HumanoidControl/HumanoidControl_Free
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Used Client override for processing messages

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This commit is contained in:
Pascal Serrarens 2024-12-09 10:02:19 +01:00
parent f4d002bb8a
commit ae568e5489
16 changed files with 655 additions and 706 deletions
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13
Runtime/HumanoidControl/Prefabs/Networking/Resources/HumanoidPlayer.prefab
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@ -24,12 +24,13 @@ Transform:
m_PrefabInstance: {fileID: 0} m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0} m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1810220956971058} m_GameObject: {fileID: 1810220956971058}
serializedVersion: 2
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0} m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1} m_LocalScale: {x: 1, y: 1, z: 1}
m_ConstrainProportionsScale: 0
m_Children: [] m_Children: []
m_Father: {fileID: 0} m_Father: {fileID: 0}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!114 &114636771493283014 --- !u!114 &114636771493283014
MonoBehaviour: MonoBehaviour:
@ -43,4 +44,12 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: eb69cd2012a95b549a6c414c3619432c, type: 3} m_Script: {fileID: 11500000, guid: eb69cd2012a95b549a6c414c3619432c, type: 3}
m_Name: m_Name:
m_EditorClassIdentifier: m_EditorClassIdentifier:
_debug: 3 _syncFingerSwing: 0
_syncFace: 0
_syncTracking: 0
_debug: 1
_sendRate: 25
_createLocalRemotes: 0
sitePort: 7681
siteAddress: 127.0.0.1
networkId: 0

4
Runtime/HumanoidControl/Scripts/Interaction/HandInteraction.cs
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@ -826,7 +826,7 @@ namespace Passer.Humanoid {
Rigidbody objRigidbody = RigidbodyDisabled.UnparentRigidbody(handPalm, grabbedObject.transform); Rigidbody objRigidbody = RigidbodyDisabled.UnparentRigidbody(handPalm, grabbedObject.transform);
if (objRigidbody != null && !objRigidbody.isKinematic) { if (objRigidbody != null && !objRigidbody.isKinematic) {
if (handRigidbody != null) { if (handRigidbody != null) {
objRigidbody.velocity = handRigidbody.velocity; objRigidbody.linearVelocity = handRigidbody.linearVelocity;
objRigidbody.angularVelocity = handRigidbody.angularVelocity; objRigidbody.angularVelocity = handRigidbody.angularVelocity;
} }
HumanoidNetworking.ReenableNetworkSync(objRigidbody.gameObject); HumanoidNetworking.ReenableNetworkSync(objRigidbody.gameObject);
@ -854,7 +854,7 @@ namespace Passer.Humanoid {
//grabbedRigidbody.centerOfMass = handTarget.storedCOM; //grabbedRigidbody.centerOfMass = handTarget.storedCOM;
if (grabbedRigidbody.isKinematic == false) { if (grabbedRigidbody.isKinematic == false) {
grabbedRigidbody.velocity = handRigidbody.velocity; grabbedRigidbody.linearVelocity = handRigidbody.linearVelocity;
grabbedRigidbody.angularVelocity = handRigidbody.angularVelocity; grabbedRigidbody.angularVelocity = handRigidbody.angularVelocity;
} }

4
Runtime/HumanoidControl/Scripts/Movements/HandMovements.cs
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@ -53,8 +53,8 @@ namespace Passer.Humanoid {
handTarget.handRigidbody = handTarget.hand.bone.transform.gameObject.AddComponent<Rigidbody>(); handTarget.handRigidbody = handTarget.hand.bone.transform.gameObject.AddComponent<Rigidbody>();
} }
handTarget.handRigidbody.mass = 1; handTarget.handRigidbody.mass = 1;
handTarget.handRigidbody.drag = 0; handTarget.handRigidbody.linearDamping = 0;
handTarget.handRigidbody.angularDrag = 10; handTarget.handRigidbody.angularDamping = 10;
handTarget.handRigidbody.useGravity = false; handTarget.handRigidbody.useGravity = false;
handTarget.handRigidbody.isKinematic = true; handTarget.handRigidbody.isKinematic = true;
handTarget.handRigidbody.interpolation = RigidbodyInterpolation.None; handTarget.handRigidbody.interpolation = RigidbodyInterpolation.None;

97
Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/Client.cs Normal file
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@ -0,0 +1,97 @@
using System.Collections.Generic;
using System.Collections.Concurrent;
using System.Net.Sockets;
namespace Passer.Control {
public class Client {
//public ConnectionMethod connection;
public UdpClient udpClient;
public string ipAddress;
public int port;
public byte networkId;
public readonly ConcurrentQueue<IMessage> messageQueue = new();
public static Client GetClient(string ipAddress, int port) {
foreach (Client c in clients) {
if (c.ipAddress == ipAddress && c.port == port)
return c;
}
return null;
}
static public List<Client> clients = new List<Client>();
public static Client NewClient() {
Client client = new();
clients.Add(client);
client.networkId = 0;
return client;
}
public static Client NewUDPClient(UdpClient udpClient, string ipAddress, int port) {
Client client = NewClient();
client.ipAddress = null;
client.port = port;
client.udpClient = udpClient;
return client;
}
public void ProcessMessage(IMessage msg) {
switch (msg) {
case ClientMsg clientMsg:
ProcessClient(clientMsg);
break;
case NetworkIdMsg networkId:
ProcessNetworkId(networkId);
break;
case InvestigateMsg investigate:
ProcessInvestigate(investigate);
break;
case ThingMsg thing:
ProcessThing(thing);
break;
case NameMsg name:
ProcessName(name);
break;
case ModelUrlMsg modelUrl:
ProcessModelUrl(modelUrl);
break;
case PoseMsg pose:
ProcessPose(pose);
break;
case CustomMsg custom:
ProcessCustom(custom);
break;
case TextMsg text:
ProcessText(text);
break;
case DestroyMsg destroy:
ProcessDestroy(destroy);
break;
}
}
protected virtual void ProcessClient(ClientMsg client) { }
protected virtual void ProcessNetworkId(NetworkIdMsg networkId) { }
protected virtual void ProcessInvestigate(InvestigateMsg investigate) { }
protected virtual void ProcessThing(ThingMsg thing) { }
protected virtual void ProcessName(NameMsg name) { }
protected virtual void ProcessModelUrl(ModelUrlMsg modelUrl) { }
protected virtual void ProcessPose(PoseMsg pose) { }
protected virtual void ProcessCustom(CustomMsg custom) { }
protected virtual void ProcessText(TextMsg text) { }
protected virtual void ProcessDestroy(DestroyMsg destroy) { }
}
}

2
Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/Client.cs.meta Normal file
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@ -0,0 +1,2 @@
fileFormatVersion: 2
guid: db9cd79cff119a9438110ead000031c3

772
Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/Messages.cs
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@ -1,212 +1,172 @@
using System.Collections.Generic;
using System.Collections.Concurrent;
using System.IO; using System.IO;
using System.Net.Sockets;
using System.Threading.Tasks; using System.Threading.Tasks;
using System;
namespace Passer.Control { namespace Passer.Control {
public class Client { public class IMessage {
//public ConnectionMethod connection; public IMessage() { }
public UdpClient udpClient; public IMessage(byte[] data) {
public string ipAddress; Deserialize(data);
public int port; }
public byte networkId; public virtual byte[] Serialize() { return null; }
public virtual void Deserialize(byte[] data) { }
public readonly ConcurrentQueue<IMessage> messageQueue = new(); public static bool SendMsg(Client client, IMessage msg) {
return SendMsg(client, msg.Serialize());
}
public static bool SendMsg(Client client, byte[] data) {
if (client == null || client.ipAddress == null)
return false;
public static Client GetClient(string ipAddress, int port) { client.udpClient.Send(data, data.Length, client.ipAddress, client.port);
foreach (Client c in clients) { return true;
if (c.ipAddress == ipAddress && c.port == port) }
return c;
}
return null;
}
static public List<Client> clients = new List<Client>();
public static Client NewClient() {
Client client = new();
clients.Add(client);
client.networkId = 0;
return client;
}
public static Client NewUDPClient(UdpClient udpClient, string ipAddress, int port) {
Client client = NewClient();
client.ipAddress = null;
client.port = port;
client.udpClient = udpClient;
return client;
}
}
public class IMessage {
public IMessage() { }
public IMessage(byte[] data) {
Deserialize(data);
}
public virtual byte[] Serialize() { return null; }
public virtual void Deserialize(byte[] data) { }
public static bool SendMsg(Client client, IMessage msg) {
return SendMsg(client, msg.Serialize());
}
public static bool SendMsg(Client client, byte[] data) {
if (client == null || client.ipAddress == null)
return false;
client.udpClient.Send(data, data.Length, client.ipAddress, client.port);
return true;
}
public static bool PublishMsg(Client client, IMessage msg) { public static bool PublishMsg(Client client, IMessage msg) {
return PublishMsg(client, msg.Serialize()); return PublishMsg(client, msg.Serialize());
} }
public static bool PublishMsg(Client client, byte[] data) { public static bool PublishMsg(Client client, byte[] data) {
if (client == null) if (client == null)
return false; return false;
client.udpClient.Send(data, data.Length, "127.0.0.1", client.port); client.udpClient.Send(data, data.Length, "127.0.0.1", client.port);
return true; return true;
} }
public static async Task<byte[]> Receive(Stream dataStream, byte packetSize) { public static async Task<byte[]> Receive(Stream dataStream, byte packetSize) {
byte[] buffer = new byte[packetSize - 1]; // without msgId byte[] buffer = new byte[packetSize - 1]; // without msgId
int byteCount = dataStream.Read(buffer, 0, packetSize - 1); int byteCount = dataStream.Read(buffer, 0, packetSize - 1);
while (byteCount < packetSize - 1) { while (byteCount < packetSize - 1) {
// not all bytes have been read, wait and try again // not all bytes have been read, wait and try again
await Task.Delay(1); await Task.Delay(1);
byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount); byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount);
} }
return buffer; return buffer;
}
}
#region Client
public class ClientMsg : IMessage {
public const byte Id = 0xA0;
public const byte length = 2;
public byte networkId;
public ClientMsg(byte networkId) {
this.networkId = networkId;
}
public ClientMsg(byte[] data) : base(data) { }
public override byte[] Serialize() {
byte[] buffer = new byte[ClientMsg.length];
buffer[0] = ClientMsg.Id;
buffer[1] = networkId;
return buffer;
} }
public override void Deserialize(byte[] data) { }
base.Deserialize(data);
uint ix = 0;
networkId = data[ix];
}
public static bool Send(Client client, byte networkId) { #region Client
ClientMsg msg = new(networkId);
return SendMsg(client, msg);
}
public static bool Publish(Client client, byte networkId) {
ClientMsg msg = new(networkId);
return PublishMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize); public class ClientMsg : IMessage {
ClientMsg msg = new(buffer); public const byte Id = 0xA0;
public const byte length = 2;
public byte networkId;
if (client.networkId == 0) { public ClientMsg(byte networkId) {
client.networkId = (byte)(Client.clients.Count);
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
else if (msg.networkId == 0) {
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
return true;
}
}
#endregion Client
#region Network Id
public class NetworkIdMsg : IMessage {
public const byte Id = 0xA1;
public const byte length = 2;
public byte networkId;
NetworkIdMsg(byte networkId) {
this.networkId = networkId; this.networkId = networkId;
} }
NetworkIdMsg(byte[] data) : base(data) { } public ClientMsg(byte[] data) : base(data) { }
public override byte[] Serialize() {
byte[] buffer = new byte[ClientMsg.length];
buffer[0] = ClientMsg.Id;
buffer[1] = networkId;
return buffer;
}
public override void Deserialize(byte[] data) {
base.Deserialize(data);
uint ix = 0;
networkId = data[ix];
}
public static bool Send(Client client, byte networkId) {
ClientMsg msg = new(networkId);
return SendMsg(client, msg);
}
public static bool Publish(Client client, byte networkId) {
ClientMsg msg = new(networkId);
return PublishMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
ClientMsg msg = new(buffer);
if (client.networkId == 0) {
client.networkId = (byte)(Client.clients.Count);
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
else if (msg.networkId == 0) {
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
return true;
}
}
#endregion Client
#region Network Id
public class NetworkIdMsg : IMessage {
public const byte Id = 0xA1;
public const byte length = 2;
public byte networkId;
NetworkIdMsg(byte networkId) {
this.networkId = networkId;
}
NetworkIdMsg(byte[] data) : base(data) { }
public override byte[] Serialize() { public override byte[] Serialize() {
byte[] data = new byte[NetworkIdMsg.length]; byte[] data = new byte[NetworkIdMsg.length];
data[0] = NetworkIdMsg.Id; data[0] = NetworkIdMsg.Id;
data[1] = this.networkId; data[1] = this.networkId;
return data; return data;
} }
public override void Deserialize(byte[] data) { public override void Deserialize(byte[] data) {
uint ix = 0; uint ix = 0;
this.networkId = data[ix]; this.networkId = data[ix];
} }
public static bool Send(Client client, byte networkId) { public static bool Send(Client client, byte networkId) {
NetworkIdMsg msg = new(networkId); NetworkIdMsg msg = new(networkId);
return SendMsg(client, msg); return SendMsg(client, msg);
//byte[] data = new byte[NetworkIdMsg.length]; //byte[] data = new byte[NetworkIdMsg.length];
//data[0] = NetworkIdMsg.Id; //data[0] = NetworkIdMsg.Id;
//data[1] = client.networkId; //data[1] = client.networkId;
//return SendMsg(client, data); //return SendMsg(client, data);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length) if (packetSize != length)
return false; return false;
byte[] buffer = await Receive(dataStream, packetSize); byte[] buffer = await Receive(dataStream, packetSize);
NetworkIdMsg msg = new(buffer); NetworkIdMsg msg = new(buffer);
client.messageQueue.Enqueue(msg); client.messageQueue.Enqueue(msg);
return true; return true;
} }
} }
#endregion Network Id #endregion Network Id
#region Investigate #region Investigate
class InvestigateMsg : IMessage { public class InvestigateMsg : IMessage {
public const byte Id = 0x81; public const byte Id = 0x81;
public const byte length = 3; public const byte length = 3;
public byte networkId; public byte networkId;
public byte thingId; public byte thingId;
public InvestigateMsg(byte networkId, byte thingId) { public InvestigateMsg(byte networkId, byte thingId) {
this.networkId = networkId; this.networkId = networkId;
this.thingId = thingId; this.thingId = thingId;
} }
public InvestigateMsg(byte[] data) : base(data) { } public InvestigateMsg(byte[] data) : base(data) { }
public override byte[] Serialize() { public override byte[] Serialize() {
byte[] buffer = new byte[InvestigateMsg.length]; byte[] buffer = new byte[InvestigateMsg.length];
buffer[0] = InvestigateMsg.Id; buffer[0] = InvestigateMsg.Id;
buffer[1] = this.networkId; buffer[1] = this.networkId;
buffer[2] = this.thingId; buffer[2] = this.thingId;
return buffer; return buffer;
} }
public override void Deserialize(byte[] data) { public override void Deserialize(byte[] data) {
uint ix = 0; uint ix = 0;
@ -214,11 +174,11 @@ namespace Passer.Control {
this.thingId = data[ix++]; this.thingId = data[ix++];
} }
public static bool Send(Client client, byte thingId) { public static bool Send(Client client, byte thingId) {
InvestigateMsg msg = new(client.networkId, thingId); InvestigateMsg msg = new(client.networkId, thingId);
return SendMsg(client, msg); return SendMsg(client, msg);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length) if (packetSize != length)
return false; return false;
@ -235,20 +195,20 @@ namespace Passer.Control {
#region Thing #region Thing
public class ThingMsg : IMessage { public class ThingMsg : IMessage {
public const byte length = 5; public const byte length = 5;
public const byte Id = 0x80; public const byte Id = 0x80;
public byte networkId; public byte networkId;
public byte thingId; public byte thingId;
public byte thingType; public byte thingType;
public byte parentId; public byte parentId;
public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId) { public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId) {
this.networkId = networkId; this.networkId = networkId;
this.thingId = thingId; this.thingId = thingId;
this.thingType = thingType; this.thingType = thingType;
this.parentId = parentId; this.parentId = parentId;
} }
public ThingMsg(byte[] data) : base(data) { } public ThingMsg(byte[] data) : base(data) { }
public override byte[] Serialize() { public override byte[] Serialize() {
byte[] data = new byte[ThingMsg.length]; byte[] data = new byte[ThingMsg.length];
@ -257,281 +217,303 @@ namespace Passer.Control {
data[2] = this.thingId; data[2] = this.thingId;
data[3] = this.thingType; data[3] = this.thingType;
data[4] = this.parentId; data[4] = this.parentId;
return data; return data;
} }
public override void Deserialize(byte[] data) { public override void Deserialize(byte[] data) {
uint ix = 0; uint ix = 0;
this.networkId = data[ix++]; this.networkId = data[ix++];
this.thingId = data[ix++]; this.thingId = data[ix++];
this.thingType = data[ix++]; this.thingType = data[ix++];
this.parentId = data[ix]; this.parentId = data[ix];
} }
public static bool Send(Client client, byte thingId, byte thingType, byte parentId) { public static bool Send(Client client, byte thingId, byte thingType, byte parentId) {
ThingMsg msg = new(client.networkId, thingId, thingType, parentId); ThingMsg msg = new(client.networkId, thingId, thingType, parentId);
return SendMsg(client, msg); return SendMsg(client, msg);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length) if (packetSize != length)
return false; return false;
byte[] buffer = await Receive(dataStream, packetSize); byte[] buffer = await Receive(dataStream, packetSize);
ThingMsg msg = new(buffer); ThingMsg msg = new(buffer);
client.messageQueue.Enqueue(msg); client.messageQueue.Enqueue(msg);
return true; return true;
} }
} }
#endregion Thing #endregion Thing
#region Name #region Name
public class NameMsg : IMessage { public class NameMsg : IMessage {
public const byte Id = 0x91; // 145 public const byte Id = 0x91; // 145
public const byte length = 3; public const byte length = 3;
public byte networkId = 0; public byte networkId = 0;
public byte thingId; public byte thingId;
public byte len; public byte len;
public string name; public string name;
public NameMsg(byte thingId, string name) { public NameMsg(byte thingId, string name) {
this.thingId = thingId; this.thingId = thingId;
this.name = name; this.name = name;
} }
public NameMsg(byte[] data) : base(data) { } public NameMsg(byte[] data) : base(data) { }
public override byte[] Serialize() { public override byte[] Serialize() {
byte[] buffer = new byte[length + this.name.Length]; byte[] buffer = new byte[length + this.name.Length];
buffer[0] = NameMsg.Id; buffer[0] = NameMsg.Id;
buffer[1] = this.thingId; buffer[1] = this.thingId;
buffer[2] = (byte)this.name.Length; buffer[2] = (byte)this.name.Length;
for (int ix = 0; ix < this.name.Length; ix++) for (int ix = 0; ix < this.name.Length; ix++)
buffer[3 + ix] = (byte)this.name[ix]; buffer[3 + ix] = (byte)this.name[ix];
return buffer; return buffer;
} }
public override void Deserialize(byte[] data) { public override void Deserialize(byte[] data) {
uint ix = 0; uint ix = 0;
this.thingId = data[ix++]; this.thingId = data[ix++];
int strlen = data[ix++]; int strlen = data[ix++];
this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen); this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
} }
public static bool Send(Client client, byte thingId, string name) { public static bool Send(Client client, byte thingId, string name) {
NameMsg msg = new(thingId, name); NameMsg msg = new(thingId, name);
return SendMsg(client, msg); return SendMsg(client, msg);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize); byte[] buffer = await Receive(dataStream, packetSize);
NameMsg msg = new(buffer); NameMsg msg = new(buffer);
client.messageQueue.Enqueue(msg); client.messageQueue.Enqueue(msg);
return true; return true;
} }
} }
#endregion #endregion
#region Model URL #region Model URL
public class ModelUrlMsg : IMessage { public class ModelUrlMsg : IMessage {
public const byte Id = 0x90; // (144) Model URL public const byte Id = 0x90; // (144) Model URL
public byte thingId; public byte thingId;
public Spherical position; public Spherical position;
public float scale; public float scale;
public string url; public string url;
public ModelUrlMsg(byte thingId, string url, float scale = 1) { public ModelUrlMsg(byte thingId, string url, float scale = 1) {
this.thingId = thingId; this.thingId = thingId;
this.url = url; this.url = url;
this.scale = scale; this.scale = scale;
this.position = Spherical.zero; this.position = Spherical.zero;
} }
public ModelUrlMsg(byte[] data) : base(data) { } public ModelUrlMsg(byte[] data) : base(data) { }
public override byte[] Serialize() { public override byte[] Serialize() {
byte[] data = new byte[this.url.Length + 9]; byte[] data = new byte[this.url.Length + 9];
data[0] = ModelUrlMsg.Id; data[0] = ModelUrlMsg.Id;
data[1] = this.thingId; // Thing Id data[1] = this.thingId; // Thing Id
// data[2]..[5] == position 0, 0, 0 // data[2]..[5] == position 0, 0, 0
data[6] = 0x3C; // Dummy float16 value 1 data[6] = 0x3C; // Dummy float16 value 1
data[7] = 0x00; data[7] = 0x00;
data[8] = (byte)url.Length; data[8] = (byte)url.Length;
for (int ix = 0; ix < this.url.Length; ix++) for (int ix = 0; ix < this.url.Length; ix++)
data[9 + ix] = (byte)url[ix]; data[9 + ix] = (byte)url[ix];
return data; return data;
} }
public override void Deserialize(byte[] data) { public override void Deserialize(byte[] data) {
uint ix = 0; uint ix = 0;
this.thingId = data[ix++]; this.thingId = data[ix++];
this.position = LowLevelMessages.ReceiveSpherical(data, ref ix); this.position = LowLevelMessages.ReceiveSpherical(data, ref ix);
this.scale = LowLevelMessages.ReceiveFloat16(data, ref ix); this.scale = LowLevelMessages.ReceiveFloat16(data, ref ix);
int strlen = data[ix++]; int strlen = data[ix++];
url = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen); url = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
} }
public static bool Send(Client client, byte thingId, string modelUrl) { public static bool Send(Client client, byte thingId, string modelUrl) {
ModelUrlMsg msg = new(thingId, modelUrl); ModelUrlMsg msg = new(thingId, modelUrl);
return SendMsg(client, msg); return SendMsg(client, msg);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize); byte[] buffer = await Receive(dataStream, packetSize);
ModelUrlMsg msg = new(buffer); ModelUrlMsg msg = new(buffer);
client.messageQueue.Enqueue(msg); client.messageQueue.Enqueue(msg);
return true; return true;
} }
} }
#endregion Model URL #endregion Model URL
#region Pose #region Pose
public class PoseMsg : IMessage { public class PoseMsg : IMessage {
public const byte Id = 0x10; public const byte Id = 0x10;
public const byte length = 3 + 4 + 4; public const byte length = 3 + 4 + 4;
public byte thingId; public byte thingId;
public byte poseType; public byte poseType;
public const byte Pose_Position = 0x01; public const byte Pose_Position = 0x01;
public const byte Pose_Orientation = 0x02; public const byte Pose_Orientation = 0x02;
public Spherical position; public Spherical position;
public Quat32 orientation; public Quat32 orientation;
public PoseMsg(byte thingId, Spherical position, Quat32 orientation) { public PoseMsg(byte thingId, Spherical position, Quat32 orientation) {
this.thingId = thingId; this.thingId = thingId;
this.position = position; this.position = position;
this.orientation = orientation; this.orientation = orientation;
this.poseType = 0; this.poseType = 0;
if (this.position != null) if (this.position != null)
this.poseType |= Pose_Position; this.poseType |= Pose_Position;
else else
this.position = new Spherical(0, 0, 0); this.position = new Spherical(0, 0, 0);
if (this.orientation != null) if (this.orientation != null)
this.poseType |= Pose_Orientation; this.poseType |= Pose_Orientation;
else else
this.orientation = new Quat32(0, 0, 0, 1); this.orientation = new Quat32(0, 0, 0, 1);
} }
public PoseMsg(byte[] data) : base(data) { } public PoseMsg(byte[] data) : base(data) { }
public override byte[] Serialize() { public override byte[] Serialize() {
byte[] buffer = new byte[PoseMsg.length]; byte[] buffer = new byte[PoseMsg.length];
uint ix = 0; uint ix = 0;
buffer[ix++] = PoseMsg.Id; buffer[ix++] = PoseMsg.Id;
buffer[ix++] = this.thingId; buffer[ix++] = this.thingId;
buffer[ix++] = this.poseType; buffer[ix++] = this.poseType;
LowLevelMessages.SendSpherical(buffer, ref ix, position); LowLevelMessages.SendSpherical(buffer, ref ix, position);
LowLevelMessages.SendQuat32(buffer, ref ix, orientation); LowLevelMessages.SendQuat32(buffer, ref ix, orientation);
return buffer; return buffer;
} }
public override void Deserialize(byte[] data) { public override void Deserialize(byte[] data) {
uint ix = 0; uint ix = 0;
thingId = data[ix++]; thingId = data[ix++];
poseType = data[ix++]; poseType = data[ix++];
//if ((poseType & Pose_Position) != 0) //if ((poseType & Pose_Position) != 0)
position = LowLevelMessages.ReceiveSpherical(data, ref ix); position = LowLevelMessages.ReceiveSpherical(data, ref ix);
//if ((poseType & Pose_Orientation) != 0) { //if ((poseType & Pose_Orientation) != 0) {
orientation = LowLevelMessages.ReceiveQuat32(data, ref ix); orientation = LowLevelMessages.ReceiveQuat32(data, ref ix);
} }
public static bool Send(Client client, byte thingId, Spherical position, Quat32 orientation) { public static bool Send(Client client, byte thingId, Spherical position, Quat32 orientation) {
PoseMsg msg = new(thingId, position, orientation); PoseMsg msg = new(thingId, position, orientation);
return SendMsg(client, msg); return SendMsg(client, msg);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length) if (packetSize != length)
return false; return false;
byte[] buffer = await Receive(dataStream, packetSize); byte[] buffer = await Receive(dataStream, packetSize);
PoseMsg msg = new(buffer); PoseMsg msg = new(buffer);
client.messageQueue.Enqueue(msg); client.messageQueue.Enqueue(msg);
return true; return true;
} }
} }
#endregion Pose #endregion Pose
#region Bytes #region Custom
public class BytesMsg : IMessage { public class CustomMsg : IMessage {
public const byte Id = 0xB1; public const byte Id = 0xB1;
public byte networkId; public byte networkId;
public byte thingId; public byte thingId;
public byte[] bytes; public byte[] bytes;
public BytesMsg(byte[] data) : base(data) { } public CustomMsg(byte[] data) : base(data) { }
public BytesMsg(byte networkId, byte thingId, byte[] bytes) : base() { public CustomMsg(byte networkId, byte thingId, byte[] bytes) : base() {
this.networkId = networkId; this.networkId = networkId;
this.thingId = thingId; this.thingId = thingId;
this.bytes = bytes; this.bytes = bytes;
} }
public override byte[] Serialize() {
byte[] buffer = new byte[4 + this.bytes.Length];
int ix = 0;
buffer[ix++] = BytesMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = (byte)bytes.Length;
foreach (byte b in bytes)
buffer[ix++] = b;
return buffer; public override byte[] Serialize() {
} byte[] buffer = new byte[4 + this.bytes.Length];
public override void Deserialize(byte[] data) { int ix = 0;
//this.bytes = data; buffer[ix++] = CustomMsg.Id;
uint ix = 0; buffer[ix++] = this.networkId;
this.thingId = data[ix++]; buffer[ix++] = this.thingId;
this.bytes = new byte[data.Length - ix]; buffer[ix++] = (byte)bytes.Length;
for (uint bytesIx = 0; ix < data.Length; ix++, bytesIx++) foreach (byte b in bytes)
this.bytes[bytesIx] = data[ix]; buffer[ix++] = b;
}
return buffer;
}
public override void Deserialize(byte[] data) {
uint ix = 0;
this.thingId = data[ix++];
this.bytes = new byte[data.Length - ix];
for (uint bytesIx = 0; ix < data.Length; ix++, bytesIx++)
this.bytes[bytesIx] = data[ix];
}
public static void Send(Client client, byte thingId, byte[] bytes) { public static void Send(Client client, byte thingId, byte[] bytes) {
BytesMsg msg = new(client.networkId, thingId, bytes); CustomMsg msg = new(client.networkId, thingId, bytes);
SendMsg(client, msg); SendMsg(client, msg);
} }
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
CustomMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
// received bytes #endregion Custom
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
BytesMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Bytes #region Text
#region Destroy public class TextMsg : IMessage {
public const byte Id = 0xB0;
public string text;
public class DestroyMsg : IMessage { public TextMsg(byte[] data) : base(data) { }
public const byte Id = 0x20; public override void Deserialize(byte[] data) {
public const byte length = 2; uint ix = 0;
public byte objectId; uint strlen = data[ix++];
this.text = System.Text.Encoding.UTF8.GetString(data, (int)ix, (int)strlen);
}
public DestroyMsg(byte[] data) : base(data) { } public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
TextMsg msg = new(buffer);
public override void Deserialize(byte[] data) { client.messageQueue.Enqueue(msg);
objectId = data[0]; return true;
} }
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) { #endregion
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize); #region Destroy
DestroyMsg msg = new(buffer);
client.messageQueue.Enqueue(msg); public class DestroyMsg : IMessage {
return true; public const byte Id = 0x20;
} public const byte length = 2;
} public byte objectId;
public DestroyMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
objectId = data[0];
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
DestroyMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Destroy #endregion Destroy
} }

111
Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/SiteServer.cs
View File

@ -26,35 +26,35 @@ namespace Passer.Control {
bool result = false; bool result = false;
switch (msgId) { switch (msgId) {
case PoseMsg.Id: // Object Pose (16) case ClientMsg.Id: // 0xA0 / 160
result = await PoseMsg.Receive(dataStream, client, packetSize);
break;
case DestroyMsg.Id: // Destroy object (32)
result = await DestroyMsg.Receive(dataStream, client, packetSize);
break;
case ThingMsg.Id:
result = await ThingMsg.Receive(dataStream, client, packetSize);
break;
case InvestigateMsg.Id:
result = await InvestigateMsg.Receive(dataStream, client, packetSize);
break;
case ModelUrlMsg.Id: // Model URL (144)
result = await BytesMsg.Receive(dataStream, client, packetSize);
break;
case NameMsg.Id: // Object Name (145)
result = await NameMsg.Receive(dataStream, client, packetSize);
break;
case ClientMsg.Id:
result = await ClientMsg.Receive(dataStream, client, packetSize); result = await ClientMsg.Receive(dataStream, client, packetSize);
break; break;
case NetworkIdMsg.Id: case NetworkIdMsg.Id: // 0xA1 / 161
result = await NetworkIdMsg.Receive(dataStream, client, packetSize); result = await NetworkIdMsg.Receive(dataStream, client, packetSize);
break; break;
//case TextMsg.Id: // Text (176) case InvestigateMsg.Id: // 0x81
// result = await TextMsg.Receive(dataStream, client, packetSize); result = await InvestigateMsg.Receive(dataStream, client, packetSize);
// break; break;
case BytesMsg.Id: case ThingMsg.Id: // 0x80 / 128
result = await BytesMsg.Receive(dataStream, client, packetSize); result = await ThingMsg.Receive(dataStream, client, packetSize);
break;
case NameMsg.Id: // 0x91 / 145
result = await NameMsg.Receive(dataStream, client, packetSize);
break;
case ModelUrlMsg.Id: // 0x90 / 144
result = await ModelUrlMsg.Receive(dataStream, client, packetSize);
break;
case PoseMsg.Id: // 0x10 / 16
result = await PoseMsg.Receive(dataStream, client, packetSize);
break;
case CustomMsg.Id: // 0xB1 / 177
result = await CustomMsg.Receive(dataStream, client, packetSize);
break;
case TextMsg.Id: // 0xB0 / 176
result = await TextMsg.Receive(dataStream, client, packetSize);
break;
case DestroyMsg.Id: // 0x20 / 32
result = await DestroyMsg.Receive(dataStream, client, packetSize);
break; break;
default: default:
break; break;
@ -65,21 +65,54 @@ namespace Passer.Control {
} }
} }
public static void ProcessMessage(ISiteServer site, Client client, IMessage msg) { //public static void ProcessMessage(ISiteServer site, Client client, IMessage msg) {
switch (msg) { // client.ProcessMessage(site, client, msg);
case NetworkIdMsg networkId: // switch (msg) {
site.ProcessNetworkId(client, networkId); // case ClientMsg clientMsg:
break; // site.ProcessClient(client, clientMsg);
case ModelUrlMsg modelUrl: // break;
site.ProcessModelUrl(client, modelUrl); // case NetworkIdMsg networkId:
break; // site.ProcessNetworkId(client, networkId);
} // break;
} // case InvestigateMsg investigate:
// site.ProcessInvestigate(client, investigate);
// break;
// case ThingMsg thing:
// site.ProcessThing(client, thing);
// break;
// case NameMsg name:
// site.ProcessName(client, name);
// break;
// case ModelUrlMsg modelUrl:
// site.ProcessModelUrl(client, modelUrl);
// break;
// case PoseMsg pose:
// site.ProcessPose(client, pose);
// break;
// case CustomMsg custom:
// site.ProcessCustom(client, custom);
// break;
// case TextMsg text:
// site.ProcessText(client, text);
// break;
// case DestroyMsg destroy:
// site.ProcessDestroy(client, destroy);
// break;
// }
//}
} }
public interface ISiteServer { //public interface ISiteServer {
public void ProcessNetworkId(Client client, NetworkIdMsg networkId); // public void ProcessClient(Client client, ClientMsg clientMsg);
public void ProcessModelUrl(Client client, ModelUrlMsg modelUrl); // public void ProcessNetworkId(Client client, NetworkIdMsg networkId);
} // public void ProcessInvestigate(Client client, InvestigateMsg investigate);
// public void ProcessThing(Client client, ThingMsg thing);
// public void ProcessName(Client client, NameMsg name);
// public void ProcessModelUrl(Client client, ModelUrlMsg modelUrl);
// public void ProcessPose(Client client, PoseMsg pose);
// public void ProcessCustom(Client client, CustomMsg custom);
// public void ProcessText(Client client, TextMsg text);
// public void ProcessDestroy(Client client, DestroyMsg destroy);
//}
} }

324
Runtime/HumanoidControl/Scripts/Networking/Roboid/HumanoidPlayerRoboid.cs
View File

@ -7,6 +7,8 @@ using System.Net.Sockets;
using System.Threading.Tasks; using System.Threading.Tasks;
using UnityEngine; using UnityEngine;
using GLTFast; using GLTFast;
using Unity.Collections.LowLevel.Unsafe;
#if hNW_ROBOID #if hNW_ROBOID
@ -15,7 +17,7 @@ using Passer.LinearAlgebra;
namespace Passer.Humanoid { namespace Passer.Humanoid {
public partial class HumanoidPlayer : MonoBehaviour, IHumanoidNetworking, ISiteServer { public partial class HumanoidPlayer : MonoBehaviour, IHumanoidNetworking { //}, ISiteServer {
[SerializeField] [SerializeField]
protected float _sendRate = 25; protected float _sendRate = 25;
@ -124,6 +126,39 @@ namespace Passer.Humanoid {
#endregion Dummy Interface #endregion Dummy Interface
public class HumanoidClient : Client {
readonly HumanoidPlayer player;
public HumanoidClient(UdpClient udpClient, string ipAddress, int port, HumanoidPlayer player) {
this.ipAddress = ipAddress;
this.port = port;
this.udpClient = udpClient;
this.player = player;
clients.Add(this);
}
protected override void ProcessNetworkId(NetworkIdMsg msg) {
if (this.networkId == msg.networkId)
return;
this.networkId = msg.networkId;
player.ProcessNetworkId(this, msg);
}
protected override void ProcessModelUrl(ModelUrlMsg msg) {
int ix = msg.url.LastIndexOf(".");
if (ix < 0)
return;
string extension = msg.url.Substring(msg.url.LastIndexOf("."));
string extension3 = extension.Substring(0, 4);
string extension4 = extension.Substring(0, 5);
if (extension4 == ".gltf" || extension3 == ".glb") {
player.ProcessGltfModel(msg);
}
}
}
protected virtual void Awake() { protected virtual void Awake() {
mInstance = this; mInstance = this;
@ -142,8 +177,7 @@ namespace Passer.Humanoid {
udpClient = new UdpClient(endPoint); udpClient = new UdpClient(endPoint);
receiveCallback = new System.AsyncCallback(result => ReceiveUDP(client, result)); receiveCallback = new System.AsyncCallback(result => ReceiveUDP(client, result));
udpClient.BeginReceive(receiveCallback, obj); udpClient.BeginReceive(receiveCallback, obj);
//client = Client.NewUDPClient(udpClient, endPoint.Address.ToString(), endPoint.Port); client = new HumanoidClient(udpClient, siteAddress, sitePort, this);
client = Client.NewUDPClient(udpClient, siteAddress, sitePort);
// //
//endpoint = new IPEndPoint(IPAddress.Any, sitePort); //endpoint = new IPEndPoint(IPAddress.Any, sitePort);
@ -161,16 +195,21 @@ namespace Passer.Humanoid {
return; return;
if (udpClient.Client.Connected) { if (udpClient.Client.Connected) {
byte[] data = udpClient.EndReceive(result, ref endPoint); try {
dataStream.WriteByte((byte)data.Length); byte[] data = udpClient.EndReceive(result, ref endPoint);
dataStream.Write(data, 0, data.Length); dataStream.WriteByte((byte)data.Length);
if (client.ipAddress == null) { dataStream.Write(data, 0, data.Length);
client.ipAddress = endPoint.Address.ToString(); if (client.ipAddress == null) {
client.port = endPoint.Port; client.ipAddress = endPoint.Address.ToString();
// I thing sending now is too soon, we are currenlty processing a message... client.port = endPoint.Port;
//SendNetworkId(client); // I thing sending now is too soon, we are currenlty processing a message...
//if (string.IsNullOrEmpty(sceneUrl) == false) //SendNetworkId(client);
// SendModelUrl(client, sceneUrl); //if (string.IsNullOrEmpty(sceneUrl) == false)
// SendModelUrl(client, sceneUrl);
}
}
catch (Exception _) {
Debug.Log("connection error");
} }
} }
else { else {
@ -195,14 +234,12 @@ namespace Passer.Humanoid {
protected virtual void LateUpdate() { protected virtual void LateUpdate() {
foreach (Client client in Client.clients) { foreach (Client client in Client.clients) {
while (client.messageQueue.TryDequeue(out Passer.Control.IMessage msg)) if (client is HumanoidClient humanoidClient) {
SiteServer.ProcessMessage(this, client, msg); while (humanoidClient.messageQueue.TryDequeue(out Passer.Control.IMessage msg))
humanoidClient.ProcessMessage(msg);
}
} }
//while (messageQueue.TryDequeue(out HumanoidNetworking.IMessage msg)) {
// ProcessMessage(msg);
//}
if (Time.time > lastSend + 1 / sendRate) { if (Time.time > lastSend + 1 / sendRate) {
if (humanoids != null) { if (humanoids != null) {
foreach (HumanoidControl humanoid in humanoids) { foreach (HumanoidControl humanoid in humanoids) {
@ -219,40 +256,6 @@ namespace Passer.Humanoid {
} }
} }
//protected virtual void ProcessMessage(HumanoidNetworking.IMessage msg) {
// switch (msg) {
// case NetworkIdMsg networkId:
// ProcessNetworkId(networkId);
// break;
// case ModelUrlMsg modelUrl:
// ProcessModelURL(modelUrl);
// 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;
// case ModelUrlMsg.Id:
// this.ReceiveModelUrl(data); break;
// }
//}
#endregion Update #endregion Update
#region Client #region Client
@ -326,15 +329,19 @@ namespace Passer.Humanoid {
// Debug.Log($"bone pos {bonePose.bonePosition.horizontal} {bonePose.bonePosition.vertical} {bonePose.bonePosition.distance}"); // Debug.Log($"bone pos {bonePose.bonePosition.horizontal} {bonePose.bonePosition.vertical} {bonePose.bonePosition.distance}");
//} //}
//SendMsg(data); //SendMsg(data);
Quaternion orientation = bone.bone.transform.rotation;
Quat32 boneOrientation = new(orientation.x, orientation.y, orientation.z, orientation.w);
if (isRoot) { if (isRoot) {
Quaternion orientation = bone.bone.transform.rotation;
Quat32 boneOrientation = new(orientation.x, orientation.y, orientation.z, orientation.w);
FromVector3(bone.bone.transform.position, out float distance, out float horizontal, out float vertical); FromVector3(bone.bone.transform.position, out float distance, out float horizontal, out float vertical);
Spherical bonePosition = new(distance, horizontal, vertical); Spherical bonePosition = new(distance, horizontal, vertical);
PoseMsg.Send(client, (byte)bone.boneId, bonePosition, boneOrientation); PoseMsg.Send(client, (byte)bone.boneId, bonePosition, boneOrientation);
} }
else else {
Quaternion orientation = bone.bone.transform.localRotation;
Quat32 boneOrientation = new(orientation.x, orientation.y, orientation.z, orientation.w);
PoseMsg.Send(client, (byte)bone.boneId, null, boneOrientation); PoseMsg.Send(client, (byte)bone.boneId, null, boneOrientation);
}
} }
#endregion Pose #endregion Pose
@ -343,36 +350,7 @@ namespace Passer.Humanoid {
//#region NetworkId //#region NetworkId
//public class NetworkIdMsg : HumanoidNetworking.IMessage { void ProcessNetworkId(Client client, NetworkIdMsg msg) {
// 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);
// messageQueue.Enqueue(msg);
//}
void ISiteServer.ProcessNetworkId(Client client, NetworkIdMsg msg) {
if (this.networkId == msg.networkId) if (this.networkId == msg.networkId)
return; return;
@ -430,34 +408,6 @@ namespace Passer.Humanoid {
//#region Thing //#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(Client client, HumanoidControl humanoid) { public void SendThing(Client client, HumanoidControl humanoid) {
if (debug <= HumanoidNetworking.DebugLevel.Debug) if (debug <= HumanoidNetworking.DebugLevel.Debug)
@ -476,42 +426,6 @@ namespace Passer.Humanoid {
//#region SubThing //#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) { public void SendSubThing(HumanoidControl humanoid, HumanoidTarget.TargetedBone bone) {
if (debug <= HumanoidNetworking.DebugLevel.Debug) if (debug <= HumanoidNetworking.DebugLevel.Debug)
Debug.Log("Send SubThing " + humanoid.humanoidId + " nwId: " + humanoid.nwId); Debug.Log("Send SubThing " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
@ -539,39 +453,6 @@ namespace Passer.Humanoid {
//#region Name //#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) { public void SendName(HumanoidControl humanoid, byte thingId, string name) {
if (debug <= HumanoidNetworking.DebugLevel.Debug) if (debug <= HumanoidNetworking.DebugLevel.Debug)
@ -590,68 +471,13 @@ namespace Passer.Humanoid {
//#region Model //#region Model
//protected class ModelUrlMsg : HumanoidNetworking.IMessage {
// public const byte Id = 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(ModelUrlMsg.Id); // 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 = 1; // [0] = msgId
// 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) { public void SendModel(HumanoidControl humanoid, string url) {
if (debug <= HumanoidNetworking.DebugLevel.Debug) if (debug <= HumanoidNetworking.DebugLevel.Debug)
Debug.Log("Send URL " + humanoid.humanoidId + " nwId: " + humanoid.nwId); Debug.Log("Send URL " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
ModelUrlMsg.Send(client, 0, url); ModelUrlMsg.Send(client, 0, url);
//ModelUrlMsg msg = new(url); // humanoid.name;
//if (udpClient != null) {
// byte[] data = msg.Serialize();
// udpClient.Send(data, data.Length, "127.0.0.1", nssPort);
//}
} }
//protected void ReceiveModelUrl(byte[] data) {
// ModelUrlMsg msg = new(data);
// messageQueue.Enqueue(msg);
//}
bool loaded = false; bool loaded = false;
protected async void ProcessModelURL(Client client, ModelUrlMsg msg) { protected async void ProcessModelURL(Client client, ModelUrlMsg msg) {
if (loaded) if (loaded)
@ -681,18 +507,18 @@ namespace Passer.Humanoid {
} }
void ISiteServer.ProcessModelUrl(Client client, ModelUrlMsg msg) { //void ISiteServer.ProcessModelUrl(Client client, ModelUrlMsg msg) {
int ix = msg.url.LastIndexOf("."); // int ix = msg.url.LastIndexOf(".");
if (ix < 0) // if (ix < 0)
return; // return;
string extension = msg.url.Substring(msg.url.LastIndexOf(".")); // string extension = msg.url.Substring(msg.url.LastIndexOf("."));
string extension3 = extension.Substring(0, 4); // string extension3 = extension.Substring(0, 4);
string extension4 = extension.Substring(0, 5); // string extension4 = extension.Substring(0, 5);
if (extension4 == ".gltf" || extension3 == ".glb") { // if (extension4 == ".gltf" || extension3 == ".glb") {
ProcessGltfModel(msg); // ProcessGltfModel(msg);
} // }
} //}
#region GLTF #region GLTF

4
Runtime/HumanoidControl/Scripts/Physics/HandPhysics.cs
View File

@ -227,7 +227,7 @@ namespace Passer.Humanoid {
//Compensate for absolute rigidbody speed (specifically when on a moving platform) //Compensate for absolute rigidbody speed (specifically when on a moving platform)
if (handRigidbody != null) { if (handRigidbody != null) {
Vector3 residualVelocity = handRigidbody.velocity - velocityTowardsTarget; Vector3 residualVelocity = handRigidbody.linearVelocity - velocityTowardsTarget;
damper += residualVelocity * 10; damper += residualVelocity * 10;
} }
} }
@ -552,7 +552,7 @@ namespace Passer.Humanoid {
Vector3 velocityTarget = (positionDelta * velocityMagic) * Time.fixedDeltaTime; Vector3 velocityTarget = (positionDelta * velocityMagic) * Time.fixedDeltaTime;
if (float.IsNaN(velocityTarget.x) == false) if (float.IsNaN(velocityTarget.x) == false)
handRigidbody.velocity = Vector3.MoveTowards(handRigidbody.velocity, velocityTarget, MaxVelocityChange); handRigidbody.linearVelocity = Vector3.MoveTowards(handRigidbody.linearVelocity, velocityTarget, MaxVelocityChange);
rotationDelta.ToAngleAxis(out angle, out axis); rotationDelta.ToAngleAxis(out angle, out axis);

8
Runtime/HumanoidControl/Scripts/Physics/RigidbodyData.cs
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@ -15,8 +15,8 @@ namespace Passer {
public RigidbodyData(Rigidbody rb) { public RigidbodyData(Rigidbody rb) {
mass = rb.mass; mass = rb.mass;
drag = rb.drag; drag = rb.linearDamping;
angularDrag = rb.angularDrag; angularDrag = rb.angularDamping;
useGravity = rb.useGravity; useGravity = rb.useGravity;
isKinematic = rb.isKinematic; isKinematic = rb.isKinematic;
interpolation = rb.interpolation; interpolation = rb.interpolation;
@ -28,8 +28,8 @@ namespace Passer {
public void CopyToRigidbody(Rigidbody rb) { public void CopyToRigidbody(Rigidbody rb) {
rb.mass = mass; rb.mass = mass;
rb.drag = drag; rb.linearDamping = drag;
rb.angularDrag = angularDrag; rb.angularDamping = angularDrag;
rb.useGravity = useGravity; rb.useGravity = useGravity;
rb.isKinematic = isKinematic; rb.isKinematic = isKinematic;
rb.interpolation = interpolation; rb.interpolation = interpolation;

4
Runtime/HumanoidControl/Scripts/Targets/HandTarget.cs
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@ -1242,8 +1242,8 @@ namespace Passer.Humanoid {
handRigidbody = hand.bone.transform.gameObject.AddComponent<Rigidbody>(); handRigidbody = hand.bone.transform.gameObject.AddComponent<Rigidbody>();
} }
handRigidbody.mass = 1; handRigidbody.mass = 1;
handRigidbody.drag = 0; handRigidbody.linearDamping = 0;
handRigidbody.angularDrag = 10; handRigidbody.angularDamping = 10;
handRigidbody.useGravity = false; handRigidbody.useGravity = false;
handRigidbody.isKinematic = true; handRigidbody.isKinematic = true;
handRigidbody.interpolation = RigidbodyInterpolation.None; handRigidbody.interpolation = RigidbodyInterpolation.None;

2
Runtime/HumanoidControl/Scripts/Tools/Redrop.cs
View File

@ -34,7 +34,7 @@ namespace Passer {
if (thisRigidbody != null) { if (thisRigidbody != null) {
thisRigidbody.MovePosition(new Vector3(startPosition.x, startPosition.y + 0.1F, startPosition.z)); thisRigidbody.MovePosition(new Vector3(startPosition.x, startPosition.y + 0.1F, startPosition.z));
thisRigidbody.MoveRotation(startRotation); thisRigidbody.MoveRotation(startRotation);
thisRigidbody.velocity = Vector3.zero; thisRigidbody.linearVelocity = Vector3.zero;
thisRigidbody.angularVelocity = Vector3.zero; thisRigidbody.angularVelocity = Vector3.zero;
} }
} }

2
Runtime/Tools/Physics/HybridPhysics.cs
View File

@ -229,7 +229,7 @@ namespace Passer {
damper = -velocityTowardsTarget * damping; damper = -velocityTowardsTarget * damping;
//Compensate for absolute rigidbody speed (specifically when on a moving platform) //Compensate for absolute rigidbody speed (specifically when on a moving platform)
Vector3 residualVelocity = thisRigidbody.velocity - velocityTowardsTarget; Vector3 residualVelocity = thisRigidbody.linearVelocity - velocityTowardsTarget;
damper += residualVelocity * 10; damper += residualVelocity * 10;
} }
lastDistanceToTarget = distanceToTarget; lastDistanceToTarget = distanceToTarget;

8
Runtime/Tools/Physics/RigidbodyDisabled.cs
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@ -30,8 +30,8 @@ namespace Passer {
public void CopyFromRigidbody(Rigidbody rb) { public void CopyFromRigidbody(Rigidbody rb) {
mass = rb.mass; mass = rb.mass;
drag = rb.drag; drag = rb.linearDamping;
angularDrag = rb.angularDrag; angularDrag = rb.angularDamping;
useGravity = rb.useGravity; useGravity = rb.useGravity;
isKinematic = rb.isKinematic; isKinematic = rb.isKinematic;
interpolation = rb.interpolation; interpolation = rb.interpolation;
@ -44,8 +44,8 @@ namespace Passer {
public void CopyToRigidbody(Rigidbody rb) { public void CopyToRigidbody(Rigidbody rb) {
rb.mass = mass; rb.mass = mass;
rb.drag = drag; rb.linearDamping = drag;
rb.angularDrag = angularDrag; rb.angularDamping = angularDrag;
rb.useGravity = useGravity; rb.useGravity = useGravity;
rb.isKinematic = isKinematic; rb.isKinematic = isKinematic;
rb.interpolation = interpolation; rb.interpolation = interpolation;

2
Runtime/Tools/Scripts/InteractionPointer.cs
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@ -585,7 +585,7 @@ namespace Passer {
if (rayType != RayType.Gravity) if (rayType != RayType.Gravity)
return; return;
rigidbody.velocity = transform.forward * speed; rigidbody.linearVelocity = transform.forward * speed;
} }
public void LaunchPrefab(GameObject prefab) { public void LaunchPrefab(GameObject prefab) {

2
Runtime/Tools/Scripts/Socket.cs
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@ -694,7 +694,7 @@ namespace Passer {
Humanoid.HumanoidNetworking.ReenableNetworkSync(objRigidbody.gameObject); Humanoid.HumanoidNetworking.ReenableNetworkSync(objRigidbody.gameObject);
if (thisRigidbody != null) { if (thisRigidbody != null) {
objRigidbody.velocity = thisRigidbody.velocity; objRigidbody.linearVelocity = thisRigidbody.linearVelocity;
objRigidbody.angularVelocity = thisRigidbody.angularVelocity; objRigidbody.angularVelocity = thisRigidbody.angularVelocity;
} }