID, joint.JointType));
}
else
{
hand.CurrentFingerRotations[joint.JointType] = iS.GetLocalJointRotation(this.AvatarDescription.AvatarID, joint.JointType);
}
}
}
}
//Perform the blending
//------------------------------------------------------------------------------------------------------------------
//Assign the approved posture of the last frame (proper finger rotations)
this.SkeletonAccess.SetChannelData(simulationState.Current);
//Handle each active hand
for (int i = this.ActiveHands.Count - 1; i >= 0; i--)
{
//Get the current hand
HandContainer hand = this.ActiveHands[i];
//Flag which indicates whether the fingers are positioned
bool positioned = true;
if (hand.Release)
{
//If in release mode again use all joints being finger joints
foreach (MJointType jointType in fingerJoints)
{
//Get the current rotation of the finger
MQuaternion currentRotation = hand.CurrentFingerRotations[jointType];
//The current rotation is the result of the last frame
MQuaternion desiredRotation = iS.GetLocalJointRotation(this.AvatarDescription.AvatarID, jointType);
//The weight used for blending
double weight = 0;
//The angle between the current rotation and the desired one
double angle = MQuaternionExtensions.Angle(currentRotation, desiredRotation);
//Compute the weight based on the elapsed time if the duration is set
if (hand.HasDuration)
{
weight = hand.Elapsed / hand.Duration;
}
//By default use the angular velocity
else
{
//The max allowed angle in this frame
double maxAngle = time * hand.AngularVelocity;
weight = Math.Min(1, maxAngle / angle);
}
//Compute the new rotation
MQuaternion newRotation = MQuaternionExtensions.Slerp(currentRotation, desiredRotation, (float)weight);
//Set the local joint rotation of the intermediate skeleton
iS.SetLocalJointRotation(this.AvatarDescription.AvatarID, jointType, newRotation);
//Goal criteria
if (angle > 0.1f)
{
positioned = false;
}
}
}
else
{
//Handle all joint constraints
foreach (MJointConstraint joint in hand.FinalPosture.JointConstraints)
{
//Skip if the joint is no finger joint
if (!this.IsFingerJoint(joint.JointType))
{
continue;
}
//Get the current rotation of the finger
MQuaternion currentRotation = hand.CurrentFingerRotations[joint.JointType];
//Get the desired rotation
MQuaternion desiredRotation = joint.GeometryConstraint.ParentToConstraint.Rotation;
//The weight used for blending
double weight = 0;
//The angle between the current rotation and the desired one
double angle = MQuaternionExtensions.Angle(currentRotation, desiredRotation);
//Compute the weight based on the elapsed time if the duration is set
if (hand.HasDuration)
{
weight = hand.Elapsed / hand.Duration;
}
//By default use the angular velocity
else
{
//The max allowed angle in this frame
double maxAngle = time * hand.AngularVelocity;
weight = Math.Min(1, maxAngle / angle);
}
//Compute the new rotation
MQuaternion newRotation = MQuaternionExtensions.Slerp(currentRotation, desiredRotation, (float)weight);
//Set the local joint rotation of the intermediate skeleton
iS.SetLocalJointRotation(this.AvatarDescription.AvatarID, joint.JointType, newRotation);
//Goal criteria
if (angle > 0.1f)
{
positioned = false;
}
}
}
//Provide event if positioned successfully
if (positioned && !hand.Positioned)
{
hand.Positioned = true;
result.Events.Add(new MSimulationEvent()
{
Name = "MoveFingersMMU",
Type = "FingersPositioned",
Reference = hand.Instruction.ID
});
}
//Increment the time
hand.Elapsed += (float)time;
}
//Recompute the posture given the performed changes
result.Posture = iS.RecomputeCurrentPostureValues(this.AvatarDescription.AvatarID);
//Return the simulation result for the given frame
return(result);
}
