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viewar-guide

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viewar-guide - npm Package Compare versions

Comparing version 0.1.2 to 0.1.3

2

dist/viewar-guide.min.js

@@ -1,1 +0,1 @@

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i=E(e.position,R(n)).setY(0),o=U(i),r=m(D(e.orientation),D(o)),a=Math.sign(w(r)),s=r*a;e.angularVelocity=x(s/t,0,t)*a};function Y(t,e,[n]){G(t,e,n),C(t,e,n),I()}var $={viewarApi:{}};class X{constructor({position:t=o.ZERO,orientation:e=s.IDENTITY,scale:n=o.UNIT_SCALE}={}){this.position=o.ZERO.copy(t),this.orientation=s.IDENTITY.copy(e),this.scale=o.UNIT_SCALE.copy(n)}copy(t){this.position.copy(t.position),this.orientation.copy(t.orientation),this.scale.copy(t.scale)}}const Z={ViewARRobotVideoDisplay:"RobotFaceTalk"},W={ViewARRobotVideoDisplay:"RobotFaceNeutral"};var H=function({insertGuide:t,setAnimationState:e,addToPoseUpdateQueue:n}){let i=null,r=!1;const a={position:o.ZERO,orientation:s.IDENTITY,scale:o.UNIT_SCALE};let c=0,u=[];return{init:async()=>i=await 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t.insertContainer(h),i=v.models.guide,o=e.findModelById(i)||e.findModelByForeignKey(i)||await e.getModelFromRepository(v.fallbackModels.guide),r=await t.insertModel(o,{parent:n});return await async function(t){}(),Object.defineProperties(n,{model:{value:r.model,enumerable:!0},animations:{value:r.animations,enumerable:!0},setPropertyValues:{value:r.setPropertyValues,enumerable:!0},propertyValues:{get:()=>r.propertyValues,enumerable:!0}}),n.animations.FlyOut.start({time:0,loop:!1},!0),await n.setVisible(!1),n},setAnimationState:(...t)=>$.viewarApi.coreInterface.call("setAnimationStatus",...t),addToPoseUpdateQueue:(...t)=>$.viewarApi.coreInterface.call("addToPoseUpdateQueue",...t),clearPoseUpdateQueue:(...t)=>$.viewarApi.coreInterface.call("clearPoseUpdateQueue",...t)});const B=new o;var Q=()=>{const t=$.viewarApi.cameras;for(let e of Object.values(t))if(e.active)return e};var K=function({findPathToPoi:t}){let e=null,n=[];const i=()=>e&&n[0]||p;return{chooseDestination:i=>{i&&i!==e&&(n=t(e=i))},clearDestination:()=>{e=null,n=[]},update:(t,e)=>{i()&&B.copy(i().pose.position).subtract(t).setY(0).length()<=e&&n.shift()},hasCurrentWaypoint:()=>!(!e||!n[0]),hasNextWaypoint:()=>!(!e||!n[1]),get currentWaypoint(){return i()},get nextWaypoint(){return e&&n[1]||p},get path(){return n},get destination(){return e}}}({findPathToPoi:t=>$.findPath(Q(),t)});var J=(({body:t,navigation:e,getGuideParams:n})=>{const i={linearVelocity:0,targetLinearVelocity:0,angularVelocity:0,targetAngularVelocity:0,targetOrientation:s.IDENTITY,proximityRadius:0,curveAngle:0,angularDeviation:0,position:o.ZERO,orientation:s.IDENTITY,scale:o.UNIT_SCALE,forward:o.Z_AXIS},r=({maxAngularVelocity:t},e)=>{if(e.angularDeviation>t){const t=(t=>P.get().fromAxisAngle(O,t))(e.angularVelocity);e.orientation.multiply(t),e.forward.rotate(t)}else e.orientation.copy(e.targetOrientation),e.forward.copy(N(e.targetOrientation))},a=o=>async()=>{const a=n();i.position.copy(t.pose.position),i.orientation.copy(t.pose.orientation),i.scale.copy(t.pose.scale),o(a,i,e.path),r(a,i),((t,e)=>{const n=N(e.orientation).scale(e.linearVelocity);e.position.add(n)})(0,i),(({maxLinearVelocity:t,maxAngularVelocity:e},n)=>{const i=t/(2*Math.sin(e)*Math.sin(n.curveAngle/2));n.proximityRadius=Math.max(i,t)})(a,i),e.update(i.position,i.proximityRadius),t.setPose(i)};return{get state(){return i},arrive:a(Y),followPath:a(F)}})({body:H,navigation:K,getGuideParams:()=>v.guideParams});const tt=Symbol(),et=Symbol(),nt=(t,e={time:0,loop:!1},n=!1)=>Promise.all([t.start(e,n),b(1e3*t.duration)]),it=async()=>tt,ot=async({body:t,camera:e})=>{const n=(await e.getPoseInViewingDirection(v.guideParams.spawnDistance,!0)).position;n.y=e.pose.position.y-1e3;const i=new o(e.pose.position).subtract(n).setY(0).normalize(),r=s.fromUnitVectors(o.Z_AXIS,i.normalize());return await t.setPose({position:n,orientation:r}),await Promise.all([nt(t.animations.FlyIn,{time:0,loop:!1},!0),t.show()]),t.startPoseUpdate(),et},rt=async({body:t})=>(t.stopPoseUpdate(),await nt(t.animations.FlyOut,{time:0,loop:!1},!0),await t.hide(),et);let at=void 0;const st=async({body:t,camera:e})=>(await ut(t,e),tt);let ct=void 0;const ut=async(t,e,n)=>{const i=new o(e.pose.position).subtract(t.pose.position).setY(0).normalize();return await pt(t,s.fromUnitVectors(o.Z_AXIS,i),n),tt},pt=async(t,e,n)=>{const i=m(new s(t.pose.orientation).toEulerAngles().heading,e.toEulerAngles().heading);if(n=n||Math.sign(i),Math.abs(Math.abs(i)-v.guideParams.maxAngularVelocity)>v.guideParams.maxAngularVelocity){const e=s.fromAxisAngle(o.Y_AXIS,n*v.guideParams.maxAngularVelocity);t.setPose({orientation:new s(t.pose.orientation).multiply(e)})}else ct=void 0,t.setPose({orientation:e});return tt};var lt=n(30),ht=n.n(lt);const ft=new Map,dt=t=>new Promise(e=>setTimeout(e,t));const yt=t=>{ft.has(t)||ft.set(t,Promise.resolve().then(()=>(async function(t){const e=Date.now(),n={startTime:e,idealTime:e,lastTime:e,actualTime:e,difference:0,timeElapsed:0,frameNumber:0,frameLength:f};for(;ft.has(t);)n.frameNumber+=1,n.frameLength=f,n.actualTime=Date.now(),n.idealTime+=n.frameLength,n.difference=n.actualTime-n.idealTime,n.timeElapsed=n.actualTime-n.lastTime,n.lastTime=n.actualTime,t(Object.assign({},n)),await dt(n.frameLength-n.difference)})(t)))};var gt=(()=>{let t=!1,e=!1,n=()=>{};const i=async t=>{if(!e)try{e=!0,n(t)}catch(t){console.error(t)}finally{e=!1}};return{start:async(e=(()=>{}))=>{n=e,t||(t=!0,yt(i))},stop:async()=>{t&&(t=!1,await(async t=>{const e=ft.get(t)||Promise.resolve();ft.delete(t),await e})(i))}}})();function vt(){const t={},e=(e,n)=>(t[e]=t[e]||new Set).add(n),n=(e,n)=>n?t[e].delete(n):t[e].clear();return{on:e,off:n,once:(t,i)=>{const o=(...e)=>{i(...e),n(t,o)};e(t,o)},emit:(e,...n)=>(t[e]||[]).forEach(t=>t(...n))}}const wt=({initialState:t,finalStates:e=[],getNextState:n})=>{e=new Set(e);let i=t;return{get 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t=this.x*this.y+this.z*this.w;if(t>.499){return{heading:2*Math.atan2(this.x,this.w),bank:0,attitude:Math.PI/2}}if(t<-.499){return{heading:-2*Math.atan2(this.x,this.w),bank:0,attitude:-Math.PI/2}}const e=this.x*this.x,n=this.y*this.y,i=this.z*this.z;let o=Math.atan2(2*this.y*this.w-2*this.x*this.z,1-2*n-2*i),r=Math.asin(2*t);return{heading:o,bank:Math.atan2(2*this.x*this.w-2*this.y*this.z,1-2*e-2*i),attitude:r}}slerp(t,e){const n=this,i=this;if(0===e)return n;if(1===e)return n.copy(t);let o=i.dot(t);if(o<0&&((t=c.copy(t)).w=-t.w,t.x=-t.x,t.y=-t.y,t.z=-t.z,o=-o),o>=1)return n;const r=Math.sqrt(1-o**2);if(Math.abs(r)<.001)return n.w=.5*(i.w+t.w),n.x=.5*(i.x+t.x),n.y=.5*(i.y+t.y),n.z=.5*(i.z+t.z),n;const a=Math.atan2(r,o),s=Math.sin((1-e)*a)/r,u=Math.sin(e*a)/r;return n.w=i.w*s+t.w*u,n.x=i.x*s+t.x*u,n.y=i.y*s+t.y*u,n.z=i.z*s+t.z*u,n}}const c=new s,u=new o,p=(new o,new o,Object.freeze({pose:{position:{x:NaN,y:NaN,z:NaN},orientation:{w:NaN,x:NaN,y:NaN,z:NaN},scale:{x:NaN,y:NaN,z:NaN}}})),l=Object.freeze({translation:!1,rotation:!1,scaling:!1}),h=(Object.freeze({translation:!0,rotation:!1,scaling:!1}),Object.freeze({pose:{position:{x:0,y:1e5,z:0},orientation:{w:1,x:0,y:0,z:0},scale:{x:1,y:1,z:1}},interaction:l,visible:!1})),f=1e3/30,d=2*Math.PI,y=d/2,g=Object.freeze({app:{admin:!1,usePoiImages:!1,userAvoidanceEnabled:!1,showTargetNotification:!1,visualizeQrCodes:!1,defaultUser:"tempuser",initialProject:null,projectId:"guidebot-978f7",language:"en-US",viewDistance:2e4},debug:{debugStateMachine:!1,showRobotHelpers:!1,exposeServices:!1,showDebugOutput:!1,showGraphDuringNavigation:!1,showReplayControls:!1},models:{qr:"guidebot_qrcode",guide:"guidebot_robot_v4",reticule:"guidebot_reticule",poi:"guidebot_poi",path:"guidebot_path",waypoint:"guidebot_waypoint"},fallbackModels:{qr:"55563",guide:"56664",reticule:"54428",poi:"54426",path:"54429",waypoint:"54383"},guideParams:{spawnDistance:2e3,nearDistance:2e4,farDistance:4e4,minProximityRadius:100,verticalCutoff:2e3,maxLinearVelocity:1e3/30,maxAngularVelocity:d/3/30,linearAcceleration:1e3/30/30},text:{greetUser:"Hi there! How can I help you?",followMe:"Sure, follow me!",selectPoi:"Hi there! Please select a point of interest."}});var v=Object.assign({},g);const w=(t,e=.001)=>t>-e&&t<e?0:t;function x(t,e){const n=e-t;return Math.atan2(Math.sin(n),Math.cos(n))}function m(t,e,n){return Math.min(Math.max(t,e),n)}var b=t=>new Promise(e=>setTimeout(e,t));function _(t,e=10){const n=new Array(e).fill(null).map(()=>t()),i=[];return{get:function(){0===n.length&&console.info("Object pool exhausted, populating...");const e=n.pop()||t();return i.push(e),e},release:function(){for(;i.length;)n.push(i.pop())},get usage(){return i.length}}}const{X_AXIS:z,Y_AXIS:O,Z_AXIS:S,ZERO:j}=o,{IDENTITY:A}=s;[z,O,S,j,A].forEach(Object.freeze);const T=_(()=>new o,20),P=_(()=>new s,20),I=()=>{T.release(),P.release()},M=(t=j)=>T.get().copy(t),E=(t,e)=>M(e).subtract(t),N=t=>M(S).rotate(t),V=(t=A)=>P.get().copy(t),U=t=>V().fromUnitVectors(M(S).normalize(),M(t).normalize()),R=t=>t.pose.position,D=t=>t.toEulerAngles().heading,k=({maxAngularVelocity:t},e,n,i)=>{const o=E(e.position,R(n)).setY(0),r=U(o),a=x(D(e.orientation),D(r)),s=Math.sign(w(a)),c=a*s;e.angularVelocity=s*t,e.angularDeviation=c,e.targetOrientation=r;const u=E(R(n),e.position).setY(0),p=E(R(n),R(i)).setY(0);e.curveAngle=D(((t,e)=>V().fromUnitVectors(M(t).normalize(),M(e).normalize()))(u,p))},L=({linearAcceleration:t,maxLinearVelocity:e},n,i,o)=>{n.linearVelocity<n.targetLinearVelocity?n.linearVelocity=m(n.linearVelocity+t,0,n.targetLinearVelocity):n.linearVelocity=m(n.linearVelocity-t,n.targetLinearVelocity,e)},q=({maxLinearVelocity:t},e,n,i)=>{e.targetLinearVelocity=t*m((y-e.angularDeviation)/y,0,1)};function F(t,e,[n,i]){k(t,e,n,i),q(t,e,n,i),L(t,e,n,i),I()}const G=({linearAcceleration:t,maxLinearVelocity:e},n,i)=>{const o=E(n.position,R(i)).setY(0),r=U(o),a=x(D(n.orientation),D(r)),s=a*Math.sign(w(a));n.linearVelocity=e*m(1-s/Math.PI,0,1),n.angularDeviation=s,n.targetOrientation=r,n.curveAngle=Math.PI},C=({maxAngularVelocity:t},e,n)=>{const i=E(e.position,R(n)).setY(0),o=U(i),r=x(D(e.orientation),D(o)),a=Math.sign(w(r)),s=r*a;e.angularVelocity=m(s/t,0,t)*a};function Y(t,e,[n]){G(t,e,n),C(t,e,n),I()}var $={viewarApi:{}};class X{constructor({position:t=o.ZERO,orientation:e=s.IDENTITY,scale:n=o.UNIT_SCALE}={}){this.position=o.ZERO.copy(t),this.orientation=s.IDENTITY.copy(e),this.scale=o.UNIT_SCALE.copy(n)}copy(t){this.position.copy(t.position),this.orientation.copy(t.orientation),this.scale.copy(t.scale)}}const Z={ViewARRobotVideoDisplay:"RobotFaceTalk"},W={ViewARRobotVideoDisplay:"RobotFaceNeutral"};var H=function({insertGuide:t,setAnimationState:e,addToPoseUpdateQueue:n}){let i=null,r=!1;const a={position:o.ZERO,orientation:s.IDENTITY,scale:o.UNIT_SCALE};let c=0,u=[];return{init:async()=>i=await $.queueSceneUpdate(t),showTalkingFace:()=>$.queueSceneUpdate(()=>i.setPropertyValues(Z)),showNormalFace:()=>$.queueSceneUpdate(()=>i.setPropertyValues(W)),show:()=>$.queueSceneUpdate(()=>i.setVisible(!0)),hide:()=>$.queueSceneUpdate(()=>i.setVisible(!1)),setPose:async t=>{t.position&&a.position.copy(t.position),t.orientation&&a.orientation.copy(t.orientation),t.scale&&a.scale.copy(t.scale),r||await i.setPose(a)},processTick:()=>{r&&(u.push(Object.assign(new X(a),{durationInSeconds:1/30})),(c+=1)%3==0&&(n(i.id,u),u=[]))},animate:async t=>{const n=(()=>{const t={};for(const e of Object.keys(i.animations))t[e]={enabled:!1,time:0,loop:!1}})();e({[i.id]:Object.assign({},n,t)})},startPoseUpdate:()=>{u=[],r=!0},stopPoseUpdate:()=>r=!1,get animations(){return i.animations},get model(){return i.model},get pose(){return a},get initialized(){return!!i}}}({insertGuide:async()=>{const{sceneManager:t,modelManager:e}=$.viewarApi,n=await t.insertContainer(h),i=v.models.guide,o=e.findModelById(i)||e.findModelByForeignKey(i)||await e.getModelFromRepository(v.fallbackModels.guide),r=await t.insertModel(o,{parent:n});return await async function(t){}(),Object.defineProperties(n,{model:{value:r.model,enumerable:!0},animations:{value:r.animations,enumerable:!0},setPropertyValues:{value:r.setPropertyValues,enumerable:!0},propertyValues:{get:()=>r.propertyValues,enumerable:!0}}),n.animations.FlyOut.start({time:0,loop:!1},!0),await n.setVisible(!1),n},setAnimationState:(...t)=>$.viewarApi.coreInterface.call("setAnimationStatus",...t),addToPoseUpdateQueue:(...t)=>$.viewarApi.coreInterface.call("addToPoseUpdateQueue",...t),clearPoseUpdateQueue:(...t)=>$.viewarApi.coreInterface.call("clearPoseUpdateQueue",...t)});const B=new o;var Q=()=>{const t=$.viewarApi.cameras;for(let e of Object.values(t))if(e.active)return e};var K=function({findPathToPoi:t}){let e=null,n=[];const i=()=>e&&n[0]||p;return{chooseDestination:i=>{i&&i!==e&&(n=t(e=i))},clearDestination:()=>{e=null,n=[]},update:(t,e)=>{i()&&B.copy(i().pose.position).subtract(t).setY(0).length()<=e&&n.shift()},hasCurrentWaypoint:()=>!(!e||!n[0]),hasNextWaypoint:()=>!(!e||!n[1]),get currentWaypoint(){return i()},get nextWaypoint(){return e&&n[1]||p},get path(){return n},get destination(){return e}}}({findPathToPoi:t=>$.findPath(Q(),t)});var J=(({body:t,navigation:e,getGuideParams:n})=>{const i={linearVelocity:0,targetLinearVelocity:0,angularVelocity:0,targetAngularVelocity:0,targetOrientation:s.IDENTITY,proximityRadius:0,curveAngle:0,angularDeviation:0,position:o.ZERO,orientation:s.IDENTITY,scale:o.UNIT_SCALE,forward:o.Z_AXIS},r=({maxAngularVelocity:t},e)=>{if(e.angularDeviation>t){const t=(t=>P.get().fromAxisAngle(O,t))(e.angularVelocity);e.orientation.multiply(t),e.forward.rotate(t)}else e.orientation.copy(e.targetOrientation),e.forward.copy(N(e.targetOrientation))},a=o=>async()=>{const a=n();i.position.copy(t.pose.position),i.orientation.copy(t.pose.orientation),i.scale.copy(t.pose.scale),o(a,i,e.path),r(a,i),((t,e)=>{const n=N(e.orientation).scale(e.linearVelocity);e.position.add(n)})(0,i),(({maxLinearVelocity:t,maxAngularVelocity:e},n)=>{const i=t/(2*Math.sin(e)*Math.sin(n.curveAngle/2));n.proximityRadius=Math.max(i,t)})(a,i),e.update(i.position,i.proximityRadius),t.setPose(i)};return{get state(){return i},arrive:a(Y),followPath:a(F)}})({body:H,navigation:K,getGuideParams:()=>v.guideParams});const tt=Symbol(),et=Symbol(),nt=(t,e={time:0,loop:!1},n=!1)=>Promise.all([t.start(e,n),b(1e3*t.duration)]),it=async()=>tt,ot=async({body:t,camera:e})=>{const n=(await e.getPoseInViewingDirection(v.guideParams.spawnDistance,!0)).position;n.y=e.pose.position.y-1e3;const i=new o(e.pose.position).subtract(n).setY(0).normalize(),r=s.fromUnitVectors(o.Z_AXIS,i.normalize());return await t.setPose({position:n,orientation:r}),await Promise.all([nt(t.animations.FlyIn,{time:0,loop:!1},!0),t.show()]),t.startPoseUpdate(),et},rt=async({body:t})=>(t.stopPoseUpdate(),await nt(t.animations.FlyOut,{time:0,loop:!1},!0),await t.hide(),et);let at=void 0;const st=async({body:t,camera:e})=>(await ut(t,e),tt);let ct=void 0;const ut=async(t,e,n)=>{const i=new o(e.pose.position).subtract(t.pose.position).setY(0).normalize();return await pt(t,s.fromUnitVectors(o.Z_AXIS,i),n),tt},pt=async(t,e,n)=>{const i=x(new s(t.pose.orientation).toEulerAngles().heading,e.toEulerAngles().heading);if(n=n||Math.sign(i),Math.abs(Math.abs(i)-v.guideParams.maxAngularVelocity)>v.guideParams.maxAngularVelocity){const e=s.fromAxisAngle(o.Y_AXIS,n*v.guideParams.maxAngularVelocity);t.setPose({orientation:new s(t.pose.orientation).multiply(e)})}else ct=void 0,t.setPose({orientation:e});return tt};var lt=n(30),ht=n.n(lt);const ft=new Map,dt=t=>new Promise(e=>setTimeout(e,t));const yt=t=>{ft.has(t)||ft.set(t,Promise.resolve().then(()=>(async function(t){const e=Date.now(),n={startTime:e,idealTime:e,lastTime:e,actualTime:e,difference:0,timeElapsed:0,frameNumber:0,frameLength:f};for(;ft.has(t);)n.frameNumber+=1,n.frameLength=f,n.actualTime=Date.now(),n.idealTime+=n.frameLength,n.difference=n.actualTime-n.idealTime,n.timeElapsed=n.actualTime-n.lastTime,n.lastTime=n.actualTime,t(Object.assign({},n)),await dt(n.frameLength-n.difference)})(t)))};var gt=(()=>{let t=!1,e=!1,n=()=>{};const i=async t=>{if(!e)try{e=!0,n(t)}catch(t){console.error(t)}finally{e=!1}};return{start:async(e=(()=>{}))=>{n=e,t||(t=!0,yt(i))},stop:async()=>{t&&(t=!1,await(async t=>{const e=ft.get(t)||Promise.resolve();ft.delete(t),await e})(i))}}})();function vt(){const t={},e=(e,n)=>(t[e]=t[e]||new Set).add(n),n=(e,n)=>n?t[e].delete(n):t[e].clear();return{on:e,off:n,once:(t,i)=>{const o=(...e)=>{i(...e),n(t,o)};e(t,o)},emit:(e,...n)=>(t[e]||[]).forEach(t=>t(...n))}}const wt=({initialState:t,finalStates:e=[],getNextState:n})=>{e=new Set(e);let i=t;return{get done(){return e.has(i)},get currentState(){return i},reset:()=>void(i=t),process:t=>(i.done?(i=n(i,t)).reset():i.process(t),i.output),getDebug:()=>i.getDebug()}},xt=({name:t,output:e})=>({name:t,output:e,done:!0,process:()=>{},reset:()=>{},getDebug:()=>t}),mt=({name:t,stateMachine:e})=>({name:t,get output(){return e.currentState.output},get done(){return e.done},process:t=>e.process(t),reset:()=>e.reset(),getDebug:()=>[t,e.getDebug()].join(" >> ")}),bt=xt({name:"TELEPORT_TO_USER",output:ot}),_t=xt({name:"IDLE",output:it}),zt=xt({name:"TELEPORT_AWAY",output:rt});var Ot=mt({name:"HIDDEN",stateMachine:wt({initialState:zt,finalStates:[bt],getNextState:(t,{guideRequested:e})=>{switch(t){case zt:case _t:return e?bt:_t;case bt:return bt;default:throw new Error(`Unrecognized state: ${t?t.name:t}`)}}})});const St=xt({name:"GREET_USER_STATE",output:async({body:t,chatbot:e,userInput:n})=>(e.greetUser(n.greetMessage),await b(250),await nt(t.animations.Wave,{time:0,loop:!1},!0),await b(33),t.animations.Idle.start({time:0,loop:!0},!0),n.startListening(),tt)}),jt=xt({name:"LISTEN",output:st}),At=xt({name:"DONE",output:async({body:t,userInput:e})=>(t.animate({}),e.stopListening(),et)});var Tt=mt({name:"TALKING",stateMachine:wt({initialState:St,finalStates:[At],getNextState:(t,{guideRequested:e,userAnswered:n,queryUnderstood:i,destinationChosen:o})=>{switch(t){case St:return e?jt:At;case jt:return e?o?At:i?At:jt:At;case At:return At;default:throw new Error(`Unrecognized state: ${t?t.name:t}`)}}})});const Pt=xt({name:"START_HOVERING",output:async({body:t})=>(t.animations.Idle.start({time:0,loop:!0},!0),tt)}),It=xt({name:"STOP_HOVERING",output:async({body:t})=>(t.animations.Idle.stop(),et)}),Mt=xt({name:"TURN_TO_USER",output:st});var Et=mt({name:"WAITING",stateMachine:wt({initialState:Pt,finalStates:[It],getNextState:(t,{guideRequested:e,userNear:n,destinationChanged:i})=>{switch(t){case Pt:return Mt;case Mt:return e?i?It:n?It:Mt:It;case It:return It;default:throw new Error(`Unrecognized state: ${t?t.name:t}`)}}})});const Nt=xt({name:"START_MOVING",output:async({body:t})=>(t.animations.ForwardIn.start({time:0,loop:!1},!0),tt)}),Vt=xt({name:"FOLLOW_PATH_STATE",output:()=>(J.followPath(),tt)}),Ut=xt({name:"ARRIVE_STATE",output:()=>(J.arrive(),tt)}),Rt=xt({name:"STOP_MOVING",output:async({body:t})=>(await nt(t.animations.ForwardOut,{time:0,loop:!1},!0),et)});var Dt=mt({name:"GUIDING",stateMachine:wt({initialState:Nt,finalStates:[Rt],getNextState:(t,{guideRequested:e,userFar:n,destinationChanged:i,destinationReached:o,guideShouldHalt:r})=>{switch(t){case Nt:case Vt:return e?n?Rt:r?Ut:Vt:Rt;case Ut:return e?n?Rt:o?Rt:Ut:Rt;case Rt:return Rt;default:throw new Error(`Unrecognized state: ${t?t.name:t}`)}}})});const kt=xt({name:"TURN_TO_PRESENT",output:async({body:t,camera:e,navigation:n})=>{const i=new o(o.Z_AXIS).rotate(new s(t.pose.orientation)).setY(0),r=new o(n.destination.pose.position).subtract(t.pose.position).setY(0);return ct=ct||s.fromUnitVectors(i.normalize(),r.normalize()).toEulerAngles().heading,await ut(t,e,Math.sign(ct)),tt}}),Lt=xt({name:"POINT_TOWARD_POI",output:async({body:t,camera:e,navigation:n})=>{const i=new o(n.destination.pose.position).subtract(t.pose.position),r=new o(e.pose.position).subtract(t.pose.position),a=s.fromUnitVectors(r.normalize(),i.normalize()).toEulerAngles().heading;return at||(at=a>0^["guidebot_robot_v2","guidebot_robot_v3","guidebot_robot_v4"].includes(t.model.foreignKey)?"Right":"Left"),await nt(t.animations[`Point${at}In`],{time:0,loop:!1},!0),tt}}),qt=xt({name:"START_PRESENTING_STATE",output:async({chatbot:t})=>(t.presentDestination(),tt)}),Ft=xt({name:"PRESENT_POI",output:it}),Gt=xt({name:"STOP_PRESENTING",output:async({speechModule:t,navigation:e,userInput:n})=>(e.clearDestination(),t.stopSpeaking(),n.dismissGuide(),tt)}),Ct=xt({name:"PUT_DOWN_HAND",output:async({body:t})=>(at&&(await nt(t.animations[`Point${at}Out`],{time:0,loop:!1},!0),at=void 0),await b(1e3),et)});var Yt=mt({name:"PRESENTING",stateMachine:wt({initialState:kt,finalStates:[Ct],getNextState:(t,{guideRequested:e,guideFacingUser:n,destinationChanged:i,guideSpeaking:o})=>{switch(t){case kt:return n?Lt:kt;case Lt:return e?i?Ct:qt:Ct;case qt:return e?Ft:Ct;case Ft:return e?i?Gt:o?Ft:Gt:Ct;case Gt:case Ct:return Ct;default:throw new Error(`Unrecognized state: ${t?t.name:t}`)}}})});const $t=xt({name:"TELEPORT_TO_USER",output:ot}),Xt=xt({name:"TELEPORT_AWAY",output:rt});var Zt=mt({name:"RECALIBRATE",stateMachine:wt({initialState:Xt,finalStates:[$t],getNextState:(t,{})=>{switch(t){case Xt:case $t:return $t;default:throw new Error(`Unrecognized state: ${t?t.name:t}`)}}})});var Wt=wt({initialState:Ot,finalStates:[],getNextState:(({hidden:t,talking:e,waiting:n,guiding:i,presenting:o})=>(r,a)=>{const{guideRequested:s,destinationChosen:c,userNear:u,userFar:p,destinationReached:l,guideSpeaking:h,recalibrationRequested:f}=a;switch(r){case t:return s?e:t;case e:return s?c&&l?o:c&&!l?i:e:t;case i:return s?p?n:!u&&l?n:u&&l?o:f?Zt:i:t;case n:return s?u&&l?o:u&&!l?i:f?Zt:n:t;case Zt:return i;case o:return s&&h?o:t;default:throw new Error(`Unrecognized state: ${r?r.name:r}`)}})({hidden:Ot,talking:Tt,waiting:Et,guiding:Dt,presenting:Yt})});var Ht=function({getGreetMessage:t,navigation:e}){const n=vt(),{emit:i}=n,o=function(t,e){var n={};for(var i in t)e.indexOf(i)>=0||Object.prototype.hasOwnProperty.call(t,i)&&(n[i]=t[i]);return n}(n,["emit"]);let r=!1,a=!1,s=!1,c=()=>{},u=t();const p=t=>(function(t){r&&i("userInput",{speaker:"user",sentence:t})})(t);return Object.assign({startListening:async function(){if(v.app.speechDisabled)return;const{coreInterface:t}=$.viewarApi;"iOS"===t.platform&&(a=!1,r=!0,t.on("speechToText",p),await t.call("startVoiceInput"),await new Promise(e=>t.once("speechToText",t=>e(t))),a=!0)},stopListening:l,pickDestination:function(t){i("userInput",{destination:t})},requestGuide:function(e=(()=>{}),n=t()){u=n,c=e,s=!0},dismissGuide:function(){s=!1,e.clearDestination(),l(),c()},get userAnswered(){return a},get guideRequested(){return s},get greetMessage(){return u}},o);async function l(){if(v.app.speechDisabled)return;const{coreInterface:t}=$.viewarApi;r=!1,a=!1,"iOS"===t.platform&&(t.off("speechToText",p),await t.call("stopVoiceInput"))}}({navigation:K,getGreetMessage:()=>v.text.greetUser}),Bt=()=>Math.random().toString(36).slice(2);const Qt=t=>`https://dialogflow.googleapis.com/v2/projects/${v.app.projectId}/agent/sessions/${t}:detectIntent`,Kt=()=>fetch(`https://www.viewar.com/proxy.php?url=http://test2.3.viewar.com/guidebot/key.php?cache_bust=${Date.now()}`).then(t=>t.text()).then(t=>t.trim()),Jt=(t,e)=>({queryParams:{},queryInput:{text:{text:t,languageCode:e}}});var te=function({navigation:t,userInput:e,sendQuery:n,findDestination:i,getText:o}){const r=vt(),{emit:a}=r,s=function(t,e){var n={};for(var i in t)e.indexOf(i)>=0||Object.prototype.hasOwnProperty.call(t,i)&&(n[i]=t[i]);return n}(r,["emit"]);let c=!1,u=!1,p=null;return Object.assign({init:function(){e.on("userInput",l)},greetUser:function(t){p=Bt(),c=!1,u=!1,a("guideSpeaking",{speaker:"guide",sentence:t})},presentDestination:function(){a("guideSpeaking",{speaker:"guide",sentence:t.destination?t.destination.data.description||t.destination.data.name:""})},get queryUnderstood(){return c},get userAnswered(){return u}},s);async function l({sentence:e,destination:r}){if(u=!0,r)c=!0,t.chooseDestination(r),a("guideSpeaking",{speaker:"guide",sentence:o("followMe")});else{const{fulfillmentText:o,parameters:r}=await n(p,e),s=Object.values(r)[0];if(s){const e=i(s);e&&(c=!0,t.chooseDestination(e))}a("guideSpeaking",{speaker:"guide",sentence:o})}}}({navigation:K,userInput:Ht,findDestination:t=>$.getPois().find(e=>e.data&&e.data.name.toLowerCase()===t.toLowerCase()),sendQuery:async function(t,e){const n=await Kt(),{error:i,queryResult:o}=await fetch(Qt(t),{method:"POST",headers:{Accept:"application/json",Authorization:`Bearer ${n}`,"Content-Type":"application/json"},body:JSON.stringify(Jt(e,v.app.language))}).then(t=>t.json());if(i)throw alert(i.message),new Error(i.message);return o},getText:t=>v.text[t]});var ee=function({getLanguageKey:t,getSpeaker:e,body:n,chatbot:i}){let o=!1;const r=async(n,i=e(),o=t())=>{const{coreInterface:r}=$.viewarApi;"iOS"===r.platform?(await r.call("stopVoiceInput"),await(async(t,e,n)=>$.viewarApi.coreInterface.call("textToSpeech",t,{name:e,lang:n}))(n,i,o),await r.call("startVoiceInput")):"Android"===r.platform?await(async(t,e,n)=>{})():await(async(t,e,n)=>{let i=window.speechSynthesis,o=window.SpeechSynthesisUtterance;const r=i.getVoices().find(t=>t.name===e)||i.getVoices().find(t=>t.lang===n),a=Object.assign(new o,{text:t,lang:n,voice:r});return new Promise((t,e)=>{a.onend=t,a.onerror=e,i.speak(a)})})(n,i,o)},a=async t=>{o||(o=!0,await n.showTalkingFace(),r(t).then(s))},s=async()=>{o&&(o=!1,await r(""),await n.showNormalFace())},c=({sentence:t})=>a(t);return{init:()=>{i.on("guideSpeaking",c)},startSpeaking:a,stopSpeaking:s,get speaking(){return o}}}({getLanguageKey:()=>v.app.language||"en-US",getSpeaker:()=>v.app.speaker||"Google US English",body:H,chatbot:te});e.default=(({stateMachine:t,getStateMachineInput:e,body:n,speechModule:i,navigation:o,kinematics:r,userInput:a,chatbot:s,defaultConfig:c,dependencies:u})=>{const p=vt(),{emit:l}=p,h=function(t,e){var n={};for(var i in t)e.indexOf(i)>=0||Object.prototype.hasOwnProperty.call(t,i)&&(n[i]=t[i]);return n}(p,["emit"]);let f,d=!1,y=!1;const g=async c=>{if(d&&y){const u={body:n,camera:Q(),speechModule:i,navigation:o,kinematics:r,userInput:a,chatbot:s};let p=tt;const l=e(u);do{const e=t.process(l);p=await e(u)}while(p===et);n.processTick(c)}},v=async()=>{if(!d){await n.init(),i.init(),s.init();const{coreInterface:t}=u.viewarApi;"iOS"===t.platform&&(await t.call("startVoiceInput"),await t.call("stopVoiceInput")),s.on("guideSpeaking",(...t)=>l("guideSpeaking",...t)),a.on("userInput",(...t)=>l("userInput",...t)),d=!0}};return Object.assign({setup:({viewarApi:t,useExternalUpdateLoop:e=!1,queueSceneUpdate:n=(t=>t()),config:i,getPois:o=(()=>[]),modes:r=[],findPath:a=(()=>[])})=>{ht()(c,i),f=!e,Object.assign(u,{viewarApi:t,queueSceneUpdate:n,getPois:o,modes:r,findPath:a,useExternalUpdateLoop:e})},init:v,start:async()=>{d||await v(),y||(f&&gt.start(g),y=!0,t.reset(),await n.hide())},stop:async()=>{y&&(f&&gt.stop(),y=!1,await n.hide())},processTick:g,get running(){return y},runsInMode:t=>u.modes.includes(t)},h,{requestGuide:a.requestGuide,dismissGuide:a.dismissGuide,pickDestination:a.pickDestination})})({body:H,navigation:K,kinematics:J,speechModule:ee,chatbot:te,defaultConfig:v,userInput:Ht,stateMachine:Wt,getStateMachineInput:({body:t,camera:e,navigation:n,speechModule:i,userInput:r,chatbot:a})=>{const c=new o(t.pose.position).setY(0),u=new o(e.pose.position).setY(0).clone().subtract(c),p=u.length(),l=s.fromUnitVectors(o.Z_AXIS,u.normalize()).toEulerAngles().heading,h=new s(t.pose.orientation).toEulerAngles().heading,f=Math.abs(x(h,l))<v.guideParams.maxAngularVelocity,d=p<v.guideParams.nearDistance,y=p>v.guideParams.farDistance,g=!!n.destination,w=g&&0===n.path.length,m=g&&1===n.path.length,b=i.speaking;return{destinationChosen:g,destinationReached:w,guideFacingUser:f,guideRequested:r.guideRequested,guideShouldHalt:m,guideSpeaking:b,queryUnderstood:a.queryUnderstood,userAnswered:a.userAnswered,userFar:y,userNear:d}},dependencies:$})}]).default});

2

package.json
{
"name": "viewar-guide",
"version": "0.1.2",
"version": "0.1.3",
"description": "ViewAR Guide",

@@ -5,0 +5,0 @@ "main": "dist/viewar-guide.min.js",

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