ReachMMUConcurrent
The ReachMMU is a basic MMU that allows to model reach motions moving the hand from the starting location to a specific target location. The MMU is capable of coordinating the left and right hand independently at the same time.
| Property | Values |
|---|---|
| Name | ReachMMUConcurrent |
| ID | daimler.com:ReachMMUConcurrentMMU/1.0 |
| VendorDomain | daimler.com |
| Vendor | Daimler Buses |
| Author | Felix Gaisbauer |
| Short description | MMU models walking behavior based on an animation tree inside Unity. |
| Long description | MMU models walking behavior based on an animation tree inside Unity using the Mecanim animation system. |
| Programming Language | C# |
| Development Tools | Visual Studio 2017 |
| Service dependencies | IKService |
| MMU dependencies (Motion types) | - |
| File dependencies | ReachMMUConcurrent.dll |
| Application dependencies | requires .Net 4.5 or newer |
| Additional Libraries | - |
| MotionType | Pose/Reach |
| Events | start,end |
| Basic MMU | yes |
| License | MIT |
In the following an overview of the functionalities and parameters of the UnityLocomotionMMU are provided.
| Name | Type | Required | Description |
|---|---|---|---|
| TargetID | MGeometryConstraint(ID) | yes | The id of the target location (object) or MGeometryConstraint. |
| Hand | {Left,Right} | yes | The hand of the reach motion. |
| SingleShotIK | float | no | Specifies if the ik is used once for the initial computation and blending is carried out afterwards. |
| Velocity | MPathConstraint(ID) | no | Specifies the velocity of the reaching. |
| AngularVelocity | float | no | Specifies the angular velocity of the reaching. |
| MinDistance | float | no | Specifies the minmum distance at which the reaching can be started (used for check prerequisites). |
| Trajectory | MPathConstraint(ID) | no | Optionally defined trajectory for reaching. |
The ReachMMU has two mandatory parameters namely TargetID and Hand. Whereas the first describes the desired reach location, the latter specifies which hand is used for reaching. In addition, the ReachMMU provides several optional parameters.
The ReachMMUConcurrent does not require explicit scene parameters.
MInstruction reachInstruction = new MInstruction(MInstructionFactory.GenerateID(), "reach", "Pose/Reach")
{
Properties = PropertiesCreator.Create("TargetID", UnitySceneAccess.Instance["GraspTargetR"].ID, "Hand", "Right"),
};The ReachMMUConcurrent utilizes internally a single handed ReachMMU contained in ReachMMU dll. Although in principle the single handed ReachMMU could be used as standalone MMU it is not recommended since the ReachMMUConcurrent provides additional functionality and both MMUs share the same motion type. The ReachMMU utilizes local motion planning techniques and optionally performs blending to move the avatar including the hands to the desired location.
Provided as basic MMU with MIT license.