First prototype RoboidSite support working

Editor/Tools/Networking/NetworkingStarter_Editor.cs

@@ -34,7 +34,7 @@ namespace Passer.Humanoid {
         public override void OnInspectorGUI() {
             serializedObject.Update();
 
-#if !hNW_UNET && !hNW_PHOTON && !hNW_MIRROR && !hNW_BOLT
+#if !hNW_UNET && !hNW_PHOTON && !hNW_MIRROR && !hNW_BOLT && !hNW_ROBOID
             EditorGUILayout.HelpBox("Networking Support is disabled. Check Preferences to enable it.", MessageType.Warning);
 #else
 

Runtime/HumanoidControl/Scripts/Networking/HumanoidPlayer.cs

@@ -6,7 +6,7 @@ using UnityEngine;
 namespace Passer.Humanoid {
 #pragma warning disable 0618
 
-#if hNW_UNET || hNW_MIRROR || hNW_PHOTON || hNW_BOLT
+#if hNW_UNET || hNW_MIRROR || hNW_PHOTON || hNW_BOLT || hNW_ROBOID
     public partial class HumanoidPlayer {
 
         [SerializeField]

Runtime/HumanoidControl/Scripts/Networking/Roboid.meta

@@ -0,0 +1,8 @@
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+guid: c951b29def0f4d240a2a7bef87502741
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Runtime/HumanoidControl/Scripts/Networking/Roboid/HumanoidPlayerRoboid.cs

@@ -0,0 +1,578 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.IO;
+using System.Net;
+using System.Net.Sockets;
+using UnityEngine;
+using System.Runtime.Serialization;
+
+
+#if hNW_ROBOID
+
+using Passer.LinearAlgebra;
+
+namespace Passer.Humanoid {
+
+    public partial class HumanoidPlayer : MonoBehaviour, IHumanoidNetworking {
+
+        [SerializeField]
+        protected float _sendRate = 25;
+        public float sendRate {
+            get { return _sendRate; }
+        }
+
+        [SerializeField]
+        protected bool _createLocalRemotes = false;
+        public bool createLocalRemotes {
+            get { return _createLocalRemotes; }
+            set { _createLocalRemotes = value; }
+        }
+
+        public int nssPort = 7681;
+        protected UdpClient udpClient;
+        protected IPEndPoint endPoint;
+        protected object obj;
+        protected AsyncCallback receiveCallback;
+        ConcurrentQueue<HumanoidNetworking.IMessage> messageQueue = new ConcurrentQueue<HumanoidNetworking.IMessage>();
+
+        public byte networkId;
+
+        #region Dummy Interface
+
+        public void Send(bool b) { }
+        public void Send(byte b) { }
+        public void Send(int x) { }
+        public void Send(float f) { }
+        public void Send(Vector3 v) { }
+        public void Send(Quaternion q) { }
+
+        public bool ReceiveBool() {
+            return false;
+        }
+        public byte ReceiveByte() {
+            return 0;
+        }
+        public int ReceiveInt() {
+            return 0;
+        }
+        public float ReceiveFloat() {
+            return 0;
+        }
+        public Vector3 ReceiveVector3() {
+            return Vector3.zero;
+        }
+        public Quaternion ReceiveQuaternion() {
+            return Quaternion.identity;
+        }
+
+        public ulong GetObjectIdentity(GameObject obj) {
+            return 0;
+        }
+        public GameObject GetGameObject(ulong objIdentity) {
+            return this.gameObject;
+        }
+
+        public void InstantiateHumanoid(HumanoidControl humanoid) {
+            if (debug <= HumanoidNetworking.DebugLevel.Info)
+                DebugLog("Send Instantiate Humanoid " + humanoid.humanoidId);
+
+            HumanoidNetworking.InstantiateHumanoid instantiateHumanoid = new HumanoidNetworking.InstantiateHumanoid(humanoid);
+            if (createLocalRemotes)
+                this.Receive(instantiateHumanoid);
+        }
+        public void DestroyHumanoid(HumanoidControl humanoid) { }
+        public void Grab(HandTarget handTarget, GameObject obj, bool rangeCheck, HandTarget.GrabType grabType = HandTarget.GrabType.HandGrab) { }
+        public void LetGo(HandTarget handTarget) { }
+        public void ChangeAvatar(HumanoidControl humanoid, string avatarPrefabName, string possessionLocation = null) {
+            if (debug <= HumanoidNetworking.DebugLevel.Info)
+                Debug.Log(humanoid.nwId + ": Change Avatar: " + avatarPrefabName);
+
+            HumanoidNetworking.ChangeAvatar changeAvatar = new HumanoidNetworking.ChangeAvatar(humanoid, avatarPrefabName, possessionLocation);
+            if (createLocalRemotes)
+                this.Receive(changeAvatar);
+        }
+
+        public void SyncTrackingSpace(HumanoidControl humanoid) { }
+        public void ReenableNetworkSync(GameObject obj) { }
+        public void DisableNetworkSync(GameObject obj) { }
+
+        public void DebugLog(string s) {
+            Debug.Log(s);
+        }
+        public void DebugWarning(string s) {
+            Debug.LogWarning(s);
+        }
+        public void DebugError(string s) {
+            Debug.LogError(s);
+        }
+
+        public HumanoidNetworking.Smoothing smoothing => HumanoidNetworking.Smoothing.None;
+
+        private bool _isLocal;
+        public bool isLocal => _isLocal; // may need to implement this
+
+        public ulong nwId => 0;
+
+        public HumanoidNetworking.HumanoidPose lastHumanoidPose { get => null; set { return; } }
+
+        public List<HumanoidControl> humanoids { get; set; }
+
+        #endregion Dummy Interface
+
+        protected virtual void Awake() {
+            mInstance = this;
+
+            GameObject.DontDestroyOnLoad(this.gameObject);
+            humanoids = HumanoidNetworking.FindLocalHumanoids();
+
+            for (int i = 0; i < humanoids.Count; i++) {
+                HumanoidControl humanoid = humanoids[i];
+                if (humanoid.isRemote)
+                    continue;
+
+                humanoid.humanoidNetworking = this;
+            }
+
+            endPoint = new IPEndPoint(IPAddress.Any, nssPort + 3);
+            udpClient = new UdpClient(endPoint);
+            receiveCallback = new AsyncCallback(Receiver);
+            udpClient.BeginReceive(receiveCallback, obj);
+        }
+
+        protected void OnApplicationQuit() {
+            if (udpClient != null) {
+                udpClient.Client.Close();
+                udpClient.Close();
+                udpClient = null;
+            }
+        }
+
+        #region Update
+
+        float lastSend;
+
+        protected virtual void LateUpdate() {
+            while (messageQueue.TryDequeue(out HumanoidNetworking.IMessage msg)) {
+                ProcessMessage(msg);
+            }
+
+            if (Time.time > lastSend + 1 / sendRate) {
+                if (humanoids != null) {
+                    foreach (HumanoidControl humanoid in humanoids) {
+                        if (!humanoid.isRemote) {
+                            UpdateHumanoidPose(humanoid);
+                        }
+                    }
+                }
+                lastSend = Time.time;
+            }
+        }
+
+        protected virtual void ProcessMessage(HumanoidNetworking.IMessage msg) {
+            switch (msg) {
+                case NetworkIdMsg networkId:
+                    ProcessNetworkId(networkId);
+                    break;
+            }
+        }
+
+        void Receiver(IAsyncResult result) {
+            // Take care of buffered messages after the client has been closed
+            if (udpClient == null || udpClient.Client.Connected == false)
+                return;
+
+            byte[] data = (udpClient.EndReceive(result, ref endPoint));
+
+            ReceivePacket(data);
+
+            udpClient.BeginReceive(receiveCallback, obj);
+        }
+
+        void ReceivePacket(byte[] data) {
+            byte msgId = data[0];
+            switch (msgId) {
+                case 0xA1: // (161) Network Id
+                    this.ReceiveNetworkId(data); break;
+            }
+
+        }
+
+        #endregion Update
+
+        #region NetworkId
+
+        public class NetworkIdMsg : HumanoidNetworking.IMessage {
+            public const byte msgId = 0xA1;
+            public byte networkId = 0;
+
+            public NetworkIdMsg(byte networkId) {
+                this.networkId = networkId;
+            }
+            public NetworkIdMsg(byte[] data) : base(data) { }
+
+            public override byte[] Serialize() {
+                MemoryStream ms = new();
+                BinaryWriter bw = new(ms);
+                bw.Write(msgId);
+                bw.Write(this.networkId); // Thing Id
+                byte[] data = ms.ToArray();
+                return data;
+            }
+            public override void Deserialize(byte[] data) {
+                base.Deserialize(data);
+                this.networkId = (byte)data[1];
+            }
+        }
+
+        public void ReceiveNetworkId(byte[] data) {
+            NetworkIdMsg msg = new(data);
+            this.networkId = msg.networkId;
+
+            messageQueue.Enqueue(msg);
+        }
+
+        private void ProcessNetworkId(NetworkIdMsg msg) {
+            GameObject networkingObj = this.GetGameObject(msg.networkId);
+            if (networkingObj == null) {
+                if (this.debug <= HumanoidNetworking.DebugLevel.Error)
+                    this.DebugLog("Could not find Networking for Instantiate Humanoid " + msg.networkId + "/0");
+                return;
+            }
+            HumanoidControl remoteHumanoid = humanoids[0]; //FindRemoteHumanoid(humanoids, 0);
+            if (remoteHumanoid == null) {
+                if (debug <= HumanoidNetworking.DebugLevel.Warning)
+                    DebugLog("Remote Humanoid " + msg.networkId + "/" + 0 + "not found");
+                return;
+            }
+
+            SendThing(remoteHumanoid);
+            SendName(remoteHumanoid, 0, "Humanoid");
+            SendModel(remoteHumanoid, "https://gitlab.passervr.com/passer/models/humanoid/-/raw/main/MakeHumanPasserMedium.glb?ref_type=heads&inline=false");
+
+            SendSubThing(remoteHumanoid, remoteHumanoid.leftFootTarget.upperLeg);
+            SendSubThing(remoteHumanoid, remoteHumanoid.leftFootTarget.lowerLeg);
+            SendSubThing(remoteHumanoid, remoteHumanoid.leftFootTarget.foot);
+            SendSubThing(remoteHumanoid, remoteHumanoid.leftFootTarget.toes);
+
+            SendSubThing(remoteHumanoid, remoteHumanoid.rightFootTarget.upperLeg);
+            SendSubThing(remoteHumanoid, remoteHumanoid.rightFootTarget.lowerLeg);
+            SendSubThing(remoteHumanoid, remoteHumanoid.rightFootTarget.foot);
+            SendSubThing(remoteHumanoid, remoteHumanoid.rightFootTarget.toes);
+        }
+
+        #endregion
+
+        #region Thing
+
+        protected class ThingMsg : HumanoidNetworking.IMessage {
+            private const byte msgId = 0x80;
+            public const byte length = 3;
+            public byte thingId;
+            public byte thingType;
+
+            public ThingMsg(byte thingId, byte thingType) {
+                this.thingId = thingId;
+                this.thingType = thingType;
+            }
+            public ThingMsg(byte[] data) : base(data) { }
+
+            public override byte[] Serialize() {
+                byte[] data = new byte[3];
+                data[0] = msgId;
+                data[1] = thingId;
+                data[2] = thingType;
+                return data;
+            }
+            public override void Deserialize(byte[] data) {
+                try {
+                    uint ix = 0;
+                    thingId = data[ix++];
+                    thingType = data[ix++];
+                }
+                catch { }
+            }
+        }
+
+        public void SendThing(HumanoidControl humanoid) {
+            if (debug <= HumanoidNetworking.DebugLevel.Debug)
+                Debug.Log("Send Thing " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
+
+            ThingMsg thingMsg = new(0, 1);
+
+            if (udpClient != null) {
+                byte[] data = thingMsg.Serialize();
+                udpClient.Send(data, data.Length, "127.0.0.1", nssPort);
+            }
+        }
+
+        #endregion Thing
+
+        #region SubThing
+
+        protected class SubThingMsg : HumanoidNetworking.IMessage {
+            private const byte msgId = 0x12; // (18)
+            public const byte length = 3 + 4;
+            public byte thingId;
+            public byte parentId;
+            readonly Vector3 position;
+
+            public SubThingMsg(byte thingId, byte parentId, Vector3 position) {
+                this.thingId = thingId;
+                this.parentId = parentId;
+                this.position = position;
+            }
+            public SubThingMsg(byte[] data) : base(data) { }
+
+            public override byte[] Serialize() {
+                byte[] data = new byte[7];
+                data[0] = msgId;
+                data[1] = thingId;
+                data[2] = parentId;
+
+                data[3] = 0;
+                data[4] = 0;
+                data[5] = 0;
+                data[6] = 0;
+                return data;
+            }
+            //public override void Deserialize(byte[] data) {
+            //    try {
+            //        uint ix = 0;
+            //        thingId = data[ix++];
+            //        thingType = data[ix++];
+            //    }
+            //    catch { }
+            //}
+        }
+
+        public void SendSubThing(HumanoidControl humanoid, HumanoidTarget.TargetedBone bone) {
+            if (debug <= HumanoidNetworking.DebugLevel.Debug)
+                Debug.Log("Send SubThing " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
+
+            SubThingMsg thingMsg = new((byte)bone.boneId, (byte)bone.parent.boneId, bone.bone.transform.position);
+
+            if (udpClient != null) {
+                byte[] data = thingMsg.Serialize();
+                udpClient.Send(data, data.Length, "127.0.0.1", nssPort);
+            }
+
+            SendName(humanoid, (byte)bone.boneId, bone.bone.transform.name);
+        }
+
+        #endregion 
+
+        #region Name
+
+        public class NameMsg : HumanoidNetworking.IMessage {
+            public const byte msgId = 0x91; // (145) Name
+            public byte networkId = 0;
+            public byte thingId;
+            public byte len;
+            public string name;
+
+            public NameMsg(byte thingId, string name) {
+                this.thingId = thingId;
+                this.name = name;
+            }
+            public NameMsg(byte[] data) : base(data) { }
+
+            public override byte[] Serialize() {
+                MemoryStream ms = new();
+                BinaryWriter bw = new(ms);
+                bw.Write(msgId); // 145 Name Msg
+                bw.Write((byte)thingId); // Thing Id
+                bw.Write((byte)name.Length);
+
+                for (int ix = 0; ix < name.Length; ix++)
+                    bw.Write(name[ix]);
+
+                byte[] data = ms.ToArray();
+                return data;
+            }
+            public override void Deserialize(byte[] data) {
+                uint ix = 0;
+                this.thingId = data[ix++];
+                int strlen = data[ix++];
+                this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
+            }
+        }
+
+        public void SendName(HumanoidControl humanoid, byte thingId, string name) {
+            if (debug <= HumanoidNetworking.DebugLevel.Debug)
+                Debug.Log("Send Name " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
+
+            NameMsg nameMsg = new(thingId, name); // humanoid.name;
+
+            if (udpClient != null) {
+                byte[] data = nameMsg.Serialize();
+                udpClient.Send(data, data.Length, "127.0.0.1", nssPort);
+            }
+        }
+
+        #endregion
+
+        #region Model
+
+        class ModelUrlMsg : HumanoidNetworking.IMessage {
+            public const byte msgId = 0x90; // (144) Model URL
+            public byte objectId;
+            public Vector3 position;
+            public float scale;
+            public string url;
+
+            public ModelUrlMsg(string url) {
+                this.url = url;
+            }
+            public ModelUrlMsg(byte[] data) : base(data) { }
+
+            public override byte[] Serialize() {
+                MemoryStream ms = new();
+                BinaryWriter bw = new(ms);
+                bw.Write(msgId); // 145 Name Msg
+                bw.Write((byte)0x00); // Thing Id
+
+                bw.Write((byte)0x00); // Dummy position
+                bw.Write((byte)0x00);
+                bw.Write((byte)0x00);
+                bw.Write((byte)0x00);
+
+                SendFloat16(bw, 1.0f);
+
+                bw.Write((byte)url.Length);
+
+                for (int ix = 0; ix < url.Length; ix++)
+                    bw.Write(url[ix]);
+
+                byte[] data = ms.ToArray();
+                return data;
+            }
+            //public override void Deserialize(byte[] data) {
+            //    uint ix = 0;
+            //    this.objectId = data[ix++];
+            //    //this.position = ReceiveVector3(data, ref ix);
+            //    this.position = ReceiveSpherical(data, ref ix);
+            //    this.scale = ReceiveFloat16(data, ref ix);
+            //    int strlen = data[ix++];
+            //    url = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
+            //}
+        }
+
+        public void SendModel(HumanoidControl humanoid, string url) {
+            if (debug <= HumanoidNetworking.DebugLevel.Debug)
+                Debug.Log("Send Name " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
+
+            ModelUrlMsg msg = new(url); // humanoid.name;
+
+            if (udpClient != null) {
+                byte[] data = msg.Serialize();
+                udpClient.Send(data, data.Length, "127.0.0.1", nssPort);
+            }
+        }
+
+        #endregion Model
+
+        #region Pose
+
+        [Serializable]
+        public class RoboidBonePose : HumanoidNetworking.HumanoidPose {
+            private readonly byte msgId = 0x10;
+            readonly byte boneId;
+            readonly Quat32 boneOrientation;
+
+            public RoboidBonePose(HumanoidTarget.TargetedBone targetedBone) {
+                this.boneId = (byte)targetedBone.boneId;
+                this.boneOrientation = new Quat32(targetedBone.bone.transform.localRotation);    
+            }
+            
+            public override byte[] Serialize() {
+                byte[] data = new byte[11];
+                data[0] = msgId;
+                data[1] = boneId;
+                data[2] = 0x03; // Pose_orientation
+
+                //data[3][4][5][6] are 0
+
+                data[7] = boneOrientation.qx;
+                data[8] = boneOrientation.qy;
+                data[9] = boneOrientation.qz;
+                data[10] = boneOrientation.qw;
+                return data;
+            }
+        }
+
+
+        [Serializable]
+        public class RoboidPose : HumanoidNetworking.HumanoidPose {
+            readonly Quat32 headOrientation;
+
+            public RoboidPose(HumanoidControl humanoid) {
+                headOrientation = new Quat32(humanoid.headTarget.head.bone.transform.rotation);
+            }
+
+            public override byte[] Serialize() {
+                MemoryStream ms = new();
+                BinaryWriter bw = new(ms);
+                bw.Write((byte)0x10); // PoseMsg
+                bw.Write((byte)this.head.boneId); // Thing Id
+                bw.Write((byte)0x03); // Pose_Orientation
+
+                bw.Write((byte)0x00); // Dummy data
+                bw.Write((byte)0x00);
+                bw.Write((byte)0x00);
+                bw.Write((byte)0x00);
+
+                SendQuat32(bw, headOrientation);
+
+                byte[] data = ms.ToArray();
+                return data;
+            }
+        }
+
+        public virtual void UpdateHumanoidPose(HumanoidControl humanoid) {
+            if (debug <= HumanoidNetworking.DebugLevel.Debug)
+                Debug.Log("Send Pose Humanoid " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
+
+            RoboidPose humanoidPose = new(humanoid);
+            if (createLocalRemotes)
+                this.Receive(humanoidPose);
+
+            if (udpClient != null) {
+                byte[] data = humanoidPose.Serialize();
+                udpClient.Send(data, data.Length, "127.0.0.1", nssPort);
+            }
+            SendBone(humanoid.leftFootTarget.upperLeg);
+            SendBone(humanoid.leftFootTarget.lowerLeg);
+            SendBone(humanoid.leftFootTarget.foot);
+
+            SendBone(humanoid.rightFootTarget.upperLeg);
+            SendBone(humanoid.rightFootTarget.lowerLeg);
+            SendBone(humanoid.rightFootTarget.foot);
+        }
+
+        private void SendBone(HumanoidTarget.TargetedBone bone) {
+            RoboidBonePose bonePose = new(bone);
+            byte[] buffer = bonePose.Serialize();
+            udpClient.Send(buffer, buffer.Length, "127.0.0.1", nssPort);
+        }
+
+        #endregion Pose
+
+        #region Send
+
+        static void SendQuat32(BinaryWriter bw, Quat32 q) {
+            bw.Write((byte)q.qx);
+            bw.Write((byte)q.qy);
+            bw.Write((byte)q.qz);
+            bw.Write((byte)q.qw);
+        }
+
+        static void SendFloat16(BinaryWriter bw, float f) {
+            bw.Write((byte)0x3C); // Dummy value 1
+            bw.Write((byte)0x00);
+        }
+
+        #endregion Send
+    }
+}
+#endif

Runtime/HumanoidControl/Scripts/Networking/Roboid/HumanoidPlayerRoboid.cs.meta

@@ -0,0 +1,11 @@
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+  externalObjects: {}
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+  executionOrder: 0
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+  assetBundleName: 
+  assetBundleVariant: 

Runtime/HumanoidControl/Scripts/Networking/Roboid/RoboidStarter.cs

@@ -0,0 +1,40 @@
+using System.IO;
+using System.Net;
+using System.Net.Sockets;
+using UnityEngine;
+
+namespace Passer {
+
+    public class RoboidStarter : INetworkingStarter {
+
+        //public int nssPort = 7681;
+        //protected UdpClient udpClient;
+        //protected IPEndPoint endPoint;
+        //protected Stream dataStream;
+
+        GameObject INetworkingStarter.GetHumanoidPrefab() {
+            GameObject humanoidPrefab = Resources.Load<GameObject>("HumanoidPlayer");
+            return humanoidPrefab;
+        }
+
+        void INetworkingStarter.StartClient(NetworkingStarter nwStarter) {
+            ((INetworkingStarter)this).StartClient(nwStarter, nwStarter.roomName, nwStarter.gameVersion);
+        }
+
+        void INetworkingStarter.StartClient(NetworkingStarter nwStarter, string roomName, int gameVersion) {
+            //endPoint = new IPEndPoint(IPAddress.Any, nssPort);
+            //udpClient = new UdpClient(endPoint);
+
+            GameObject humanoidPrefab = Resources.Load<GameObject>("HumanoidPlayer");
+            GameObject.Instantiate(humanoidPrefab);
+        }
+
+        void INetworkingStarter.StartHost(NetworkingStarter nwStarter) {
+            ((INetworkingStarter)this).StartClient(nwStarter);
+        }
+
+        void INetworkingStarter.StopClient() {
+        }
+    }
+
+}

Runtime/HumanoidControl/Scripts/Networking/Roboid/RoboidStarter.cs.meta

@@ -0,0 +1,11 @@
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+  assetBundleVariant: 

Runtime/HumanoidControl/Scripts/Networking/Roboid/Spherical.cs

@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Passer.LinearAlgebra {
+
+    public class Spherical16 {
+
+        public float distance;
+        public float horizontal;
+        public float vertical;
+
+        public Spherical16(float distance, float horizontal = 0, float vertical = 0) {
+            this.distance = distance;
+            this.horizontal = horizontal;
+            this.vertical = vertical;
+        }
+
+        public static Spherical16 FromVector3(Vector3 v) {
+            float distance = v.magnitude;
+            if (distance == 0.0f) {
+                return new Spherical16(distance);
+            }
+            else {
+                float verticalAngle = Mathf.PI / 2 - Mathf.Acos(v.y / distance) * Mathf.Rad2Deg;
+                float horizontalAngle = Mathf.Atan2(v.x, v.z) * Mathf.Rad2Deg;
+                return new Spherical16(distance, horizontalAngle, verticalAngle);
+            }
+        }
+    }
+
+    public class Quat32 {
+        public byte qx;
+        public byte qy;
+        public byte qz;
+        public byte qw;
+
+        public Quat32(Quaternion q) {
+            int qx = (int)(q.x * 127 + 128);
+            int qy = (int)(q.y * 127 + 128);
+            int qz = (int)(q.z * 127 + 128);
+            int qw = (int)(q.w * 255);
+            if (q.w < 0) {
+                qx = -qx;
+                qy = -qy;
+                qz = -qz;
+                qw = -qw;
+            }
+            this.qx = (byte)(qx);
+            this.qy = (byte)(qy);
+            this.qz = (byte)(qz);
+            this.qw = (byte)(qw);
+        }
+    }
+}

Runtime/HumanoidControl/Scripts/Networking/Roboid/Spherical.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 79bdc65d83f2c8e43bac904e283c6c46
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Runtime/HumanoidControl/Scripts/Targets/FootTarget.cs

@@ -63,6 +63,12 @@ namespace Passer.Humanoid {
             lowerLeg = new TargetedLowerLegBone(this);
             foot = new TargetedFootBone(this);
             toes = new TargetedToesBone(this);
+            subTargets = new TargetedBone[] {
+                upperLeg,
+                lowerLeg,
+                foot,
+                toes
+            };
 
             this.isLeft = isLeft;
             this.side = isLeft ? Side.Left : Side.Right;
@@ -120,9 +126,9 @@ namespace Passer.Humanoid {
 #if hVIVETRACKER
         public ViveTrackerLeg viveTracker = new ViveTrackerLeg();
 #endif
-//#if hNEURON
+        //#if hNEURON
-//        public PerceptionNeuronLeg neuron = new PerceptionNeuronLeg();
+        //        public PerceptionNeuronLeg neuron = new PerceptionNeuronLeg();
-//#endif
+        //#endif
 #if hKINECT1
         public Kinect1Leg kinect1 = new Kinect1Leg();
 #endif
@@ -200,6 +206,8 @@ namespace Passer.Humanoid {
             get { return foot; }
         }
 
+        private TargetedBone[] subTargets;
+
         #region UpperLeg
 
         public TargetedUpperLegBone upperLeg;
@@ -210,6 +218,7 @@ namespace Passer.Humanoid {
 
             public TargetedUpperLegBone(FootTarget footTarget) : base(footTarget.humanoid, footTarget.lowerLeg) {
                 this.footTarget = footTarget;
+                this.parent = footTarget.humanoid.hipsTarget.hips;
             }
 
             public override void Init() {
@@ -254,6 +263,7 @@ namespace Passer.Humanoid {
 
             public TargetedLowerLegBone(FootTarget footTarget) : base(footTarget.humanoid, footTarget.foot) {
                 this.footTarget = footTarget;
+                this.parent = footTarget.upperLeg;
             }
 
             public override void Init() {
@@ -289,6 +299,7 @@ namespace Passer.Humanoid {
         #endregion
 
         #region Foot
+
         public TargetedFootBone foot;
 
         [System.Serializable]
@@ -297,6 +308,7 @@ namespace Passer.Humanoid {
 
             public TargetedFootBone(FootTarget footTarget) : base(footTarget.humanoid, footTarget.toes) {
                 this.footTarget = footTarget;
+                this.parent = footTarget.lowerLeg;
             }
 
             public override void Init() {
@@ -368,6 +380,7 @@ namespace Passer.Humanoid {
 
             public TargetedToesBone(FootTarget footTarget) : base(footTarget.humanoid) {
                 this.footTarget = footTarget;
+                this.parent = footTarget.foot;
             }
 
             public override void Init() {
@@ -801,12 +814,13 @@ namespace Passer.Humanoid {
                 }
 
                 footTarget = footTargetTransform.GetComponent<FootTarget>();
-                if (footTarget == null) {
+                if (footTarget == null)
                     footTarget = footTargetTransform.gameObject.AddComponent<FootTarget>();
-                    footTarget.Constructor(humanoid, isLeft);
-                }
             }
 
+            if (footTarget.subTargets == null)
+                footTarget.Constructor(humanoid, isLeft);
+
             if (isLeft)
                 humanoid.leftFootTarget = footTarget;
             else

Runtime/HumanoidControl/Scripts/Targets/HandTarget.cs

@@ -402,6 +402,13 @@ namespace Passer.Humanoid {
 
             public TargetedShoulderBone(HandTarget handTarget) : base(handTarget.humanoid, handTarget.upperArm) {
                 this.handTarget = handTarget;
+                if (handTarget.humanoid == null || handTarget.humanoid.hipsTarget == null)
+                    this.parent = null;
+                else
+                    this.parent = (handTarget.humanoid.hipsTarget.chest.bone.transform != null) ?
+                        handTarget.humanoid.hipsTarget.chest :
+                        handTarget.humanoid.hipsTarget.hips;
+
                 bone.jointLimitations = true;
             }
 
@@ -471,6 +478,7 @@ namespace Passer.Humanoid {
 
             public TargetedUpperArmBone(HandTarget handTarget) : base(handTarget.humanoid, handTarget.forearm) {
                 this.handTarget = handTarget;
+                this.parent = handTarget.shoulder;
             }
 
             public override void Init() {
@@ -527,6 +535,7 @@ namespace Passer.Humanoid {
 
             public TargetedForearmBone(HandTarget handTarget) : base(handTarget.humanoid, handTarget.hand) {
                 this.handTarget = handTarget;
+                this.parent = handTarget.upperArm;
             }
 
             public override void Init() {
@@ -589,6 +598,7 @@ namespace Passer.Humanoid {
 
             public TargetedHandBone(HandTarget handTarget) : base(handTarget.humanoid) {
                 this.handTarget = handTarget;
+                this.parent = handTarget.forearm;
             }
 
             public override void Init() {
@@ -1372,12 +1382,13 @@ namespace Passer.Humanoid {
                 }
 
                 handTarget = handTargetTransform.GetComponent<HandTarget>();
-                if (handTarget == null) {
+                if (handTarget == null) 
                     handTarget = handTargetTransform.gameObject.AddComponent<HandTarget>();
-                    handTarget.Constructor(humanoid, isLeft);
-                }
             }
 
+            if (handTarget.subTargets == null)
+                handTarget.Constructor(humanoid, isLeft);
+
             if (isLeft)
                 humanoid.leftHandTarget = handTarget;
             else

Runtime/HumanoidControl/Scripts/Targets/HeadTarget.cs

@@ -71,10 +71,20 @@ namespace Passer.Humanoid {
         /// <param name="humanoid">The humanoid for this head target</param>
         public void Constructor(HumanoidControl humanoid) {
             this.humanoid = humanoid;
-            neck = new TargetedNeckBone(this);
+            this.neck = new TargetedNeckBone(this);
-            head = new TargetedHeadBone(this);
+            this.head = new TargetedHeadBone(this);
 #if hFACE
             face = new FaceTarget(this);
+            subTargets = new TargetedBone[] {
+                neck,
+                head,
+                face
+            };
+#else
+            subTargets = new TargetedBone[] {
+                neck,
+                head
+            };
 #endif
         }
 
@@ -306,6 +316,7 @@ namespace Passer.Humanoid {
         public override TargetedBone main {
             get { return head; }
         }
+        private TargetedBone[] subTargets;
 
         #region Head
 
@@ -313,10 +324,11 @@ namespace Passer.Humanoid {
 
         [System.Serializable]
         public class TargetedHeadBone : TargetedBone {
-            private HeadTarget headTarget;
+            readonly private HeadTarget headTarget;
 
             public TargetedHeadBone(HeadTarget headTarget) : base(headTarget.humanoid) {
                 this.headTarget = headTarget;
+                this.parent = headTarget.neck;
 
                 boneId = Bone.Head;
 
@@ -404,10 +416,17 @@ namespace Passer.Humanoid {
 
         [System.Serializable]
         public class TargetedNeckBone : TargetedBone {
-            public HeadTarget headTarget;
+            readonly private HeadTarget headTarget;
 
             public TargetedNeckBone(HeadTarget headTarget) : base(headTarget.humanoid) {
                 this.headTarget = headTarget;
+                if (headTarget.humanoid == null || headTarget.humanoid.hipsTarget == null)
+                    this.parent = null;
+                else
+                    this.parent = (headTarget.humanoid.hipsTarget.chest.bone.transform != null) ?
+                        headTarget.humanoid.hipsTarget.chest :
+                        headTarget.humanoid.hipsTarget.hips;
+
                 boneId = Bone.Neck;
 
                 bone.minAngles = minNeckAngles;
@@ -853,13 +872,13 @@ namespace Passer.Humanoid {
                 }
 
                 headTarget = headTargetTransform.GetComponent<HeadTarget>();
-                if (headTarget == null) {
+                if (headTarget == null) 
                     headTarget = headTargetTransform.gameObject.AddComponent<HeadTarget>();
-                    headTarget.Constructor(humanoid);
-                }
-                humanoid.headTarget = headTarget;
             }
 
+            if (headTarget.subTargets == null)
+                headTarget.Constructor(humanoid);
+
             humanoid.headTarget = headTarget;
         }
 

Runtime/HumanoidControl/Scripts/Targets/HipsTarget.cs

@@ -47,9 +47,14 @@ namespace Passer.Humanoid {
         /// <param name="humanoid">The humanoid for this hips target</param>
         public void Constructor(HumanoidControl humanoid) {
             this.humanoid = humanoid;
-            chest = new TargetedChestBone(this);
-            spine = new TargetedSpineBone(this);
             hips = new TargetedHipsBone(this);
+            spine = new TargetedSpineBone(this);
+            chest = new TargetedChestBone(this);
+            subTargets = new TargetedBone[] {
+                hips,
+                spine,
+                chest
+            };
         }
 
         public bool simpleSpineIK => newSpineIK;
@@ -161,6 +166,7 @@ namespace Passer.Humanoid {
         public override TargetedBone main {
             get { return hips; }
         }
+        private TargetedBone[] subTargets;
 
         #region Chest
 
@@ -172,6 +178,7 @@ namespace Passer.Humanoid {
 
             public TargetedChestBone(HipsTarget hipsTarget) : base(hipsTarget.humanoid) {
                 this.hipsTarget = hipsTarget;
+                this.parent = hipsTarget.spine;
                 boneId = Bone.Chest;
             }
 
@@ -226,6 +233,7 @@ namespace Passer.Humanoid {
 
             public TargetedSpineBone(HipsTarget hipsTarget) : base(hipsTarget.humanoid) {
                 this.hipsTarget = hipsTarget;
+                this.parent = hipsTarget.hips;
                 boneId = Bone.Spine;
             }
 
@@ -621,12 +629,13 @@ namespace Passer.Humanoid {
                 }
 
                 hipsTarget = hipsTargetTransform.GetComponent<HipsTarget>();
-                if (hipsTarget == null) {
+                if (hipsTarget == null) 
                     hipsTarget = hipsTargetTransform.gameObject.AddComponent<HipsTarget>();
-                    hipsTarget.Constructor(humanoid);
-                }
             }
 
+            if (hipsTarget.subTargets == null)
+                hipsTarget.Constructor(humanoid);
+
             humanoid.hipsTarget = hipsTarget;
         }
 

Runtime/HumanoidControl/Scripts/Targets/HumanoidTarget.cs

@@ -421,7 +421,8 @@ namespace Passer.Humanoid {
             public TargetedBone(HumanoidControl humanoid, TargetedBone _nextBone) {
                 if (humanoid == null)
                     throw new System.Exception("Humanoid may not be null");
-                nextBone = _nextBone;
+                this.humanoid = humanoid;
+                this.nextBone = _nextBone;
             }
 
             public virtual void Init() { }

Runtime/Tools/Networking/NetworkingStarter.cs

@@ -31,7 +31,9 @@ namespace Passer {
 #endif
         {
         public bool autoStart = true;
-#if hNW_UNET
+#if hNW_ROBOID
+        protected INetworkingStarter starter = new RoboidStarter();
+#elif hNW_UNET
         protected INetworkingStarter starter = new UnetStarter();
 #elif hNW_PHOTON
         protected INetworkingStarter starter = new PunStarter();