hmi.environment
Class ElckerlycDemoEnvironment

java.lang.Object
  hmi.environment.GraphicsDemoEnvironment
      hmi.environment.PhysicalDemoEnvironment
          hmi.environment.ElckerlycDemoEnvironment

All Implemented Interfaces:

GLRenderObject, KeyListener, EventListener

Direct Known Subclasses:

ElckerlycDemo, EnterfaceDemo

public class ElckerlycDemoEnvironment
extends PhysicalDemoEnvironment

Adds mixed dynamics animatino to PhysicalDemoEnvironment, plus a lot of other functionlaity for creating, managing and controlling virtual humans with body, voices, bmlrealizer, etc. Major change wrt superclass is the physicscallback. physicsTime will no longer call physicsTick, but rather call the AnimationPlayerManager to do its thing (which includes making the physicssteps through a PhysCallback) Also, voices will be played on the physicsTime, to make sure that voices have the same time line as the animation

Author:

Dennis Reidsma, Herwin van Welbergen

Nested Class Summary

(package private) class	ElckerlycDemoEnvironment.LoadVHListener Toggle visibility of given VHUI...
(package private) class	ElckerlycDemoEnvironment.PhysCallback Called by the anmiationplayermanager to make one simulation step in the physical world
(package private) static class	ElckerlycDemoEnvironment.ToggleVHUIListener Toggle visibility of given VHUI...

Nested classes/interfaces inherited from class hmi.environment.PhysicalDemoEnvironment

PhysicalDemoEnvironment.CollisionCheckListener, PhysicalDemoEnvironment.PhysicsCheckListener, PhysicalDemoEnvironment.PhysicsClockListener, PhysicalDemoEnvironment.Sleeper, PhysicalDemoEnvironment.ThrowBallListener

Nested classes/interfaces inherited from class hmi.environment.GraphicsDemoEnvironment

GraphicsDemoEnvironment.DebugCheckListener, GraphicsDemoEnvironment.MyRenderclockCallback, GraphicsDemoEnvironment.PlayListener, GraphicsDemoEnvironment.ResetListener

Field Summary

boolean	animateavatars If set to false, the avatars do not move at all
private org.slf4j.Logger	logger
boolean	playvoices If set to false, no voices are played (even when scheduled)
protected AnimationPlayerManager	theAnimationPlayerManager
(package private) GenericVirtualWorld	theVirtualWorld
protected HashMap<HmiVirtualHuman,VirtualHumanUI>	vhUIs The UIs for all loaded virtualHumans
protected HashMap<HmiVirtualHuman,JButton>	vhUIToggleButtons The ToggleUI buttons for all loaded virtualHumans
protected ArrayList<HmiVirtualHuman>	virtualHumanList All loaded virtualHumans
protected VJoint	vjCameraTarget
protected VJoint	vjCurrentMixedDynamicsRoot
protected VJoint	vjMixedDynamicsAnimationRoot The mixed dynamics animation root is added as a child to hmi.environment.PhysicalDemoEnvironment#vjMixedDynamicsAnimationRoot vjMixedDynamicsAnimationRoot.
protected VJoint	vjNextMixedDynamicsRoot
protected VJoint	vjPredictorMixedDynamicsRoot
protected VJoint	vjPreviousMixedDynamicsRoot
protected VJoint	vjXuukTarget used to attach a xuk sensor to...
protected XuukReader	xuukReader
protected XuukTargetMover	xuukTargetMover

Fields inherited from class hmi.environment.PhysicalDemoEnvironment

collision, collisionEnabled, g, glueJointGroup, groundGeom, phsphere, phworld, physicsClock, physicsLoopFrequency, physicsRunners, prevTime, runphysics, space, sphereAnimationJoint, sphereRenderJoint, timeStep

Fields inherited from class hmi.environment.GraphicsDemoEnvironment

background, color_buf_tex, debugJOGL, depth_buf_tex, dx, dy, dz, enableFSAA, fovyFar, fovyNear, frameTitle, FSAA_samples, fullscreen, glCanvas, glNavControl, glObjectControl, hiddenVisualisations, jframe, laptop, light0, light1, light2, light3, light4, lightPos0, lightPos1, lightPos2, lightPos3, lightPos4, numStencilBits, render, renderClock, renderDebugVisualisations, renderer, renderRunners, shutdownSync, toolBar, useVsync, vglSceneRenderRoot, visualisations, visualisationsUninitialized, vjNavigationNode, vjSceneRenderRoot, vjWorldAnimationRoot, vjWorldRenderRoot, wowTransformMatrix, wowvx, wowvx_header_data, wowvx_header_tex

Constructor Summary

ElckerlycDemoEnvironment()
Default constructor does not do anything.

ElckerlycDemoEnvironment(WorldObjectManager wom)
Default constructor does not do anything.

Method Summary

void	addPhysicalHumanDebugVisualisations(HmiVirtualHuman vh)
void	addVJointDebugVisualisations(HmiVirtualHuman vh)
void	close() Clean up physicalhumanoids and the verbalplayers and stops the application
void	createVirtualHumanUI(HmiVirtualHuman vh)
protected void	disposeFrame() Clean up physicalhumanoids and the verbalplayers and disposes the jframe
GenericVirtualWorld	getVirtualWorld()
void	init() In addition to super.init(), initialize the clones of the aniomationroot (for the mixed dynamics animation), and the animationPlayerManager
protected void	initGraphicScene() Add the graphical representation for the phsphere to the graphical scene
protected void	initMixedAnimation() Initialize the mixed dynamics: make vjMixedDynamicsAnimationRoot, clone the animationroot, create the animationplayermanager
protected void	initQuickSettings() Overide this method to change the quicksettings
protected void	initUI() Add a 'load virtual human' button to the default UI
protected void	initVoiceSystem() There is not actually much initialisation required for the general voice system
protected void	initWorldPhysics() add space, collision, etc, to the VIrtualWorld
HmiVirtualHuman	loadVirtualHuman(Resources res, String specFileName, String name) Load a virtual human according to the specifications; store the resulting VirtualHuman object in the virtualHumanList array; add vhuman to scene and playermanager etc
HmiVirtualHuman	loadVirtualHuman(VirtualHumanSpecHmi spec, String name) Load a virtual human according to the specifications; store the resulting VirtualHuman object in the virtualHumanList array; add vhuman to scene and playermanager etc
protected void	physicsTime(double currentTime) Override: physicsTime stepping is now left to AnimationPlayerManager.
protected void	playAudio(double currentTime) Make sure that all audio is played for currentTime.
protected void	playVoices(double currentTime) Make sure that all voices are played for currentTime.
void	processAnimationResultForRender(GLRenderContext glc) override, because now we also need to do the deform() & morph()!!
protected void	reset() Reset: set clocks to 0 (also physics, because physicsclock also drives the animation!).
void	setXuukReader(XuukReader xr)
private void	unloadAllVirtualHumans()
void	unloadVirtualHuman(HmiVirtualHuman vh) Completely removes a virtual human from the environment; stops all of its players, etc.

Methods inherited from class hmi.environment.PhysicalDemoEnvironment

addPhysicsRunner, glueFeetToFloor, initGraphicSphere, initGroundPhysics, initSpherePhysics, initThrowBallButton, initUI, physicsCopy, physicsRun, physicsTick, prepareClose, prepareDispose, prepareReset, setCollisionEnabled, setPhysicsEnabled, startClocks, toggleCollision, togglePhysics

Methods inherited from class hmi.environment.GraphicsDemoEnvironment

addDebugVisualisation, addRenderRunner, addVisualisation, convertBufferToWowVX, exit, getFrame, getGeneralImageIcon, getImageIcon, getWorldAnimationRoot, getWorldRenderRoot, glInit, glPreInit, glPreRender, glRender, hasVisualisation, initGraphics, initRender, initToolbar, initVisualGround, initVJointStructure, isVisualisationVisible, keyPressed, keyReleased, keyTyped, navigate, play, removeDebugVisualisation, removeVisualisation, renderTime, setFullScreen, setupMediaButton, setupMediaButton, setupUI, setupVJointStructure, setVisualisationVisible, startAll, toggleDebugViz

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

logger

private org.slf4j.Logger logger

animateavatars

public boolean animateavatars

If set to false, the avatars do not move at all

playvoices

public boolean playvoices

If set to false, no voices are played (even when scheduled)

theVirtualWorld

GenericVirtualWorld theVirtualWorld

vjXuukTarget

protected VJoint vjXuukTarget

used to attach a xuk sensor to...

vjCameraTarget

protected VJoint vjCameraTarget

xuukTargetMover

protected XuukTargetMover xuukTargetMover

vjMixedDynamicsAnimationRoot

protected VJoint vjMixedDynamicsAnimationRoot

The mixed dynamics animation root is added as a child to hmi.environment.PhysicalDemoEnvironment#vjMixedDynamicsAnimationRoot vjMixedDynamicsAnimationRoot. The animationrootjoint of all objects and humanoids for which mixed dynamics animation has to be performed are to be added to this root; mixed dynamics animation will be performed on this root. If you have objects and/or humanoids that are not animated using mixed dynamics, you can still add their animatino root to vjMixedDynamicsAnimationRoot.

As for vjMixedDynamicsAnimationRoot, three copies are made of this node: vjNextMixedDynamicsRoot, vjCurrentMixedDynamicsRoot and vjPreviousMixedDynamicsRoot. These are used to calculate the inverse dynamics of certain animations, in the Mixed AnimationPlayers. Note that all actual animations must be performed on vjNextMixedDynamicsRoot -- the results of that animation will in the end be copied to vjMixedDynamicsAnimationRoot, which in turn is connected to the vjWorldRenderNode through various GLScene.deform calls for rendering. Finally, a predictorWorldRoot is used to run animatino pose predictions on in order to calculate the end pose of transitionmotinounits.

vjNextMixedDynamicsRoot

protected VJoint vjNextMixedDynamicsRoot

See Also:

vjMixedDynamicsAnimationRoot

vjCurrentMixedDynamicsRoot

protected VJoint vjCurrentMixedDynamicsRoot

See Also:

vjMixedDynamicsAnimationRoot

vjPreviousMixedDynamicsRoot

protected VJoint vjPreviousMixedDynamicsRoot

See Also:

vjMixedDynamicsAnimationRoot

vjPredictorMixedDynamicsRoot

protected VJoint vjPredictorMixedDynamicsRoot

See Also:

vjMixedDynamicsAnimationRoot

theAnimationPlayerManager

protected AnimationPlayerManager theAnimationPlayerManager

virtualHumanList

protected ArrayList<HmiVirtualHuman> virtualHumanList

All loaded virtualHumans

vhUIToggleButtons

protected HashMap<HmiVirtualHuman,JButton> vhUIToggleButtons

The ToggleUI buttons for all loaded virtualHumans

vhUIs

protected HashMap<HmiVirtualHuman,VirtualHumanUI> vhUIs

The UIs for all loaded virtualHumans

xuukReader

protected XuukReader xuukReader

Constructor Detail

ElckerlycDemoEnvironment

public ElckerlycDemoEnvironment(WorldObjectManager wom)

Default constructor does not do anything.

ElckerlycDemoEnvironment

public ElckerlycDemoEnvironment()

Default constructor does not do anything.

Method Detail

getVirtualWorld

public GenericVirtualWorld getVirtualWorld()

init

public void init()

In addition to super.init(), initialize the clones of the aniomationroot (for the mixed dynamics animation), and the animationPlayerManager

Overrides:

init in class PhysicalDemoEnvironment

initUI

protected void initUI()

Add a 'load virtual human' button to the default UI

Overrides:

initUI in class PhysicalDemoEnvironment

initGraphicScene

protected void initGraphicScene()

Description copied from class: PhysicalDemoEnvironment

Add the graphical representation for the phsphere to the graphical scene

Overrides:

initGraphicScene in class PhysicalDemoEnvironment

setXuukReader

public void setXuukReader(XuukReader xr)

initMixedAnimation

protected void initMixedAnimation()

Initialize the mixed dynamics: make vjMixedDynamicsAnimationRoot, clone the animationroot, create the animationplayermanager

initQuickSettings

protected void initQuickSettings()

Overide this method to change the quicksettings

Overrides:

initQuickSettings in class PhysicalDemoEnvironment

initVoiceSystem

protected void initVoiceSystem()

There is not actually much initialisation required for the general voice system

initWorldPhysics

protected void initWorldPhysics()

add space, collision, etc, to the VIrtualWorld

Overrides:

initWorldPhysics in class PhysicalDemoEnvironment

physicsTime

protected void physicsTime(double currentTime)

Override: physicsTime stepping is now left to AnimationPlayerManager.

Overrides:

physicsTime in class PhysicalDemoEnvironment

playAudio

protected void playAudio(double currentTime)

Make sure that all audio is played for currentTime.

playVoices

protected void playVoices(double currentTime)

Make sure that all voices are played for currentTime. For now, the TTS generators cannot handle two voices speaking simultaneously, by the way.

processAnimationResultForRender

public void processAnimationResultForRender(GLRenderContext glc)

override, because now we also need to do the deform() & morph()!! Note: called in GraphicsDemoEnv, synchronised on the animationSync...

Overrides:

processAnimationResultForRender in class GraphicsDemoEnvironment

close

public void close()

Clean up physicalhumanoids and the verbalplayers and stops the application

Overrides:

close in class PhysicalDemoEnvironment

unloadAllVirtualHumans

private void unloadAllVirtualHumans()

disposeFrame

protected void disposeFrame()
                     throws InterruptedException,
                            InvocationTargetException

Clean up physicalhumanoids and the verbalplayers and disposes the jframe

Overrides:

disposeFrame in class PhysicalDemoEnvironment

Throws:

InvocationTargetException

InterruptedException

reset

protected void reset()

Reset: set clocks to 0 (also physics, because physicsclock also drives the animation!). Also, call super.reset, and reset animationplayermanager Should not be called directly, use prepareReset to set up a physicsRunner for that.

Overrides:

reset in class PhysicalDemoEnvironment

loadVirtualHuman

public HmiVirtualHuman loadVirtualHuman(Resources res,
                                        String specFileName,
                                        String name)
                                 throws Exception

Load a virtual human according to the specifications; store the resulting VirtualHuman object in the virtualHumanList array; add vhuman to scene and playermanager etc

Throws:

Exception

loadVirtualHuman

public HmiVirtualHuman loadVirtualHuman(VirtualHumanSpecHmi spec,
                                        String name)
                                 throws Exception

Load a virtual human according to the specifications; store the resulting VirtualHuman object in the virtualHumanList array; add vhuman to scene and playermanager etc

Throws:

Exception

addVJointDebugVisualisations

public void addVJointDebugVisualisations(HmiVirtualHuman vh)

addPhysicalHumanDebugVisualisations

public void addPhysicalHumanDebugVisualisations(HmiVirtualHuman vh)

unloadVirtualHuman

public void unloadVirtualHuman(HmiVirtualHuman vh)

Completely removes a virtual human from the environment; stops all of its players, etc.

createVirtualHumanUI

public void createVirtualHumanUI(HmiVirtualHuman vh)