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

…Illusions-Toolkit

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

@@ -1093,6 +1093,10 @@ PrefabInstance:
       propertyPath: physicalHead
       value: 
       objectReference: {fileID: 141383211}
+    - target: {fileID: 3150399032746346357, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
+      propertyPath: m_Enabled
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 3345062529341880481, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0
@@ -1147,7 +1151,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 7088029602675669135, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
       propertyPath: strategy
-      value: 7
+      value: 8
       objectReference: {fileID: 0}
     - target: {fileID: 7088029602675669135, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
       propertyPath: m_Enabled
@@ -1233,9 +1237,21 @@ PrefabInstance:
       propertyPath: scene.limbs.Array.data[1].virtualLimb.Array.data[1]
       value: 
       objectReference: {fileID: 3300481182696120806}
+    - target: {fileID: 7284946694485075413, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
+      propertyPath: filename
+      value: C:\Users\Ben\projects\toolkit\python\RedirectionPlotter.py
+      objectReference: {fileID: 0}
+    - target: {fileID: 7284946694485075413, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
+      propertyPath: m_Enabled
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 7284946694485075413, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
+      propertyPath: pythonPath
+      value: C:\Users\Ben\anaconda3\envs\toolkit\python.exe
+      objectReference: {fileID: 0}
     m_RemovedComponents:
-    - {fileID: 3527750865740220717, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
-    - {fileID: 2164931620210237325, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
+    - {fileID: 0}
+    - {fileID: 0}
     m_RemovedGameObjects: []
     m_AddedGameObjects: []
     m_AddedComponents:
@@ -1245,12 +1261,6 @@ PrefabInstance:
     - targetCorrespondingSourceObject: {fileID: 200869264966477082, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
       insertIndex: -1
       addedObject: {fileID: 358983268}
-    - targetCorrespondingSourceObject: {fileID: 200869264966477082, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
-      insertIndex: -1
-      addedObject: {fileID: 358983272}
-    - targetCorrespondingSourceObject: {fileID: 200869264966477082, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
-      insertIndex: -1
-      addedObject: {fileID: 358983261}
     - targetCorrespondingSourceObject: {fileID: 200869264966477082, guid: 7e46c8eb8c13fdb429130703b04c8216, type: 3}
       insertIndex: -1
       addedObject: {fileID: 358983277}
@@ -1282,20 +1292,6 @@ MonoBehaviour:
   redirectionAmount: 180
   start: {fileID: 2099766480}
   end: {fileID: 1861591714}
---- !u!114 &358983261
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 358983253}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 51d618b1b4dddf44a8b914838ac6e9b6, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  logDirectoryPath: LoggedData\
-  optionalFilenamePrefix: 
 --- !u!114 &358983268
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -1310,20 +1306,6 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   physicalCorridor: {fileID: 1617016940}
   virtualCorridor: {fileID: 646063775}
---- !u!114 &358983272
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 358983253}
-  m_Enabled: 0
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb5310432868de244b86ddcc9c3aa8c1, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  filename: C:\Users\Public\Documents\UnityWP\Toolkit Illusions\Visuo-haptic-Illusions-Toolkit\python\RedirectionPlotter.py
-  pythonPath: C:\Users\guest\anaconda3\envs\plt\python.exe
 --- !u!114 &358983277
 MonoBehaviour:
   m_ObjectHideFlags: 0

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/Parameters/Medium Parameters (Recommended).asset

@@ -34,6 +34,9 @@ MonoBehaviour:
   DampeningRange: 1.57
   SmoothingFactor: 0.2
   SteerToOrbitRadius: 5
+  obstaclesFallOffFactor: 2.656
+  usersFallOffFactor: 3.091
+  scaleMultipler: 2.5
   OverTimeRotation: 0.1
   GainsTranslational: {x: 1, y: 1, z: 1}
   GainsRotational:
@@ -43,5 +46,6 @@ MonoBehaviour:
   HybridWeights: {x: 1, y: 1, z: 1}
   SmoothingParameter: 0
   Rescale: 0
+  add_boundaries: 0
   SwampSquareLength: 0.25
   SwampCDRatio: 0.75

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

@@ -55,6 +55,14 @@ public class ParametersToolkit : ScriptableObject {
 		[Tooltip("The radius of the orbit around which the user is redirected with the SteerToOrbit techniques described in [TODO]")]
 		public float SteerToOrbitRadius = 5f;
 
+		// APF params
+		[Tooltip("")]
+		public float obstaclesFallOffFactor = 2.656f;
+		[Tooltip("")]
+		public float usersFallOffFactor = 3.091f;
+		[Tooltip("")]
+		public float scaleMultipler = 2.5f;
+
 		// Techniques params
 		[Tooltip("The maximum rotation that can be applied to the user's point of view in rotation along the vertical axis (Y). Value is in °/s.")]
 		public float OverTimeRotation = 0.2f;
@@ -67,7 +75,6 @@ public class ParametersToolkit : ScriptableObject {
 		[Tooltip("The weights used for the Razzaque2001Hybrid technique using the WeightedSum function.")]
 		public Vector3 HybridWeights = new(1f, 1f, 1f);
 
-
 		//
 		// 3D Interpolation
 		//
@@ -77,7 +84,8 @@ public class ParametersToolkit : ScriptableObject {
 		public float SmoothingParameter;
 		[Tooltip("Whether to apply rescaling before using thin-plate interpolation.")]
 		public bool Rescale;
-
+		[Tooltip("TODO")]
+		public bool add_boundaries = true;
 
 		//
 		// Pseudo-Haptic

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/3DInterpolation/Techniques.cs

@@ -14,7 +14,6 @@ namespace VHToolkit.Redirection.Interpolation3D {
 	public class Kohli2010RedirectedTouching : BodyRedirectionTechnique {
 
 		Func<Vector3, Vector3> displace = null;
-		bool add_boundaries = true;
 
 		/// <summary>
 		/// Compute the displacement vector field, which should be done only on init and whenever its parameters change for efficiency reasons.
@@ -28,7 +27,8 @@ public void ComputeDisplacement(Scene scene) {
 				scene.parameters.SmoothingParameter,
 				scene.parameters.Rescale
 			);
-			if (add_boundaries) {
+			Debug.Log(scene.parameters.add_boundaries);
+			if (scene.parameters.add_boundaries) {
 				var bounds = new Bounds(x[0], Vector3.zero);
 				foreach (var v in x.Concat(y)) {
 					bounds.Encapsulate(v);

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,
@@ -30,23 +38,24 @@ 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
+		Thomas2019APF_PushPull,
+		Messinger2019APF
 	}
 
 	public enum HybridAggregate {

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/Redirection/World Redirection/Strategies.cs

@@ -68,21 +68,26 @@ public class SteerInDirection : WorldRedirectionStrategy {
 		public override Vector3 SteerTo(Scene scene) => scene.physicalHead.rotation * scene.strategyDirection;
 	}
 
-	public class APFP2R : WorldRedirectionStrategy {
+	public class Thomas2019APF_PushPull : WorldRedirectionStrategy {
 
 		/// <value>A list of colliders, each of which will create a repulsive potential field.</value>
 		public List<Collider> colliders;
 
-        public APFP2R() {
-            colliders = GameObject.FindGameObjectsWithTag("Obstacle").Select(o => o.GetComponent<Collider>()).ToList();
+		public Thomas2019APF_PushPull() {
+			colliders = GameObject.FindGameObjectsWithTag("Obstacle").Select(o => o.GetComponent<Collider>()).ToList();
 			// colliders.ForEach(o => o.transform.position = MathTools.ProjectToHorizontalPlaneV3(o.transform.position));
 		}
 
-        public override Vector3 SteerTo(Scene scene) => ComputeGradient(scene);
+		public override Vector3 SteerTo(Scene scene) => ComputeGradient(scene);
 
-        private Vector3 ComputeGradient(Scene scene) => Vector3.ProjectOnPlane(MathTools.Gradient3(
-                                            MathTools.RepulsivePotential3D(colliders),
+		private Vector3 ComputeGradient(Scene scene) => Vector3.ProjectOnPlane(MathTools.Gradient3(
+											MathTools.RepulsivePotential3D(colliders),
 											MathTools.ProjectToHorizontalPlaneV3(scene.physicalHead.position)
-                                        ), Vector3.up);
-    }
-}
+										), Vector3.up);
+	}
+
+	public class Messinger2019APF : WorldRedirectionStrategy {
+
+		public override Vector3 SteerTo(Scene scene) => Vector3.forward;
+	}
+}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/World Redirection/WorldRedirection.cs

@@ -43,7 +43,8 @@ private void UpdateTechnique() {
 				WRStrategy.SteerToOrbit => new SteerToOrbit(),
 				WRStrategy.SteerToMultipleTargets => new SteerToMultipleTargets(),
 				WRStrategy.SteerInDirection => new SteerInDirection(),
-				WRStrategy.APF_PushPull => new APFP2R(),
+				WRStrategy.Thomas2019APF_PushPull => new Thomas2019APF_PushPull(),
+				WRStrategy.Messinger2019APF => new Messinger2019APF(),
 				_ => null
 			};
 

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()));
+
 	}
 
 }