:-object action : [bcilib, do_script, gesturelib]. action(Name, Queue):- script_threads, repeat, get_queue(Queue, Event), proces_event(Name, Event), fail. proces_event(Name, rot(R)) :- setRotation(Name, 0.0,1.0,0.0, R). proces_event(Name, walk(X,Y,Z)) :- process_script(walk(Name, X,Y,Z)). proces_event(Name, stand) :- process_script(stand(Name)). select_script(Name, Script) :- script(Name, Script). turn_body_part(Agent,Body,Direction,Speed):- getBodyObjectName(Agent,Body,Object), getRotationParameter(Body,Direction,Rotation), getSpeedParameter(Body,Speed,Beat,Interpolation), !, turn_object(Object,Rotation,Beat,Interpolation). turn_body_part_init(Agent,Body,Direction):- getBodyObjectName(Agent,Body,Object), getRotationParameter(Body,Direction,rotation(X,Y,Z,_R)), !, setRotation(Object,X,Y,Z,0.0). move_body(Agent,Body,Direction,Speed):- getBodyObjectName(Agent,Body,_), getPositionParameter(Body,Direction,Position), getSpeedParameter(Body,Speed,Beat,Interpolation), !, move_object(Agent,Position,Beat,Interpolation). :-end_object action. :-object do_script : [bcilib]. var count = 0. var repcnt = 0. var max_threads = 12. var incrementr = 0. var sleeptime = 0. var incrementx = 0. var incrementy = 0. var incrementz = 0. var tempo = 60. script_threads :- set_field(answer_entry, free), set_field(thread_entry, free), new_array(script, thread_entry, max_threads), new_array(script, answer_entry, max_threads), script_threads(max_threads). script_threads(0) :- !. script_threads(I) :- N is I - 1, set_array(script, thread_entry, N, free), set_array(script, answer_entry, N, free), new(do_action(N), _), script_threads(N). select_entry(ArrayName, ThreadID) :- get_field_event(ArrayName, _Flag), NextThread is max_threads - 1, select_entry(NextThread, ArrayName, ThreadID), set_field(ArrayName, free). select_entry(I, ArrayName, _) :- I < 0, !, true. select_entry(I, ArrayName, ThreadID) :- get_array(script, ArrayName, I, State), State = free, !, set_array(script, ArrayName, I, lock), ThreadID = I. select_entry(I, ArrayName, Thread) :- N is I - 1, select_entry(N, ArrayName, Thread). release_entry(I, ArrayName) :- get_field_event(ArrayName, Flag), set_array(script, ArrayName, I, free), set_field(ArrayName, free). repeat_script(ScriptName, MaxCount) :- repcnt := 1, repeat, process_script(ScriptName), ++ repcnt, repcnt > MaxCount, !. process_script(ScriptName):- select_script(ScriptName, ScriptCode), do_script(ScriptCode). do_script([]) :- !. do_script([Action | Y]) :- Action = turn(Agent,Object,Direction,Speed), !, turn_body_part(Agent,Object,Direction,Speed), do_script(Y). do_script([Action | Y]) :- Action = turn_init(Agent,Object,Direction), !, turn_body_part_init(Agent,Object,Direction), do_script(Y). do_script([Action | Y]) :- Action = [SubAction | SubActionList], !, do_script([SubAction]), do_script(SubActionList), do_script(Y). do_script([Action | Y]) :- Action = move(Agent,Direction,Speed), !, move_body(Agent,humanoidroot,Direction,Speed), do_script(Y). do_script([Action | Y]) :- Action = set_tempo(Tempo), !, format('gesture action: ~w~n', [Action]), tempo := Tempo, do_script(Y). do_script([Action | Y]) :- Action = wait(Time), !, SleepTime is Time * 1000, sleep(SleepTime), do_script(Y). do_script([Action | Y]) :- Action = skip(_Action), !, do_script(Y), true. do_script([Action | Y]) :- Action = skip, !, do_script(Y), true. do_script([Action | Y]) :- Action = parallel(ActionList), !, % format('parallel action list: ~w~n', [ActionList]), length(ActionList, ActionListLength), %% select a free answer slot : select_entry(answer_entry, Answer), count_down_init(Answer, ActionListLength), % format('ActionListLength : ~w~n', [ActionListLength]), process_parallel_action(ActionList, Answer), format_to_atom(Parent, 'parent_~w', [Answer]), get_field_event(Parent, ReplyValue), % format('all worker threads done : ~w (answer id ~w)~n', [ReplyValue, Answer]), release_entry(Answer, answer_entry), do_script(Y). do_script([Action | Y]) :- Action = script(ScriptName), !, process_script(ScriptName), do_script(Y). do_script([Action | Y]) :- Action = repeat(Script,Times), !, repeat_script(Script, Times), do_script(Y). do_script([Action | Y]) :- Action = choice([Actions]), !, process_choice([Actions]), do_script(Y). do_script([Action | Y]) :- Action = do(Goal), !, %% format('~w~n',[Action]), inspect_goal(Goal), do_script(Y), true. do_script([Action | Y]) :- Action = test(State), !, inspect_goal(State), do_script(Y), true. do_script([Action | Y]) :- Action = star(Action1), !, process_star(Action1), do_script(Y), true. do_script([Action |Y]) :- !, format('unknown gesture action: ~w~n', [Action]), do_script(Y). do_script(Action) :- format('unknown gesture action:~w (not a list)~n', [Action]). process_choice([]):-!. process_choice([Action|_Y]):- do_script(Action), !. process_choice([_Action|Y]):- process_choice(Y), !. process_star(Action):- do_script(Action), !. process_star(Action):- !, process_star(Action), true. inspect_goal((Goal1,Goal2)) :- !, do_goal(Goal1), inspect_goal(Goal2). inspect_goal(Goal) :- do_goal(Goal). do_goal(setRotation(O,X,Y,Z,R)) :- !, setRotation(O,X,Y,Z,R). do_goal(getRotation(O,X,Y,Z,R)) :- !, getRotation(O,X,Y,Z,R). do_goal(setPosition(O,X,Y,Z)) :- !, setPosition(O,X,Y,Z). do_goal(getPosition(O,X,Y,Z)) :- !, getPosition(O,X,Y,Z). do_goal(getBodyObjectName(A,O,N)) :- !, gesturelib <- getBodyObjectName(A,O,N). do_goal(Goal):- call(Goal). count_down_init(Answer, Counter) :- set_array(script, answer_entry, Answer, Counter). count_down_join(Answer, ThreadID) :- get_field_event(answer_entry, _Flag), get_array(script, answer_entry, Answer, C), % format('count_down_join : a = ~w, c = ~w, t = ~w~n', [Answer,C,ThreadID]), C1 is C - 1, set_array(script, answer_entry, Answer, C1), set_field(answer_entry, free), count_down_last(C1, Answer). count_down_last(C, Answer) :- C =< 0, !, format_to_atom(Parent, 'parent_~w', [Answer]), %% set_queue(Parent, done). %% use field instead : set_field(Parent, done). count_down_last(_, _). turn_object(Object, rotation(X,Y,Z,R), Time, Interpolation):- getRotation(Object,X1,Y1,Z1,R1), %% format('start Rotation:<~w,~w,~w,~w>~n',[X1,Y1,Z1,R1]), count := 0, incrementr := (R-R1)/Interpolation, incrementx := (X-X1)/Interpolation, incrementy := (Y-Y1)/Interpolation, incrementz := (Z-Z1)/Interpolation, sleeptime := (60/tempo)*Time*1000/Interpolation, repeat, Rnew is R1+incrementr*(count+1), Xnew is X1+incrementx*(count+1), Ynew is Y1+incrementy*(count+1), Znew is Z1+incrementz*(count+1), setRotation(Object,Xnew,Ynew,Znew,Rnew), sleep(sleeptime), ++count, abs(Rnew-R) =< abs(incrementr), setRotation(Object,X,Y,Z,R), !. move_object(Object, increment(X,Y,Z), Time, Interpolation):- getSFVec3f(Object,translation,X1,Y1,Z1), count:=0, X_increment is X/Interpolation, Y_increment is Y/Interpolation, Z_increment is Z/Interpolation, SleepTime is (60/tempo)*Time*1000/Interpolation, repeat, Xnew is X1 + X_increment*(count+1), Ynew is Y1 + Y_increment*(count+1), Znew is Z1 + Z_increment*(count+1), setSFVec3f(Object,translation, Xnew,Ynew,Znew), sleep(SleepTime), ++count, count >= Interpolation, !. process_parallel_action([], _Answer) :- !. process_parallel_action([Action | List], Answer) :- select_entry(thread_entry, I), %% format('parallel : thread = ~w, answer = ~w, action = ~w~n', [I,Answer,Action]), format_to_atom(Queue, 'queue_~w', [I]), set_queue(Queue, task(Action,Answer)), process_parallel_action(List, Answer). look_at_audience(Agent,Viewpoint):- getSFVec3f(Viewpoint,position,X,_Y,Z), look_at_position(Agent,X,Z), true. look_at_position(Agent,X1,Z1) :- getSFVec3f(Agent,translation, X,_,Z), X =\= X1, !, %% RS: added Xdif is X-X1, Zdif is Z1-Z, R is atan(Zdif/Xdif) - sign(X-X1)*1.5708, setRotation(Agent,0.0, 1.0, 0.0, R). look_at_position(_, _, _). :-end_object do_script. :-object do_action : [bcilib, do_script, gesturelib]. do_action(ThreadID) :- format_to_atom(Queue, 'queue_~w', [ThreadID]), repeat, get_queue(Queue, task(Action, Answer)), %% format('~w gets action ~w (answer = ~w)~n', [Queue,Action,Answer]), do_script([Action]), count_down_join(Answer, ThreadID), release_entry(ThreadID, thread_entry), fail. select_script(Name, Script) :- script(Name, Script). turn_body_part(Agent,Body,PoserR,Speed):- %% format('turn_body_part : A=~w, B=~w, P=~w, S=~w~n', [Agent,Body,PoserR,Speed]), getBodyObjectName(Agent,Body,Object), getRotationParameter(Body,PoserR,Rotation), getSpeedParameter(Body,Speed,Time,Interpolation), !, turn_object(Object,Rotation,Time,Interpolation). turn_body_part_init(Agent,Body,Direction):- getBodyObjectName(Agent,Body,Object), getRotationParameter(Body,Direction,rotation(X,Y,Z,_R)), !, setRotation(Object,X,Y,Z,0.0). move_body(Agent,Body,Direction,Speed):- getBodyObjectName(Agent,Body,_), getPositionParameter(Body,Direction,Position), getSpeedParameter(Body,Speed,Time,Interpolation), !, move_object(Agent,Position,Time,Interpolation). :-end_object do_action. :-object gesturelib. var unit_interpolation = 6.0. script(walk(Agent), ActionList) :- ActionList = [ parallel([turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front_down2,fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front_down2,fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(walk(Agent, X,Y,Z), ActionList) :- ActionList = [ parallel([ turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front_down2,fast), move(Agent,increment(X,Y,Z),fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([ turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front_down2,fast), move(Agent,increment(X,Y,Z),fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(walk(Agent, StepLength), ActionList) :- ActionList = [ parallel([ turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front_down2,fast), move(Agent,increment(0.0,0.0,StepLength),fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([ turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front_down2,fast), move(Agent,increment(0,0,StepLength),fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(get_adjustY(Agent, Y), ActionList) :- ActionList = [ do(getBodyObjectName(Agent, l_ankle, ObjectName)), do(getPosition(ObjectName,_X1,Y1,_Z1)), turn(Agent,l_hip,back_down2,fast), do(getPosition(ObjectName,_X2,Y2,_Z2)), do(Y is Y2-Y1), turn(Agent,l_hip,down,fast) ], !. script(walk_adjustY(Agent,Y,StepLength), ActionList) :- ActionList = [do(Y1 is -Y), parallel([script(walk(Agent)), [move(Agent,increment(0.0,Y,StepLength),very_fast), move(Agent,increment(0.0,Y1,StepLength),very_fast)] ]) ], !. script(fast_walk(Agent), ActionList) :- ActionList = [ set_tempo(300), parallel([turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front_down2,fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front_down2,fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(walk_front(Agent), ActionList) :- ActionList = [ parallel([turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front_down2,fast), move(Agent,front,fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front_down2,fast), move(Agent,front,fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(jump(Agent), ActionList) :- ActionList = [ turn_init(Agent,l_shoulder,up), parallel([turn(Agent,r_knee,back,fast), turn(Agent,r_hip,front_down,fast), move(Agent,down,fast), turn(Agent,r_shoulder,up,fast), turn(Agent,l_shoulder,up,fast), turn(Agent,l_knee,back,fast), turn(Agent,l_hip,front_down,fast)]), turn_init(Agent,l_shoulder,left), parallel([turn(Agent,l_knee,down,fast), turn(Agent,l_hip,down,fast), move(Agent,up,fast), turn(Agent,r_shoulder,right,fast), turn(Agent,l_shoulder,left,fast), turn(Agent,r_knee,down,fast), turn(Agent,r_hip,down,fast)]), turn_init(Agent,l_shoulder,down_from_front), parallel([move(Agent,up,fast), turn(Agent,r_shoulder,down_from_front,fast), turn(Agent,l_shoulder,down_from_front,fast)]), move(Agent,down,fast) ], !. script(stand(Agent), ActionList) :- ActionList = [ parallel([ turn(Agent,l_shoulder,down,fast), turn(Agent,r_shoulder,down,fast), turn(Agent,l_hip,down,fast), turn(Agent,r_hip,down,fast) ]) ], !. script(stand2(Agent), ActionList) :- ActionList = [ turn_init(Agent,r_shoulder,down), parallel([turn(Agent,l_shoulder,down,fast), turn(Agent,r_shoulder,down,fast), turn(Agent,skullbase,front,fast), turn(Agent,l_hip,down,fast), turn(Agent,r_hip,down,fast)]), parallel([turn(Agent,l_knee,down,fast), turn(Agent,r_knee,down,fast)]) ], !. script(kicking(Agent), ActionList) :- ActionList = [ parallel([turn(Agent,r_hip,back_down,fast), turn(Agent,r_knee,back,fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,l_shoulder,back_down2,fast) ]), parallel([turn(Agent,r_hip,front,fast), turn(Agent,r_knee,front_down2,fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,r_shoulder,back_down2,fast) ]) ], !. script(kneeing(Agent), ActionList) :- ActionList = [parallel([turn(Agent, r_elbow, front, fast), turn(Agent, l_elbow, front, fast)]), parallel([turn(Agent, l_hip, front_down2, fast), turn(Agent, r_hip, front_down2, fast), turn(Agent, l_knee, back, fast), turn(Agent, r_knee, back, fast)]) ], !. script(start_run(Agent), ActionList) :- ActionList = [parallel([turn(Agent, r_elbow, front, fast), turn(Agent, l_elbow, front, fast)]), parallel([turn(Agent, l_hip, front_down2, fast), turn(Agent, r_hip, front_down2, fast), turn(Agent, l_knee, back_down, fast), turn(Agent, r_knee, back_down, fast)]) ], !. script(run1(Agent), ActionList) :- ActionList = [parallel([turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front,fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front,fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(run(Agent), ActionList) :- ActionList = [parallel([turn(Agent,r_shoulder,back_down2,fast), turn(Agent,r_hip,front_down,fast), turn(Agent,l_shoulder,front_down2,fast), turn(Agent,l_hip,back_down2,fast)]), parallel([turn(Agent,l_shoulder,back_down2,fast), turn(Agent,l_hip,front_down,fast), turn(Agent,r_shoulder,front_down2,fast), turn(Agent,r_hip,back_down2,fast)]) ], !. script(l_wave(Agent), ActionList) :- ActionList = [turn(Agent,l_shoulder,left_front_up,fast), turn(Agent,l_shoulder,left_front2_up,fast)], !. script(l_wave2(Agent), ActionList) :- ActionList = [turn(Agent,l_shoulder,left_front_up,fast), turn(Agent,l_shoulder,up_turn_90,fast)], !. script(r_wave(Agent), ActionList) :- ActionList = [turn(Agent,r_shoulder,right_front_up,fast), turn(Agent,r_shoulder,right_front2_up,fast)], !. script(r_wave2(Agent), ActionList) :- ActionList = [turn(Agent,r_shoulder,right_front_up,fast), turn(Agent,r_shoulder,up_turn_90,fast)], !. script(greeting(Agent), ActionList) :- ActionList = [parallel([ turn_init(Agent,r_shoulder,right_front_up), repeat(l_wave2(Agent),8), repeat(r_wave2(Agent),8)]), script(stand2(Agent)), wait(1.0) ], !. script(open_leg1(Agent), ActionList) :- ActionList = [parallel([turn(Agent,l_hip,side1_down,fast), turn(Agent,r_hip,side1_down,fast)])], !. script(test(Agent), ActionList) :- ActionList = [ do(format('Agent action: walking~n')), repeat(walk(Agent), 6), do(format('Agent action: kicking~n')), repeat(kicking(Agent), 6), script(stand1(Agent)), do(format('Agent action: running~n')), script(start_run(Agent)), repeat(run(Agent), 6), script(stand1(Agent)), do(format('Agent action: jumping~n')), repeat(jump(Agent), 6), script(stand1(Agent)), do(format('Agent action: greeting~n')), repeat(greeting(Agent), 3), script(stand1(Agent)) ], !. script(taichi(Agent), ActionList) :- ActionList = [ do(format('Agent action: taichi~n')), script(taichi(Agent, stage1)), % script(taichi(Agent, stage2)), % turn(Agent,humanoidroot,turn_45,very_slow), script(stand1(Agent)) % turn(Agent,humanoidroot,turn_45,very_slow) ], !. script(taichi(Agent, stage1), ActionList) :- ActionList = [ turn(Agent,l_hip,side1_down,fast), turn(Agent,r_hip,side1_down,fast), turn_init(Agent,l_shoulder,front), turn_init(Agent,r_shoulder,front), parallel([turn(Agent,l_shoulder,front,slow), turn(Agent,r_shoulder,front,slow)]), turn_init(Agent,l_elbow,front_right2), parallel([turn(Agent,l_shoulder,front_down,slow), turn(Agent,r_shoulder,front_down,slow), turn(Agent,l_elbow,front_right2,slow), turn(Agent,r_elbow,front_left2,slow)]), turn_init(Agent,l_hip,left_front_down), turn_init(Agent,r_hip,right_front_down), turn_init(Agent,l_knee,back2_down), turn_init(Agent,r_knee,back2_down), turn_init(Agent,l_elbow,right_front_down), parallel([ move(Agent,increment(0.0,-0.1,0.0),slow), turn(Agent,l_hip,left_front_down,slow), turn(Agent,r_hip,right_front_down,slow), turn(Agent,l_elbow,right_front_down,slow), turn(Agent,r_shoulder,front_down2,slow), turn(Agent,l_knee,back2_down,slow), turn(Agent,r_knee,back2_down,slow)]), turn_init(Agent,l_shoulder,left_front_up2), turn_init(Agent,r_elbow,front), parallel([turn(Agent,l_shoulder,left_front_up2,very_slow), turn(Agent,r_wrist,turn_n45,slow), turn(Agent,r_elbow,front,slow), turn(Agent,r_shoulder,front_left,very_slow)]), parallel([turn(Agent,l_wrist,turn_90,slow), turn(Agent,r_wrist,turn_90,slow)]) ], !. script(taichi(Agent, stage2), ActionList) :- ActionList = [ turn_init(Agent,humanoidroot,turn_n45), parallel([turn(Agent,humanoidroot,turn_n45,very_slow), turn(Agent,r_shoulder,right_front_down,very_slow), turn(Agent,r_knee,back_down2,very_slow)]), parallel([turn(Agent,l_shoulder,right_front_down,fast), turn(Agent,l_elbow,front,fast)]), turn_init(Agent,l_hip,front_down1), parallel([turn(Agent,r_knee,back,slow), turn(Agent,l_knee,back,slow), turn(Agent,l_hip,front_down1,slow)]), parallel([turn(Agent,l_hip,left_down,slow), turn(Agent,l_shoulder,front,slow), turn(Agent,r_shoulder,front,slow), turn(Agent,l_elbow,down,slow), turn(Agent,r_elbow,down,slow), turn(Agent,l_knee,down,slow)]), parallel([turn(Agent,l_hip,front_down,slow), turn(Agent,l_shoulder,front_down,slow), turn(Agent,r_shoulder,front_down,slow), turn(Agent,l_elbow,front,slow), turn(Agent,r_elbow,front,slow), turn(Agent,l_knee,back,slow)]) ], !. %high level interaction operator definitions script(if_then_else(Condition,Then,Else),ActionList):- ActionList =[ choice([[test(Condition),Then],[test(not(Condition)),Else]]) ], !. script(if_then(Condition,Then),ActionList):- ActionList =[ choice([[test(Condition),Then],[test(not(Condition)),skip]]) ], !. script(until(Action,Condition),ActionList):- ActionList =[ [star(Action),test(Condition)] ], !. getBodyObjectName(humanoid,l_shoulder,hanim_l_shoulder) :- !. getBodyObjectName(humanoid,r_shoulder,hanim_r_shoulder) :- !. getBodyObjectName(humanoid,l_elbow,hanim_l_elbow) :- !. getBodyObjectName(humanoid,r_elbow,hanim_r_elbow) :- !. getBodyObjectName(humanoid,l_hip,hanim_l_hip) :- !. getBodyObjectName(humanoid,r_hip,hanim_r_hip) :- !. getBodyObjectName(humanoid,l_ankle,hanim_l_ankle) :- !. getBodyObjectName(humanoid,r_ankle,hanim_r_ankle) :- !. getBodyObjectName(humanoid,l_knee,hanim_l_knee) :- !. getBodyObjectName(humanoid,r_knee,hanim_r_knee) :- !. getBodyObjectName(humanoid,l_wrist,hanim_l_wrist) :- !. getBodyObjectName(humanoid,r_wrist,hanim_r_wrist) :- !. getBodyObjectName(humanoid,vl5,hanim_vl5) :- !. getBodyObjectName(humanoid,skullbase,hanim_skullbase) :- !. getBodyObjectName(humanoid,humanoidroot,hanim_HumanoidRoot) :- !. getBodyObjectName(humanoid,sacroiliac,hanim_sacroiliac) :- !. getBodyObjectName(H, B, N) :- format('invalid name : H=~w, B=~w, N=~w~n', [H,B,N]). object_class(l, l_shoulder) :- !. object_class(r, r_shoulder) :- !. object_class(l, l_elbow) :- !. object_class(r, r_elbow) :- !. object_class(l, l_hip) :- !. object_class(r, r_hip) :- !. object_class(l, l_ankle) :- !. object_class(r, r_ankle) :- !. object_class(l, l_knee) :- !. object_class(r, r_knee) :- !. object_class(l, l_wrist) :- !. object_class(r, r_wrist) :- !. object_class(c,vl5) :- !. object_class(c,skullbase) :- !. object_class(c,root) :- !. object_class(c,sacroiliac) :- !. object_class(c,humanoidroot) :- !. object_class(C, B) :- format('object class error : C=~w, B=~w~n', [C,B]). getRotationParameter(_Object,rotation(X,Y,Z,R0),rotation(X,Y,Z,R0)):- !. getRotationParameter(Object,Direction,R):- object_class(ObjectClass,Object), rotation_parameter(ObjectClass,Direction,R), !. getRotationParameter(Object,_Poser,_R):- format('rotation parameter error for ~w~n', [Object]). rotation_parameter(l, front, rotation(1.0,0.0,0.0,-1.57)):-!. rotation_parameter(l, back, rotation(1.0,0.0,0.0,1.57)):-!. rotation_parameter(l, back_down2, rotation(1.0,0.0,0.0,0.4)):-!. rotation_parameter(l, front_down2, rotation(1.0,0.0,0.0,-0.4)):-!. rotation_parameter(l, back_down, rotation(1.0,0.0,0.0,0.77)):-!. rotation_parameter(l, back2_down, rotation(1.0,0.0,0.0,1.17)):-!. rotation_parameter(l, front_down, rotation(1.0,0.0,0.0,-0.77)):-!. rotation_parameter(l, front_down1, rotation(1.0,0.0,0.0,-1.37)):-!. rotation_parameter(l, back_up, rotation(1.0,0.0,0.0,-2.34)):-!. rotation_parameter(l, front_up, rotation(1.0,0.0,0.0,2.34)):-!. rotation_parameter(l, up_via_back, rotation(1.0,0.0,0.0,3.14)):-!. rotation_parameter(l, up, rotation(1.0,0.0,0.0,-3.14)):-!. rotation_parameter(l, turn_90, rotation(0.0,1.0,0.0,1.57)):-!. rotation_parameter(l, turn_n90, rotation(0.0,1.0,0.0,-1.57)):-!. rotation_parameter(l, turn_45, rotation(0.0,1.0,0.0,0.79)):-!. rotation_parameter(l, turn_n45, rotation(0.0,1.0,0.0,-0.79)):-!. rotation_parameter(l, turn_180, rotation(0.0,1.0,0.0,3.14)):-!. rotation_parameter(l, turn_n180, rotation(0.0,1.0,0.0,-3.14)):-!. rotation_parameter(l, turn_270, rotation(0.0,1.0,0.0,4.71)):-!. rotation_parameter(l, turn_n270, rotation(0.0,1.0,0.0,-4.71)):-!. rotation_parameter(l, turn_360, rotation(0.0,1.0,0.0,6.28)):-!. rotation_parameter(l, turn_n360, rotation(0.0,1.0,0.0,-6.28)):-!. rotation_parameter(l, turn_reset, rotation(0.0,1.0,0.0,0.0)):-!. rotation_parameter(l, front_right, rotation(1.0,1.0,0.0,-1.57)):-!. rotation_parameter(l, front_right2, rotation(1.0,1.0,0.0,-1.3)):-!. rotation_parameter(l, front_right1, rotation(1.0,1.0,0.0,-1.0)):-!. rotation_parameter(l, back_down_turn_90, rotation(1.0,1.0,0.0,1.57)):-!. rotation_parameter(l, left_back_down_turn_90, rotation(0.0,1.0,1.0,1.57)):-!. rotation_parameter(l, right_back_down_turn_n90, rotation(0.0,1.0,1.0,-1.57)):-!. rotation_parameter(l, left_front_down_turn_90, rotation(0.0,1.0,1.0,1.57)):-!. rotation_parameter(l, left_front_down, rotation(-0.97,0.09,0.23,0.79)):-!. rotation_parameter(l, right_front_down, rotation(-0.37,-0.86,0.35,1.13)):-!. rotation_parameter(l, down, rotation(0.0,0.0,1.0,0.0)):-!. rotation_parameter(l, down_from_front, rotation(1.0,0.0,0.0,0.0)):-!. rotation_parameter(l, up_via_center,rotation(0.0,0.0,1.0,3.14)):-!. rotation_parameter(l, up_via_right,rotation(0.0,0.0,1.0,3.14)):-!. rotation_parameter(l, up_via_side,rotation(0.0,0.0,1.0,-3.14)):-!. rotation_parameter(l, up_via_left,rotation(0.0,0.0,1.0,-3.14)):-!. rotation_parameter(l, side_up, rotation(0.0,0.0,1.0,2.34)):-!. rotation_parameter(l, side, rotation(0.0,0.0,1.0,1.57)):-!. rotation_parameter(l, left_up, rotation(0.0,0.0,1.0,2.34)):-!. rotation_parameter(l, left, rotation(0.0,0.0,1.0,1.57)):-!. rotation_parameter(l, side_down, rotation(0.0,0.0,1.0,0.77)):-!. rotation_parameter(l, left_down, rotation(0.0,0.0,1.0,0.77)):-!. rotation_parameter(l, side2_down, rotation(0.0,0.0,1.0,0.38)):-!. rotation_parameter(l, left2_down, rotation(0.0,0.0,1.0,0.38)):-!. rotation_parameter(l, side1_down, rotation(0.0,0.0,1.0,0.19)):-!. rotation_parameter(l, left1_down, rotation(0.0,0.0,1.0,0.19)):-!. rotation_parameter(l, center_up, rotation(0.0,0.0,1.0,-2.34)):-!. rotation_parameter(l, right_up, rotation(0.0,0.0,1.0,-2.34)):-!. rotation_parameter(l, left_front2_up, rotation(-1.0,0.0,1.0,2.34)):-!. rotation_parameter(l, left_front_up2, rotation(-1.0,0.0,1.0,1.57)):-!. rotation_parameter(l, side_front2_up, rotation(-1.0,0.0,1.0,2.34)):-!. rotation_parameter(l, side_front_up2, rotation(-1.0,0.0,1.0,1.57)):-!. rotation_parameter(l, left_front_up, rotation(-0.38,-0.16,0.91,2.4)):-!. rotation_parameter(l, side_front_up, rotation(-0.38,-0.16,0.91,2.4)):-!. rotation_parameter(l, up_turn_n90, rotation(-0.71,0,-0.71,3.14)):-!. rotation_parameter(l, up_turn_90, rotation(-0.71,0,0.71,3.14)):-!. rotation_parameter(l, front_turn_90, rotation(-0.58,0.58,-0.58,2.0)):-!. rotation_parameter(l, center, rotation(0.0,0.0,1.0,-1.57)):-!. rotation_parameter(l, right, rotation(0.0,0.0,1.0,-1.57)):-!. rotation_parameter(l, center_down, rotation(0.0,0.0,1.0,-0.77)):-!. rotation_parameter(l, right_down, rotation(0.0,0.0,1.0,-0.77)):-!. rotation_parameter(r, front,rotation(1.0,0.0,0.0,-1.57)):-!. rotation_parameter(r, back,rotation(1.0,0.0,0.0,1.57)):-!. rotation_parameter(r, front_down2, rotation(1.0,0.0,0.0,-0.4)):-!. rotation_parameter(r, back_down2, rotation(1.0,0.0,0.0,0.4)):-!. rotation_parameter(r, back2_down, rotation(1.0,0.0,0.0,1.17)):-!. rotation_parameter(r, front_down, rotation(1.0,0.0,0.0,-0.77)):-!. rotation_parameter(r, front_down1, rotation(1.0,0.0,0.0,-1.37)):-!. rotation_parameter(r, back_down, rotation(1.0,0.0,0.0,0.77)):-!. rotation_parameter(r, up_via_back, rotation(1.0,0.0,0.0,3.14)):-!. rotation_parameter(r, up, rotation(1.0,0.0,0.0,-3.14)):-!. rotation_parameter(r, turn_90, rotation(0.0,1.0,0.0,1.57)):-!. rotation_parameter(r, turn_n90, rotation(0.0,1.0,0.0,-1.57)):-!. rotation_parameter(r, turn_45, rotation(0.0,1.0,0.0,0.79)):-!. rotation_parameter(r, turn_n45, rotation(0.0,1.0,0.0,-0.79)):-!. rotation_parameter(r, turn_180, rotation(0.0,1.0,0.0,3.14)):-!. rotation_parameter(r, turn_n180, rotation(0.0,1.0,0.0,-3.14)):-!. rotation_parameter(r, turn_270, rotation(0.0,1.0,0.0,4.71)):-!. rotation_parameter(r, turn_n270, rotation(0.0,1.0,0.0,-4.71)):-!. rotation_parameter(r, turn_360, rotation(0.0,1.0,0.0,6.28)):-!. rotation_parameter(r, turn_n360, rotation(0.0,1.0,0.0,-6.28)):-!. rotation_parameter(r, turn_reset, rotation(0.0,1.0,0.0,0.0)):-!. rotation_parameter(r, front_right, rotation(1.0,1.0,0.0,-1.57)):-!. rotation_parameter(r, front_left, rotation(-1.0,1.0,0.0,1.57)):-!. rotation_parameter(r, front_left2, rotation(-1.0,1.0,0.0,1.3)):-!. rotation_parameter(r, front_left1, rotation(-1.0,1.0,0.0,1.00)):-!. rotation_parameter(r, back_down_turn_90, rotation(1.0,1.0,0.0,1.57)):-!. rotation_parameter(r, left_back_down_turn_90, rotation(0.0,1.0,1.0,1.57)):-!. rotation_parameter(r, right_back_down_turn_n90, rotation(0.0,1.0,1.0,-1.57)):-!. rotation_parameter(r, left_front_down_turn_90, rotation(-1.0,1.0,0.0,1.57)):-!. rotation_parameter(r, down,rotation(0.0,0.0,1.0,0.0)):-!. rotation_parameter(r, down_from_front, rotation(1.0,0.0,0.0,0.0)):-!. rotation_parameter(r, up_via_side,rotation(0.0,0.0,1.0,3.14)):-!. rotation_parameter(r, up_via_left,rotation(0.0,0.0,1.0,3.14)):-!. rotation_parameter(r, up_via_center,rotation(0.0,0.0,1.0,-3.14)):-!. rotation_parameter(r, up_via_left,rotation(0.0,0.0,1.0,-3.14)):-!. rotation_parameter(r, side_up,rotation(0.0,0.0,1.0,-2.34)):-!. rotation_parameter(r, side,rotation(0.0,0.0,1.0,-1.57)):-!. rotation_parameter(r, right_up,rotation(0.0,0.0,1.0,-2.34)):-!. rotation_parameter(r, right,rotation(0.0,0.0,1.0,-1.57)):-!. rotation_parameter(r, side_down, rotation(0.0,0.0,1.0,-0.77)):-!. rotation_parameter(r, right_down, rotation(0.0,0.0,1.0,-0.77)):-!. rotation_parameter(r, side2_down, rotation(0.0,0.0,1.0,-0.38)):-!. rotation_parameter(r, left2_down, rotation(0.0,0.0,1.0,-0.38)):-!. rotation_parameter(r, side1_down, rotation(0.0,0.0,1.0,-0.19)):-!. rotation_parameter(r, left1_down, rotation(0.0,0.0,1.0,-0.19)):-!. rotation_parameter(r, center, rotation(0.0,0.0,1.0,1.57)):-!. rotation_parameter(r, left, rotation(0.0,0.0,1.0,1.57)):-!. rotation_parameter(r, center_down, rotation(0.0,0.0,1.0,0.77)):-!. rotation_parameter(r, left_down, rotation(0.0,0.0,1.0,0.77)):-!. rotation_parameter(r, center_up, rotation(0.0,0.0,1.0,2.34)):-!. rotation_parameter(r, left_up, rotation(0.0,0.0,1.0,2.34)):-!. rotation_parameter(r, right_front2_up, rotation(-1.0,0.0,-1.0,2.34)):-!. rotation_parameter(r, right_front_up2, rotation(-1.0,0.0,-1.0,1.57)):-!. rotation_parameter(r, right_front_down, rotation(-0.97,-0.09,-0.23,0.79)):-!. % rotation_parameter(r, left_front_down, rotation(0.97,-0.09,-0.23,0.79)):-!. rotation_parameter(r, side_front2_up, rotation(-1.0,0.0,-1.0,2.34)):-!. rotation_parameter(r, side_front_up2, rotation(-1.0,0.0,-1.0,1.57)):-!. rotation_parameter(r, right_front_up, rotation(-0.38,0.16,-0.91,2.4)):-!. rotation_parameter(r, side_front_up, rotation(-0.38,0.16,-0.91,2.4)):-!. rotation_parameter(r, up_turn_n90, rotation(-0.71,0,0.71,3.14)):-!. rotation_parameter(r, up_turn_90, rotation(-0.71,0,-0.71,3.14)):-!. rotation_parameter(r, front_turn_90, rotation(-0.58,-0.58,0.58,2.0)):-!. rotation_parameter(r, back_up, rotation(1.0,0.0,0.0,2.34)):-!. rotation_parameter(r, side_up2, rotation(1.0,0.0,0.0,-2.34)):-!. rotation_parameter(r, right_up2, rotation(1.0,0.0,0.0,-2.34)):-!. rotation_parameter(c, right, rotation(0.0,0.0,1.0,1.47)):-!. rotation_parameter(c, up, rotation(1.0,0.0,0.0,-1.57)):-!. rotation_parameter(c, right_down, rotation(0.0,0.0,1.0,3.00)):-!. rotation_parameter(c, left_down, rotation(0.0,0.0,1.0,-3.00)):-!. rotation_parameter(c, down, rotation(1.0,0.0,0.0,1.57)):-!. rotation_parameter(c, left_turn, rotation(0.0,1.0,0.0,1.57)):-!. rotation_parameter(c, right_turn, rotation(0.0,1.0,0.0,-1.57)):-!. rotation_parameter(c, front, rotation(0.0,0.0,1.0,0.0)):-!. rotation_parameter(c, right_down2, rotation(0.0,0.0,1.0,2.34)):-!. rotation_parameter(c, left_down2, rotation(0.0,0.0,1.0,-2.34)):-!. rotation_parameter(c, left_down1, rotation(0.0,0.0,1.0,-1.57)):-!. rotation_parameter(c, right_down1, rotation(0.0,0.0,1.0,1.57)):-!. rotation_parameter(c, front_down2, rotation(1.0,0.0,0.0,0.4)):-!. rotation_parameter(c, front_up2, rotation(1.0,0.0,0.0,-0.4)):-!. rotation_parameter(c, front_down, rotation(1.0,0.0,0.0,0.77)):-!. rotation_parameter(c, front_up, rotation(1.0,0.0,0.0,-0.77)):-!. rotation_parameter(c, back_up, rotation(1.0,0.0,0.0,-2.34)):-!. rotation_parameter(c, front_down3, rotation(1.0,0.0,0.0,2.34)):-!. rotation_parameter(c, front_left_down, rotation(1.0,1.0,0.0,0.77)):-!. rotation_parameter(c, front_right_up, rotation(1.0,1.0,0.0,-0.77)):-!. rotation_parameter(c, front_right_down, rotation(1.0,0.0,1.0,0.77)):-!. rotation_parameter(c, front_left_up, rotation(1.0,0.0,1.0,-0.77)):-!. rotation_parameter(c, front_left_up_turn, rotation(0.0,1.0,1.0,0.77)):-!. rotation_parameter(c, front_left_down_turn, rotation(0.0,1.0,1.0,-0.77)):-!. rotation_parameter(c, turn_22, rotation(0.0,1.0,0.0,0.38)):-!. rotation_parameter(c, turn_n22, rotation(0.0,1.0,0.0,-0.38)):-!. rotation_parameter(c, turn_45, rotation(0.0,1.0,0.0,0.79)):-!. rotation_parameter(c, turn_n45, rotation(0.0,1.0,0.0,-0.79)):-!. rotation_parameter(c, turn_90, rotation(0.0,1.0,0.0,1.57)):-!. rotation_parameter(c, turn_n90, rotation(0.0,1.0,0.0,-1.57)):-!. rotation_parameter(c, turn_180, rotation(0.0,1.0,0.0,3.14)):-!. rotation_parameter(c, turn_n180, rotation(0.0,1.0,0.0,-3.14)):-!. rotation_parameter(c, turn_270, rotation(0.0,1.0,0.0,4.71)):-!. rotation_parameter(c, turn_n270, rotation(0.0,1.0,0.0,-4.71)):-!. rotation_parameter(c, turn_360, rotation(0.0,1.0,0.0,6.28)):-!. rotation_parameter(c, turn_n360, rotation(0.0,1.0,0.0,-6.28)):-!. rotation_parameter(c, turn_reset, rotation(0.0,1.0,0.0,0.0)):-!. % rotation_parameter(c, left_front2_up, rotation(-1.0,0.0,1.0,2.34)):-!. % rotation_parameter(c, left_front_up2, rotation(-1.0,0.0,1.0,1.57)):-!. % rotation_parameter(c, side_front2_up, rotation(-1.0,0.0,1.0,2.34)):-!. % rotation_parameter(c, side_front_up2, rotation(-1.0,0.0,1.0,1.57)):-!. % rotation_parameter(c, left_front_up, rotation(-0.38,-0.16,0.91,2.4)):-!. rotation_parameter(c, right_front_up, rotation(0.38,-0.16,0.91,0.4)):-!. rotation_parameter(c, right_back_down, rotation(-0.38,-0.16,0.91,2.4)):-!. rotation_parameter(c, right_front_down, rotation(0.38,0.16,0.91,2.4)):-!. rotation_parameter(c, left_back_up, rotation(0.38,-0.16,-0.91,0.4)):-!. rotation_parameter(c, right_back_up, rotation(0.38,-0.16,-0.91,-0.4)):-!. rotation_parameter(c, right_front_up2, rotation(1.0,1.0,1.0,0.1)):-!. rotation_parameter(C, Po, R):- format('rotation error : C=~w, Po=~w, R=~w~n', [C,Po,R]). position_parameter(c, front, increment(0.0,0.0,0.7)):-!. position_parameter(c, back, increment(0.0,0.0,-0.7)):-!. position_parameter(c, left, increment(0.7,0.0,0.0)):-!. position_parameter(c, right, increment(-0.7,0.0,0.0)):-!. position_parameter(c, up, increment(0.0,0.5,0.0)):-!. position_parameter(c, down, increment(0.0,-0.5,0.0)):-!. position_parameter(C, Po, P):- format('position error : C=~w, Po=~w, P=~w~n', [C,Po,P]). getPositionParameter(_Object,increment(X,Y,Z),increment(X,Y,Z)):- !. getPositionParameter(Object,Direction,Position):- object_class(ObjectClass,Object), position_parameter(ObjectClass,Direction,Position). getSpeedParameter(_Object,beat(Beat),Beat,Interpolation):- Interpolation is unit_interpolation * Beat, !. getSpeedParameter(_Object,time(Time,second),Beat,Interpolation):- % Beat is Time*tempo/60.0, Beat is Time, Interpolation is unit_interpolation * Beat, !. getSpeedParameter(Object,Speed,Beat,Interpolation):- object_class(ObjectClass,Object), speed_parameter(ObjectClass,Speed,Beat), Interpolation is unit_interpolation * Beat, !. getSpeedParameter(Object, _Speed, _Beat, _Interpolation):- format('speed parameter error for ~w~n', [Object]). speed_parameter(l, slow, 3):-!. speed_parameter(l, very_slow, 5):-!. speed_parameter(l, intermedia, 2):-!. speed_parameter(l, fast, 1):-!. speed_parameter(l, very_fast, 0.5):-!. speed_parameter(r, slow, 3):-!. speed_parameter(r, very_slow, 5):-!. speed_parameter(r, intermedia, 2):-!. speed_parameter(r, fast, 1):-!. speed_parameter(r, very_fast, 0.5):-!. speed_parameter(c, slow, 3):-!. speed_parameter(c, very_slow, 5):-!. speed_parameter(c, intermedia, 2):-!. speed_parameter(c, fast, 1):-!. speed_parameter(c, very_fast, 0.5):-!. speed_parameter(C, S, T):- format('spped error : C=~w, S=~w, T=~w~n', [C,S,T]). :-end_object gesturelib.