Merge pull request #64 from bjrtx/main

Improve APF and Guardian handling

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Logging/JsonLogging.cs

@@ -45,7 +45,7 @@ public record JsonRedirectionData {
 		/// target selection strategy, if any, or the empty string.
 		/// </value>
 		public string Strategy => script switch {
-			WorldRedirection => (script as WorldRedirection).strategy.ToString(),
+			WorldRedirection wr => wr.strategy.ToString(),
 			BodyRedirection => String.Empty,
 			_ => String.Empty
 		};
@@ -55,9 +55,9 @@ public record JsonRedirectionData {
 		/// technique, if any, or the empty string.
 		/// </value>
 		public string Technique => script switch {
-			WorldRedirection => (script as WorldRedirection).Technique.ToString(),
-			BodyRedirection => (script as BodyRedirection).Technique.ToString(),
-			_ => ""
+			WorldRedirection wr => wr.Technique.ToString(),
+			BodyRedirection br => br.Technique.ToString(),
+			_ => String.Empty
 		};
 
 		public bool Redirecting => script.redirect;

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Logging/Logging.cs

@@ -19,9 +19,9 @@ namespace VHToolkit.Logging {
 	public record RedirectionData {
 		public DateTime timeStamp = DateTime.Now;
 		public string Technique => script switch {
-			WorldRedirection => (script as WorldRedirection).Technique.ToString(),
-			BodyRedirection => (script as BodyRedirection).Technique.ToString(),
-			_ => ""
+			WorldRedirection wr => wr.Technique.ToString(),
+			BodyRedirection br => br.Technique.ToString(),
+			_ => String.Empty
 		};
 
 		public Interaction script;
@@ -119,7 +119,6 @@ private sealed class FileObserver : AbstractFileObserver<RedirectionData> {
 			}
 
 			public override void OnNext(RedirectionData value) {
-				csvWriter.Context.RegisterClassMap<RedirectionDataMap>();
 				csvWriter.WriteRecord(value);
 				csvWriter.NextRecord();
 			}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/Body Redirection/BodyRedirection.cs

@@ -35,7 +35,7 @@ public class BodyRedirection : Interaction {
 		/// Updates the techniqueInstance according to the enumeration technique chosen.
 		/// </summary>
 		private void UpdateTechnique() {
-			techniqueInstance = _technique switch {
+			techniqueInstance = Technique switch {
 				BRTechnique.None => new NoBodyRedirection(),
 				BRTechnique.Reset => new ResetBodyRedirection(),
 				BRTechnique.Azmandian2016Body => new Azmandian2016Body(),

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/Interaction.cs

@@ -3,20 +3,28 @@
 using UnityEngine;
 
 namespace VHToolkit.Redirection {
+
+	[System.AttributeUsage(System.AttributeTargets.All, Inherited = false, AllowMultiple = true)]
+	public abstract class EditorRedirectionAttribute : System.Attribute { }
+	public sealed class ShowHeadAttribute : EditorRedirectionAttribute { }
+	public sealed class HasBufferAttribute : EditorRedirectionAttribute { }
+	public sealed class HasThresholdAttribute : EditorRedirectionAttribute { }
+	public sealed class HasStrategyAttribute : EditorRedirectionAttribute { }
+	public sealed class HasTargetsAttribute : EditorRedirectionAttribute { }
 	public enum BRTechnique {
 		None,
 		Reset,
 		[InspectorName("")] SEPARATOR1, // Adds a visual separator in the drop-down inspector
 										// Hand Redirection techniques
-		Han2018TranslationalShift,
-		Han2018InterpolatedReach,
-		Azmandian2016Body,
-		Azmandian2016Hybrid,
-		Cheng2017Sparse,
-		Geslain2022Polynom,
-		Poupyrev1996GoGo,
+		[HasThreshold] Han2018TranslationalShift,
+		[HasBuffer, HasThreshold] Han2018InterpolatedReach,
+		[HasBuffer, HasThreshold] Azmandian2016Body,
+		[ShowHead, HasThreshold] Azmandian2016Hybrid,
+		[HasBuffer, HasThreshold] Cheng2017Sparse,
+		[HasBuffer, HasThreshold] Geslain2022Polynom,
+		[ShowHead] Poupyrev1996GoGo,
 		[InspectorName(" ")] SEPARATOR2,
-		Kohli2010RedirectedTouching,
+		[HasThreshold] Kohli2010RedirectedTouching,
 		[InspectorName("  ")] SEPARATOR3,
 		// Pseudo-haptic techiques
 		Lecuyer2000Swamp,
@@ -30,20 +38,20 @@ public enum WRTechnique {
 		None,
 		Reset,
 		[InspectorName("")] SEPARATOR1,
-		Razzaque2001OverTimeRotation,
-		Razzaque2001Rotational,
-		Razzaque2001Curvature,
-		Razzaque2001Hybrid,
+		[HasStrategy] Razzaque2001OverTimeRotation,
+		[HasStrategy] Razzaque2001Rotational,
+		[HasStrategy] Razzaque2001Curvature,
+		[HasStrategy] Razzaque2001Hybrid,
 		Azmandian2016World,
 		Steinicke2008Translational
 	}
 
 	public enum WRStrategy {
 		NoSteering,
 		[InspectorName("")] SEPARATOR1,
-		SteerToCenter,
+		[HasTargets] SteerToCenter,
 		SteerToOrbit,
-		SteerToMultipleTargets,
+		[HasTargets] SteerToMultipleTargets,
 		SteerInDirection,
 		[InspectorName(" ")] SEPARATOR2,
 		APF_PushPull

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/RedirectionTechnique.cs

@@ -1,8 +1,8 @@
 namespace VHToolkit.Redirection {
 	abstract public class RedirectionTechnique {
 		/// <summary>
-		/// This abstract method redirects the Scene transforms according to the other parameters and the equations
-		/// defined in the corresponding techniques. It needs to be overriden by a child class, and it is called on Update() in *Redirection classes.
+		/// <c>Redirect</c> redirects the Scene transforms according to the other parameters and the equations
+		/// defined in the corresponding techniques. It needs to be overriden in children classes, and is called on Update() in *Redirection classes.
 		/// </summary>
 		public abstract void Redirect(Scene scene);
 	}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Backport.cs

@@ -7,7 +7,7 @@ namespace VHToolkit {
 	/// Provide language features not present in this version of .Net.
 	/// </summary>
 	static class Future {
-		public static IEnumerable<(TFirst First, TSecond Second)> Zip<TFirst, TSecond>(
+		public static IEnumerable<(TFirst, TSecond)> Zip<TFirst, TSecond>(
 			this IEnumerable<TFirst> first,
 			IEnumerable<TSecond> second
 		) => first.Zip(second, resultSelector: (x, y) => (x, y));
@@ -44,6 +44,9 @@ public static TSource MinBy<TSource, TKey>(this IEnumerable<TSource> source, Fun
 			}
 			return result;
 		}
+
+		public static IEnumerable<(T, T)> CyclicPairs<T>(this List<T> list) => list.Zip(list.Skip(1).Append(list.First()));
+
 	}
 
 }

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

@@ -5,6 +5,9 @@
 
 using VHToolkit.Redirection.PseudoHaptics;
 using VHToolkit.Redirection.Interpolation3D;
+using System;
+using VHToolkit.Redirection;
+using System.Linq;
 
 namespace VHToolkit.Redirection.BodyRedirection {
 	/// <summary>
@@ -26,27 +29,24 @@ public class BodyRedirectionEditor : Editor {
 		SerializedProperty redirect;
 		SerializedProperty parameters;
 		SerializedObject parametersObject;
-
-		readonly HashSet<string> bufferTechniques = new() { nameof(Han2018InterpolatedReach), nameof(Azmandian2016Body), nameof(Geslain2022Polynom), nameof(Cheng2017Sparse) };
-		readonly HashSet<string> noThresholdTechniques = new() { nameof(Poupyrev1996GoGo), nameof(Lecuyer2000Swamp), nameof(Samad2019Weight) };
-
+		private SerializedProperty Find(string name) => serializedObject.FindProperty(name);
 
 		private void OnEnable() {
 
-			technique = serializedObject.FindProperty("_technique");
-			techniqueInstance = serializedObject.FindProperty("techniqueInstance");
+			technique = Find("_technique");
+			techniqueInstance = Find("techniqueInstance");
 
-			limbs = serializedObject.FindProperty("scene.limbs");
-			physicalHead = serializedObject.FindProperty("scene.physicalHead");
-			virtualHead = serializedObject.FindProperty("scene.virtualHead");
-			physicalTarget = serializedObject.FindProperty("scene.physicalTarget");
-			virtualTarget = serializedObject.FindProperty("scene.virtualTarget");
-			origin = serializedObject.FindProperty("scene.origin");
-			referenceSurface = serializedObject.FindProperty("scene.referenceParent");
-			interpolatedSurface = serializedObject.FindProperty("scene.interpolatedParent");
+			limbs = Find("scene.limbs");
+			physicalHead = Find("scene.physicalHead");
+			virtualHead = Find("scene.virtualHead");
+			physicalTarget = Find("scene.physicalTarget");
+			virtualTarget = Find("scene.virtualTarget");
+			origin = Find("scene.origin");
+			referenceSurface = Find("scene.referenceParent");
+			interpolatedSurface = Find("scene.interpolatedParent");
 
-			redirect = serializedObject.FindProperty("redirect");
-			parameters = serializedObject.FindProperty("scene.parameters");
+			redirect = Find("redirect");
+			parameters = Find("scene.parameters");
 		}
 
 		private void MakePropertyField(SerializedProperty property, string text, string tooltip = null) {
@@ -66,13 +66,16 @@ public override void OnInspectorGUI() {
 			// Scene
 			MakePropertyField(limbs, "User Limbs", "A list of tracked user limbs.");
 
-			string techniqueName = technique.enumNames[technique.enumValueIndex];
+			Enum.TryParse(technique.enumNames[technique.enumValueIndex], out BRTechnique actualTechnique);
 
-			if (techniqueName == nameof(Azmandian2016Hybrid)) {
+			var enumType = typeof(BRTechnique);
+			var memberInfos = enumType.GetMember(actualTechnique.ToString());
+			var enumValueMemberInfo = memberInfos.FirstOrDefault(m => m.DeclaringType == enumType);
+			if (enumValueMemberInfo.IsDefined(typeof(ShowHeadAttribute), false)) {
 				MakePropertyField(physicalHead, "Physical Head", "The Transform of the VR headset worn by the user.");
+			}
+			if (actualTechnique == BRTechnique.Azmandian2016Hybrid) {
 				MakePropertyField(virtualHead, "Virtual Head", "");
-			} else if (techniqueName == nameof(Poupyrev1996GoGo)) {
-				MakePropertyField(physicalHead, "Physical Head", "");
 			}
 
 			EditorGUILayout.Space(5);
@@ -92,37 +95,39 @@ public override void OnInspectorGUI() {
 			parametersObject = new SerializedObject(parameters.objectReferenceValue);
 			parametersObject.Update();
 
-			if (techniqueName == nameof(Kohli2010RedirectedTouching)) {
+			if (actualTechnique == BRTechnique.Kohli2010RedirectedTouching) {
 				MakePropertyField(referenceSurface, "Reference Surface", "Points on the physical surface that the physical hand of the user explores. This Transform should be the parent of the points. The order of points is matched with the order of interpolated surface.");
 				MakePropertyField(interpolatedSurface, "Interpolated Surface", "Points on the virtual surface that the virtual hand of the user will explore when touching the physical surface.This Transform should be the parent of the points. The order of points is matched with the order of reference surface.");
-			} else {
+			}
+			else {
 				MakePropertyField(physicalTarget, "Physical Target", "");
 				MakePropertyField(virtualTarget, "Virtual Target", "");
 				MakePropertyField(origin, "Origin", "");
 			}
 
 
-			if (techniqueName == nameof(Kohli2010RedirectedTouching)) {
+			if (actualTechnique == BRTechnique.Kohli2010RedirectedTouching) {
 				MakePropertyField(parametersObject.FindProperty("SmoothingParameter"), "Smoothing", "");
 				MakePropertyField(parametersObject.FindProperty("Rescale"), "Rescale", "");
-			} else if (techniqueName == nameof(Geslain2022Polynom)) {
-				MakePropertyField(parametersObject.FindProperty("redirectionLateness"), "Redirection Lateness (a2)");
-				MakePropertyField(parametersObject.FindProperty("controlPoint"), "ControlPoint");
-			} else if (techniqueName == nameof(Poupyrev1996GoGo)) {
+			}
+			else if (actualTechnique == BRTechnique.Geslain2022Polynom) {
+				// TODO broken
+				//MakePropertyField(parametersObject.FindProperty("redirectionLateness"), "Redirection Lateness (a2)");
+				//MakePropertyField(parametersObject.FindProperty("controlPoint"), "ControlPoint");
+			}
+			else if (actualTechnique == BRTechnique.Poupyrev1996GoGo) {
 				MakePropertyField(parametersObject.FindProperty("GoGoCoefficient"), "Coefficient");
 				MakePropertyField(parametersObject.FindProperty("GoGoActivationDistance"), "Activation Distance");
 			}
 
-			if (bufferTechniques.Contains(techniqueName)) {
+			if (enumValueMemberInfo.IsDefined(typeof(HasBufferAttribute), false)) {
 				MakePropertyField(parametersObject.FindProperty("RedirectionBuffer"), "Redirection Buffer");
 			}
-
-			if (noThresholdTechniques.Contains(techniqueName)) {
-				if (techniqueName == nameof(Lecuyer2000Swamp)) {
-					MakePropertyField(parametersObject.FindProperty("SwampSquareLength"), "Square Side Length");
-					MakePropertyField(parametersObject.FindProperty("SwampCDRatio"), "C/D Ratio");
-				}
-			} else {
+			if (actualTechnique == BRTechnique.Lecuyer2000Swamp) {
+				MakePropertyField(parametersObject.FindProperty("SwampSquareLength"), "Square Side Length");
+				MakePropertyField(parametersObject.FindProperty("SwampCDRatio"), "C/D Ratio");
+			}
+			if (enumValueMemberInfo.IsDefined(typeof(HasThresholdAttribute), false)) {
 				EditorGUILayout.Space(5);
 				EditorGUILayout.LabelField("Threshold Parameters", EditorStyles.largeLabel);
 				MakePropertyField(parametersObject.FindProperty(nameof(ParametersToolkit.HorizontalAngles)), "Max Horizontal Angles");

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

@@ -2,6 +2,8 @@
 using UnityEditor;
 
 using System.Collections.Generic;
+using System;
+using System.Linq;
 
 namespace VHToolkit.Redirection.WorldRedirection {
 	/// <summary>
@@ -20,8 +22,6 @@ public class WorldRedirectionEditor : Editor {
 		enableOverTime, enableRotational, enableCurvature,
 		parameters;
 		SerializedObject parametersObject;
-		readonly HashSet<string> strategyTechniques = new() { "Razzaque2001OverTimeRotation", "Razzaque2001Rotational", "Razzaque2001Curvature", "Razzaque2001Hybrid" };
-		readonly HashSet<string> targetsStrategies = new() { "SteerToCenter", "SteerToMultipleTargets" };
 
 		private void OnEnable() {
 			technique = serializedObject.FindProperty("_technique");
@@ -61,13 +61,16 @@ public override void OnInspectorGUI() {
 			EditorGUILayout.Space(5);
 			EditorGUILayout.LabelField("User Parameters", EditorStyles.largeLabel);
 
-			string techniqueName = technique.enumNames[technique.enumValueIndex];
+			Enum.TryParse(technique.enumNames[technique.enumValueIndex], out WRTechnique actualTechnique);
+			var enumType = typeof(WRTechnique);
+			var memberInfos = enumType.GetMember(actualTechnique.ToString());
+			var enumValueMemberInfo = memberInfos.FirstOrDefault(m => m.DeclaringType == enumType);
 
 			MakePropertyField(limbs, "User Limbs", "A list of tracked user limbs.");
 			MakePropertyField(physicalHead, "Physical Head", "Transform tracking the user's real head");
 			MakePropertyField(virtualHead, "Virtual Head", "Transform tracking the user's virtual head");
 
-			if (techniqueName == nameof(Azmandian2016World)) {
+			if (actualTechnique == WRTechnique.Azmandian2016World) {
 				MakePropertyField(physicalTarget, "Physical Target");
 				MakePropertyField(virtualTarget, "Virtual Target");
 				MakePropertyField(origin, "Origin");
@@ -92,18 +95,21 @@ public override void OnInspectorGUI() {
 			parametersObject.Update();
 
 			EditorGUILayout.Space(2);
-			if (techniqueName == nameof(Razzaque2001OverTimeRotation)) {
+			if (actualTechnique == WRTechnique.Razzaque2001OverTimeRotation) {
 				MakePropertyField(parametersObject.FindProperty("RotationalError"), "Rotational Error");
 				MakePropertyField(parametersObject.FindProperty("OverTimeRotation"), "Over Time Rotation Rate");
-			} else if (techniqueName == nameof(Razzaque2001Rotational)) {
+			}
+			else if (actualTechnique == WRTechnique.Razzaque2001Rotational) {
 				MakePropertyField(parametersObject.FindProperty("RotationalError"), "Rotational Error");
 				MakePropertyField(parametersObject.FindProperty("GainsRotational"), "Rotational Gains");
 				MakePropertyField(parametersObject.FindProperty("RotationalThreshold"), "Rotational Threshold");
-			} else if (techniqueName == nameof(Razzaque2001Curvature)) {
+			}
+			else if (actualTechnique == WRTechnique.Razzaque2001Curvature) {
 				MakePropertyField(parametersObject.FindProperty("RotationalError"), "Rotational Error");
 				MakePropertyField(parametersObject.FindProperty("CurvatureRadius"), "Curvature Radius");
 				MakePropertyField(parametersObject.FindProperty("WalkingThreshold"), "Walking Threshold");
-			} else if (techniqueName == nameof(Razzaque2001Hybrid)) {
+			}
+			else if (actualTechnique == WRTechnique.Razzaque2001Hybrid) {
 				MakePropertyField(parametersObject.FindProperty("RotationalError"), "Rotational Error");
 				MakePropertyField(enableOverTime, "Enable Over Time Rotation");
 				if (enableOverTime.boolValue)
@@ -143,37 +149,46 @@ public override void OnInspectorGUI() {
 						script.techniqueInstance = Razzaque2001Hybrid.Max();
 						break;
 				}
-			} else if (techniqueName == nameof(Azmandian2016World)) {
+			}
+			else if (actualTechnique == WRTechnique.Azmandian2016World) {
 				MakePropertyField(parametersObject.FindProperty("GainsRotational"), "Gains Rotational");
-			} else if (techniqueName == nameof(Steinicke2008Translational)) {
+			}
+			else if (actualTechnique == WRTechnique.Steinicke2008Translational) {
 				MakePropertyField(parametersObject.FindProperty("GainsTranslational"), "Translational Gains");
 			}
 
 
 			// Hides targets, dampening and smoothing if
-			if (strategyTechniques.Contains(techniqueName)) {
+			if (enumValueMemberInfo.IsDefined(typeof(HasStrategyAttribute), false)) {
 				EditorGUILayout.Space(5);
 				EditorGUILayout.LabelField("Strategy Parameters", EditorStyles.largeLabel);
 				MakePropertyField(strategy, "Target selection strategy");
 
-				if (targetsStrategies.Contains(strategy.enumNames[strategy.enumValueIndex])) {
+				Enum.TryParse(strategy.enumNames[strategy.enumValueIndex], out WRStrategy actualStrategy);
+				var strategyEnumType = typeof(WRStrategy);
+				var strategyMemberInfos = strategyEnumType.GetMember(actualStrategy.ToString());
+				var strategyEnumValueMemberInfo = strategyMemberInfos.FirstOrDefault(m => m.DeclaringType == strategyEnumType);
+
+				if (strategyEnumValueMemberInfo.IsDefined(typeof(HasTargetsAttribute), false)) {
 					MakePropertyField(targetsScene, "Targets");
 					MakePropertyField(applyDampening, "Apply Dampening");
 					MakePropertyField(parametersObject.FindProperty("DampeningDistanceThreshold"), "Dampening Distance Threshold");
 					MakePropertyField(parametersObject.FindProperty("DampeningRange"), "Dampening Range");
 					MakePropertyField(applySmoothing, "Apply Smoothing");
 					MakePropertyField(parametersObject.FindProperty("SmoothingFactor"), "Smoothing Factor");
-				} else if (strategy.enumNames[strategy.enumValueIndex] == nameof(SteerToOrbit)) {
+				}
+				else if (actualStrategy == WRStrategy.SteerToOrbit) {
 					MakePropertyField(targetsScene, "Targets");
 
 					var steerToOrbitRadius = parametersObject.FindProperty("SteerToOrbitRadius");
 					EditorGUILayout.BeginHorizontal();
-						EditorGUILayout.PropertyField(steerToOrbitRadius, new GUIContent("Steer To Orbit Radius"));
-						EditorGUILayout.Space(20);
-						EditorGUILayout.LabelField("Rotation Rate: " + (360f / (2 * Mathf.PI * steerToOrbitRadius.floatValue)).ToString("N2") + " °/m/s");
+					EditorGUILayout.PropertyField(steerToOrbitRadius, new GUIContent("Steer To Orbit Radius"));
+					EditorGUILayout.Space(20);
+					EditorGUILayout.LabelField($"Rotation Rate: {(360f / (2 * Mathf.PI * steerToOrbitRadius.floatValue)).ToString("N2")} °/m/s");
 					GUILayout.EndHorizontal();
 
-				} else if (strategy.enumNames[strategy.enumValueIndex] == nameof(SteerInDirection)) {
+				}
+				else if (actualStrategy == WRStrategy.SteerInDirection) {
 					MakePropertyField(direction, "Direction");
 				}
 			}