Merge pull request #57 from bjrtx/main

Modify Kohli bounding box behaviour
BenoitGeslain · Apr 30, 2024 · a5019c8 · a5019c8
2 parents 44e4869 + 76f86f3
commit a5019c8
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Showing 3 changed files with 19 additions and 23 deletions.
diff --git a/Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Logging/JsonLogging.cs b/Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Logging/JsonLogging.cs
@@ -48,7 +48,7 @@ public record JsonRedirectionData {
 		public List<TransformData> Targets => script.scene.targets.ConvertAll(t => new TransformData(t));
 		public TransformData PhysicalTarget => script.scene.physicalTarget ? new(script.scene.physicalTarget) : null;
 		public TransformData VirtualTarget => script.scene.virtualTarget ? new(script.scene.virtualTarget) : null;
-		public string StrategyDirection => script.scene.forwardTarget != null ? script.scene.forwardTarget.ToString() : null;
+		public string StrategyDirection => script.scene.forwardTarget != null ? Convert.ToString(script.scene.forwardTarget.ToString()) : null;
 
 		public JsonRedirectionData(Interaction script) => this.script = script;
 	}
@@ -74,8 +74,8 @@ protected void WriteRecords(Queue<T> records) {
 		}
 
 		private sealed class Unsubscriber : IDisposable {
-			private HashSet<IObserver<T>> _observers;
-			private IObserver<T> _observer;
+			private readonly HashSet<IObserver<T>> _observers;
+			private readonly IObserver<T> _observer;
 
 			public Unsubscriber(HashSet<IObserver<T>> observers, IObserver<T> observer) {
 				_observers = observers;

diff --git a/...tic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/3DInterpolation/Techniques.cs b/...tic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/3DInterpolation/Techniques.cs
@@ -22,27 +22,26 @@ public class Kohli2010RedirectedTouching : BodyRedirectionTechnique {
 		public void ComputeDisplacement(Scene scene) {
 			var x = Array.ConvertAll(scene.referenceParent.GetComponentsInChildren<Transform>(), t => t.position);
 			var y = Array.ConvertAll(scene.interpolatedParent.GetComponentsInChildren<Transform>(), t => t.position);
-			if (add_boundaries) {
-				var bounds = new Bounds(x[0], Vector3.zero);
-				foreach (var v in x.Concat(y)) {
-					bounds.Encapsulate(v);
-				}
-				bounds.extents *= 2f;
-				Vector3[] ends = { bounds.min, bounds.max };
-				var supplementary_fixed = new List<Vector3>(8);
-				foreach (var a in ends)
-					foreach (var b in ends)
-						foreach (var c in ends)
-							supplementary_fixed.Add(new Vector3(a.x, b.y, c.z));
-				x = x.Concat(supplementary_fixed).ToArray();
-				y = y.Concat(supplementary_fixed).ToArray();
-			}
 			displace = ThinPlateSpline.SabooSmoothedDisplacementField(
 				x,
 				y,
 				scene.parameters.SmoothingParameter,
 				scene.parameters.Rescale
 			);
+			if (add_boundaries) {
+				var bounds = new Bounds(x[0], Vector3.zero);
+				foreach (var v in x.Concat(y)) {
+					bounds.Encapsulate(v);
+				}
+				var sqrRadius = 3 * bounds.extents.sqrMagnitude;
+
+				static float f(float x) => x > 0 ? Mathf.Exp(-1 / x) : 0;
+				static float g(float x) => f(x) / (f(x) + f(1 - x));
+				float transitionLayerWidth = 0.5F;
+				float smoothTransition(float x) => 1 - g((x - sqrRadius) / (transitionLayerWidth * sqrRadius));
+				var old_displace = displace;
+				displace = (pos) => old_displace(pos) * smoothTransition((pos - bounds.center).sqrMagnitude);
+			}
 		}
 
 		public override void Redirect(Scene scene) {

diff --git a/Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Visualisation/Socket.cs b/Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Visualisation/Socket.cs
@@ -19,8 +19,8 @@ struct WorldRedirectionData {
 		[SerializeField] float[] maxSums;
 
 		public void AddTo(float overTime, float rotational, float curvature, float time) {
-			if (this.maxSums is null || this.maxSums.Length != 3) {
-				this.maxSums = new float[3];
+			if (maxSums?.Length != 3) {
+				maxSums = new float[3];
 			}
 			this.overTime += Mathf.Abs(overTime);
 			this.rotational += Mathf.Abs(rotational);
@@ -108,9 +108,6 @@ private void StartSendingMessages() {
 				Thread thread = new(() => SendMessage(client, json));
 				thread.Start();
 				redirectionData.Reset();
-				// redirectionData.overTime = 0f;
-				// redirectionData.rotational = 0f;
-				// redirectionData.curvature = 0f;
 			}
 		}