Merge branch 'main' of https://github.com/BenoitGeslain/Visuo-haptic-…

…Illusions-Toolkit

Visuo-haptic Toolkit/Assets/Demo Scenes/Corridor/Scenes/RedirectionCorridor.unity

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-  m_LocalPosition: {x: 11.27, y: 1.5, z: -2}
-  m_LocalScale: {x: 2, y: 1, z: 0.3}
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Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/World Redirection/Techniques.cs

@@ -141,12 +141,12 @@ public class Razzaque2001Hybrid: WorldRedirectionTechnique {
 		/// <param name="aggregate"></param>
 		public static Razzaque2001Hybrid Sum() => new((a, b, c) => a + b + c);
 
-		/// <summary>
-		/// Static factory method for using weighted-sum-aggregation.
-		/// </summary>
-		public static Razzaque2001Hybrid Weighted(float x, float y, float z) => new((a, b, c) => a * x + b * y + c * z);
+        /// <summary>
+        /// Static factory method for using weighted-sum-aggregation.
+        /// </summary>
+        public static Razzaque2001Hybrid Weighted(float x, float y, float z) => new((a, b, c) => a * x + b * y + c * z);
 
-		public override void Redirect(Scene scene) {
+        public override void Redirect(Scene scene) {
 			float angle = aggregate(
 				scene.enableHybridOverTime ? Razzaque2001OverTimeRotation.GetRedirection(scene) : 0,
 				scene.enableHybridRotational ? Razzaque2001Rotational.GetRedirection(scene) : 0,

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Editor/Redirection/WorldRedirectionEditor.cs

@@ -83,14 +83,9 @@ public override void OnInspectorGUI() {
 			EditorGUILayout.Space(5);
 			EditorGUILayout.LabelField("Technique Parameters", EditorStyles.boldLabel);
 
-			EditorGUILayout.PropertyField(parameters, new GUIContent("Parameters"));
 
-			// WorldRedirection someComponent = target as WorldRedirection;
-			// // if (someComponent == null)
-			// // 	someComponent = CreateInstance<ParametersToolkit>();
-			// Debug.Log(someComponent.scene);
-			// Debug.Log(someComponent.scene.parameters);
-			// Debug.Log(someComponent.scene.parameters.OverTimeRotation);
+			EditorGUILayout.PropertyField(redirect, new GUIContent("Redirect"));
+			EditorGUILayout.PropertyField(parameters, new GUIContent("Parameters"));
 
 			if (technique.enumNames[technique.enumValueIndex] == "Razzaque2001OverTimeRotation") {
 				EditorGUILayout.PropertyField(parametersObject.FindProperty("OverTimeRotation"), new GUIContent("Over Time Rotation Rate"));
@@ -112,13 +107,25 @@ public override void OnInspectorGUI() {
 				EditorGUILayout.PropertyField(parametersObject.FindProperty("CurvatureRadius"), new GUIContent("Curvature Radius"));
 				EditorGUILayout.Space(2);
 				EditorGUILayout.PropertyField(serializedObject.FindProperty("scene.aggregateFunction"), new GUIContent("Aggregate Function"));
+
 				WorldRedirection script = target as WorldRedirection;
-				script.techniqueInstance = script.scene.aggregateFunction switch {
-					HybridAggregate.Max => Razzaque2001Hybrid.Max(),
-					HybridAggregate.Sum => Razzaque2001Hybrid.Sum(),
-					HybridAggregate.WeightedSum => Razzaque2001Hybrid.Weighted(1/3,1/3,1/3),	// TODO: add weights inside interface
-					_ => Razzaque2001Hybrid.Max()
-				};
+				switch (script.scene.aggregateFunction) {
+					case HybridAggregate.Max:
+						script.techniqueInstance = Razzaque2001Hybrid.Max();
+						break;
+					case HybridAggregate.Sum:
+						script.techniqueInstance = Razzaque2001Hybrid.Sum();
+						break;
+					case HybridAggregate.WeightedSum:
+						EditorGUILayout.PropertyField(parametersObject.FindProperty("HybridWeights"), new GUIContent("HybridWeights"));
+						script.techniqueInstance = Razzaque2001Hybrid.Weighted(script.scene.parameters.HybridWeights.x,
+																			   script.scene.parameters.HybridWeights.y,
+																			   script.scene.parameters.HybridWeights.z);
+						break;
+					default:
+						script.techniqueInstance = Razzaque2001Hybrid.Max();
+						break;
+				}
 			}
 			// if (technique.enumNames[technique.enumValueIndex] == "Azmandian2016World") {
 			// 	EditorGUILayout.PropertyField(parametersObject.FindProperty("GainsRotational"), new GUIContent("Gains Rotational"));
@@ -127,8 +134,6 @@ public override void OnInspectorGUI() {
 				EditorGUILayout.PropertyField(parametersObject.FindProperty("GainsTranslational"), new GUIContent("Translational Gains"));
 			}
 
-			EditorGUILayout.PropertyField(redirect, new GUIContent("Redirect"));
-
 			// Hides targets, dampening and smoothing if
 			if (strategyTechniques.Contains(technique.enumNames[technique.enumValueIndex])) {
 				if (targetsStrategies.Contains(strategy.enumNames[strategy.enumValueIndex])) {

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Parameters/Medium Parameters (Recommended).asset

@@ -39,6 +39,7 @@ MonoBehaviour:
     same: 1.05
     opposite: 0.975
   CurvatureRadius: 15
+  HybridWeights: {x: 1, y: 1, z: 1}
   a: {x: 0, y: 0, z: 0}
   SwampSquareLength: 0.25
   SwampCDRatio: 0.75

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Parameters/ParametersToolkit.cs

@@ -57,6 +57,8 @@ public class ParametersToolkit: ScriptableObject {
 		public Vector2Rotation GainsRotational;
 		[Tooltip("The maximum gain in translation that can be applied to the user's point of view in rotation. Value is in °/m and is not a percentage.")]
 		public float CurvatureRadius = 15f;
+		[Tooltip("The weights used for the Razzaque2001Hybrid technique using the WeightedSum function.")]
+		public Vector3 HybridWeights = new(1f, 1f, 1f);