HumanoidControl/HumanoidControl_Free
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_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1810220956971058}
serializedVersion: 2
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
m_ConstrainProportionsScale: 0
m_Children: []
m_Father: {fileID: 0}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!114 &114636771493283014
MonoBehaviour:
@ -43,4 +44,12 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: eb69cd2012a95b549a6c414c3619432c, type: 3}
m_Name:
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);
if (objRigidbody != null && !objRigidbody.isKinematic) {
if (handRigidbody != null) {
objRigidbody.velocity = handRigidbody.velocity;
objRigidbody.linearVelocity = handRigidbody.linearVelocity;
objRigidbody.angularVelocity = handRigidbody.angularVelocity;
}
HumanoidNetworking.ReenableNetworkSync(objRigidbody.gameObject);
@ -854,7 +854,7 @@ namespace Passer.Humanoid {
//grabbedRigidbody.centerOfMass = handTarget.storedCOM;
if (grabbedRigidbody.isKinematic == false) {
grabbedRigidbody.velocity = handRigidbody.velocity;
grabbedRigidbody.linearVelocity = handRigidbody.linearVelocity;
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.mass = 1;
handTarget.handRigidbody.drag = 0;
handTarget.handRigidbody.angularDrag = 10;
handTarget.handRigidbody.linearDamping = 0;
handTarget.handRigidbody.angularDamping = 10;
handTarget.handRigidbody.useGravity = false;
handTarget.handRigidbody.isKinematic = true;
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

86
Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/Messages.cs
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@ -1,48 +1,8 @@
using System.Collections.Generic;
using System.Collections.Concurrent;
using System.IO;
using System.Net.Sockets;
using System.Threading.Tasks;
using System;
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 class IMessage {
public IMessage() { }
public IMessage(byte[] data) {
@ -189,7 +149,7 @@ namespace Passer.Control {
#region Investigate
class InvestigateMsg : IMessage {
public class InvestigateMsg : IMessage {
public const byte Id = 0x81;
public const byte length = 3;
public byte networkId;
@ -455,24 +415,25 @@ namespace Passer.Control {
#endregion Pose
#region Bytes
#region Custom
public class BytesMsg : IMessage {
public class CustomMsg : IMessage {
public const byte Id = 0xB1;
public byte networkId;
public byte thingId;
public byte[] bytes;
public BytesMsg(byte[] data) : base(data) { }
public BytesMsg(byte networkId, byte thingId, byte[] bytes) : base() {
public CustomMsg(byte[] data) : base(data) { }
public CustomMsg(byte networkId, byte thingId, byte[] bytes) : base() {
this.networkId = networkId;
this.thingId = thingId;
this.bytes = bytes;
}
public override byte[] Serialize() {
byte[] buffer = new byte[4 + this.bytes.Length];
int ix = 0;
buffer[ix++] = BytesMsg.Id;
buffer[ix++] = CustomMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = (byte)bytes.Length;
@ -482,7 +443,6 @@ namespace Passer.Control {
return buffer;
}
public override void Deserialize(byte[] data) {
//this.bytes = data;
uint ix = 0;
this.thingId = data[ix++];
this.bytes = new byte[data.Length - ix];
@ -492,20 +452,42 @@ namespace Passer.Control {
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);
}
// received bytes
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
BytesMsg msg = new(buffer);
CustomMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Bytes
#endregion Custom
#region Text
public class TextMsg : IMessage {
public const byte Id = 0xB0;
public string text;
public TextMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
uint ix = 0;
uint strlen = data[ix++];
this.text = System.Text.Encoding.UTF8.GetString(data, (int)ix, (int)strlen);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
TextMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion
#region Destroy

111
Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/SiteServer.cs
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@ -26,35 +26,35 @@ namespace Passer.Control {
bool result = false;
switch (msgId) {
case PoseMsg.Id: // Object Pose (16)
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:
case ClientMsg.Id: // 0xA0 / 160
result = await ClientMsg.Receive(dataStream, client, packetSize);
break;
case NetworkIdMsg.Id:
case NetworkIdMsg.Id: // 0xA1 / 161
result = await NetworkIdMsg.Receive(dataStream, client, packetSize);
break;
//case TextMsg.Id: // Text (176)
// result = await TextMsg.Receive(dataStream, client, packetSize);
// break;
case BytesMsg.Id:
result = await BytesMsg.Receive(dataStream, client, packetSize);
case InvestigateMsg.Id: // 0x81
result = await InvestigateMsg.Receive(dataStream, client, packetSize);
break;
case ThingMsg.Id: // 0x80 / 128
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;
default:
break;
@ -65,21 +65,54 @@ namespace Passer.Control {
}
}
public static void ProcessMessage(ISiteServer site, Client client, IMessage msg) {
switch (msg) {
case NetworkIdMsg networkId:
site.ProcessNetworkId(client, networkId);
break;
case ModelUrlMsg modelUrl:
site.ProcessModelUrl(client, modelUrl);
break;
}
}
//public static void ProcessMessage(ISiteServer site, Client client, IMessage msg) {
// client.ProcessMessage(site, client, msg);
// switch (msg) {
// case ClientMsg clientMsg:
// site.ProcessClient(client, clientMsg);
// break;
// case NetworkIdMsg networkId:
// 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 ProcessModelUrl(Client client, ModelUrlMsg modelUrl);
}
// public void ProcessClient(Client client, ClientMsg clientMsg);
// 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);
//}
}

302
Runtime/HumanoidControl/Scripts/Networking/Roboid/HumanoidPlayerRoboid.cs
View File

@ -7,6 +7,8 @@ using System.Net.Sockets;
using System.Threading.Tasks;
using UnityEngine;
using GLTFast;
using Unity.Collections.LowLevel.Unsafe;
#if hNW_ROBOID
@ -15,7 +17,7 @@ using Passer.LinearAlgebra;
namespace Passer.Humanoid {
public partial class HumanoidPlayer : MonoBehaviour, IHumanoidNetworking, ISiteServer {
public partial class HumanoidPlayer : MonoBehaviour, IHumanoidNetworking { //}, ISiteServer {
[SerializeField]
protected float _sendRate = 25;
@ -124,6 +126,39 @@ namespace Passer.Humanoid {
#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() {
mInstance = this;
@ -142,8 +177,7 @@ namespace Passer.Humanoid {
udpClient = new UdpClient(endPoint);
receiveCallback = new System.AsyncCallback(result => ReceiveUDP(client, result));
udpClient.BeginReceive(receiveCallback, obj);
//client = Client.NewUDPClient(udpClient, endPoint.Address.ToString(), endPoint.Port);
client = Client.NewUDPClient(udpClient, siteAddress, sitePort);
client = new HumanoidClient(udpClient, siteAddress, sitePort, this);
//
//endpoint = new IPEndPoint(IPAddress.Any, sitePort);
@ -161,6 +195,7 @@ namespace Passer.Humanoid {
return;
if (udpClient.Client.Connected) {
try {
byte[] data = udpClient.EndReceive(result, ref endPoint);
dataStream.WriteByte((byte)data.Length);
dataStream.Write(data, 0, data.Length);
@ -173,6 +208,10 @@ namespace Passer.Humanoid {
// SendModelUrl(client, sceneUrl);
}
}
catch (Exception _) {
Debug.Log("connection error");
}
}
else {
Debug.Log("Client disconnected");
}
@ -195,13 +234,11 @@ namespace Passer.Humanoid {
protected virtual void LateUpdate() {
foreach (Client client in Client.clients) {
while (client.messageQueue.TryDequeue(out Passer.Control.IMessage msg))
SiteServer.ProcessMessage(this, client, msg);
if (client is HumanoidClient humanoidClient) {
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 (humanoids != null) {
@ -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
#region Client
@ -326,16 +329,20 @@ namespace Passer.Humanoid {
// Debug.Log($"bone pos {bonePose.bonePosition.horizontal} {bonePose.bonePosition.vertical} {bonePose.bonePosition.distance}");
//}
//SendMsg(data);
if (isRoot) {
Quaternion orientation = bone.bone.transform.rotation;
Quat32 boneOrientation = new(orientation.x, orientation.y, orientation.z, orientation.w);
if (isRoot) {
FromVector3(bone.bone.transform.position, out float distance, out float horizontal, out float vertical);
Spherical bonePosition = new(distance, horizontal, vertical);
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);
}
}
#endregion Pose
@ -343,36 +350,7 @@ namespace Passer.Humanoid {
//#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);
// messageQueue.Enqueue(msg);
//}
void ISiteServer.ProcessNetworkId(Client client, NetworkIdMsg msg) {
void ProcessNetworkId(Client client, NetworkIdMsg msg) {
if (this.networkId == msg.networkId)
return;
@ -430,34 +408,6 @@ namespace Passer.Humanoid {
//#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) {
if (debug <= HumanoidNetworking.DebugLevel.Debug)
@ -476,42 +426,6 @@ namespace Passer.Humanoid {
//#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);
@ -539,39 +453,6 @@ namespace Passer.Humanoid {
//#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)
@ -590,68 +471,13 @@ namespace Passer.Humanoid {
//#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) {
if (debug <= HumanoidNetworking.DebugLevel.Debug)
Debug.Log("Send URL " + humanoid.humanoidId + " nwId: " + humanoid.nwId);
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;
protected async void ProcessModelURL(Client client, ModelUrlMsg msg) {
if (loaded)
@ -681,18 +507,18 @@ namespace Passer.Humanoid {
}
void ISiteServer.ProcessModelUrl(Client client, ModelUrlMsg msg) {
int ix = msg.url.LastIndexOf(".");
if (ix < 0)
return;
//void ISiteServer.ProcessModelUrl(Client client, 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") {
ProcessGltfModel(msg);
}
}
// 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") {
// ProcessGltfModel(msg);
// }
//}
#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)
if (handRigidbody != null) {
Vector3 residualVelocity = handRigidbody.velocity - velocityTowardsTarget;
Vector3 residualVelocity = handRigidbody.linearVelocity - velocityTowardsTarget;
damper += residualVelocity * 10;
}
}
@ -552,7 +552,7 @@ namespace Passer.Humanoid {
Vector3 velocityTarget = (positionDelta * velocityMagic) * Time.fixedDeltaTime;
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);

8
Runtime/HumanoidControl/Scripts/Physics/RigidbodyData.cs
View File

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

4
Runtime/HumanoidControl/Scripts/Targets/HandTarget.cs
View File

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

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

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

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

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

8
Runtime/Tools/Physics/RigidbodyDisabled.cs
View File

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

2
Runtime/Tools/Scripts/InteractionPointer.cs
View File

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

2
Runtime/Tools/Scripts/Socket.cs
View File

@ -694,7 +694,7 @@ namespace Passer {
Humanoid.HumanoidNetworking.ReenableNetworkSync(objRigidbody.gameObject);
if (thisRigidbody != null) {
objRigidbody.velocity = thisRigidbody.velocity;
objRigidbody.linearVelocity = thisRigidbody.linearVelocity;
objRigidbody.angularVelocity = thisRigidbody.angularVelocity;
}