I've downloaded the ARKitSample project with the ship from - https://github.com/xamarin/ios-samples/blob/master/ios11/ARKitSample/ARKitSample/GameViewController.cs
After running the code, it works as expected until I tap on the screen, the gesture recognize event is called and it works fine the first time - I get a plane node with a snapshot of the screen. But when this is called the second time, instead of creating a new node at the location of the second tap, it overlaps the initial child node.
The code is a port of the original swift version from the ARKit keynote here - https://youtu.be/LLRweyZ1KpA?t=1380
private void HandleTap(UIGestureRecognizer gestureRecognize)
{
// Get current frame
var currentFrame = SceneView.Session.CurrentFrame;
if (currentFrame == null) return;
// Create an image plane using a snapshot of the view
var imagePlane = SCNPlane.Create(SceneView.Bounds.Width / 6000, SceneView.Bounds.Height / 6000);
imagePlane.FirstMaterial.Diffuse.Contents = SceneView.Snapshot();
imagePlane.FirstMaterial.LightingModelName = SCNLightingModel.Constant;
// Create a plane node and add it to the scene
var planeNode = SCNNode.FromGeometry(imagePlane);
SceneView.Scene.RootNode.AddChildNode(planeNode);
// Set transform of node to be 10cm in front of the camera
var translation = SCNMatrix4.CreateTranslation(0, 0, 0.1f);
var cameraTranslation = currentFrame.Camera.Transform.ToSCNMatrix4();
planeNode.Transform = SCNMatrix4.Mult(cameraTranslation, translation);
}
I've tried this on an iPhone XS and 7, am I missing something obvious?
The sample changes the node's transform for you. If you want to change the node's position, you can try the code below:
var tapLocation = gestureRecognize.LocationInView(SceneView);
var hitTestResults = SceneView.HitTest(tapLocation, ARHitTestResultType.EstimatedHorizontalPlane);
var hitTestResult = hitTestResults.FirstOrDefault();
if (hitTestResult == null) return;
var position = new SCNVector3(hitTestResult.WorldTransform.Column3.X, hitTestResult.WorldTransform.Column3.Y, hitTestResult.WorldTransform.Column3.Z);
planeNode.Position = position;
Related
I'm trying to use Navigation2D.GetSimplePath for my enemy to chase the player once discovered.
using this bit of code I'd expect my enemy to get a Vector2 array containing path info to nav to the player but, my enemy goes in a completely different direction than what I'd expect.
I've tried this:
var from = Enemy.Position;
var to = PlayerRef.Position;
//Nav is my Navigation2d
var paths = Nav.GetSimplePath(from, to);
Enemy.Status.NavPath = new Stack<Vector2>(paths);
for my from and to and but, I've also attempted a lot of conversions
My guess was that my locals need to be converted to the local of the Navigation2d so I tried this:
//Nav is my Navigation2d
var from = Nav.ToLocal(Enemy.GlobalPosition);
var to = Nav.ToLocal(PlayerRef.GlobalPosition);
Since then I've been just bashing my head against the way with converting different global positions to locals of others and using those for the from and to values with similarly off results. I've been looking at this for a really long time (multiple days in my spare time) and I think I'm overlooking something obvious. If possible could anyone provide a second set of eyes and tell me what I've been missing.
Additional note:
This issue only started occurring after my attempt at refactoring. I had this logic all smashed together in a single enemy class till it got to be a pain to maintain. I can provide the original as well.
Original Enemy3.cs Pre-Refactor
My current version of "Chase state" using the FSM pattern:
Enemy using chase state
Here is the full listing of the current file.
using Godot;
using ThemedHorrorJam5.Scripts.Enum;
using ThemedHorrorJam5.Scripts.Patterns.StateMachine;
using ThemedHorrorJam5.Scripts.GDUtils;
using System.Collections.Generic;
using System.Linq;
namespace ThemedHorrorJam5.Entities
{
public class ChaseEnemyState : State
{
private Navigation2D? GetLevelNavigation()
{
var nodeTuples = Enemy.GetTree().GetNavigation2dNodes();
if (nodeTuples.Item1) return nodeTuples.Item2[0];
return null;
}
private Navigation2D Nav { get; set; }
private EnemyV4 Enemy { get; set; }
private PlayerV2 PlayerRef { get; set; }
public ChaseEnemyState(EnemyV4 enemy)
{
this.Name = EnemyBehaviorStates.ChasePlayer.GetDescription();
Enemy = enemy;
(var hasPlayer, PlayerRef) = Enemy.GetTree().GetPlayerNode();
if (!hasPlayer)
{
Logger.Error("Player ref not found on scene tree");
}
(var hasNav, var navNodes) = Enemy.GetTree().GetNavigation2dNodes();
if (hasNav && navNodes != null)
{
Nav = navNodes[0];
}
this.OnEnter += () => this.Logger.Debug("ChaseEnemyState OnEnter called");
this.OnExit += () => this.Logger.Debug("ChaseEnemyState Exit called");
this.OnFrame += ChasePlayer;
}
private void ChasePlayer(float delta)
{
if (Enemy.IsDebugging && Enemy.HasNode("Line2D"))
{
Enemy.Status.Line = (Line2D)Enemy.GetNode("Line2D");
}
if (Nav!=null)
{
//Enemy.Status.Navigation2D = GetLevelNavigation();
//var nav = (Navigation2D)Enemy.Owner.GetNode("Navigation2D");
//Enemy.Status.Navigation2D = (Navigation2D)Enemy.Owner.GetNode("Navigation2D");
//var from = Enemy.Position;
var from = Nav.ToLocal(Enemy.GlobalPosition);
//var from = Enemy.GlobalPosition;
var to = Nav.ToLocal(PlayerRef.GlobalPosition);
//var to = PlayerRef.Position;
//var to = Enemy.Status.Target.Position;
//var to = Enemy.Status.Target.ToLocal(Enemy.Status.Target.Position);
//Enemy.DrawLine(from, to, new Color(255, 255, 255), 3);
//var paths = Enemy.Status.Navigation2D.GetSimplePath(from, to);
var paths = Nav.GetSimplePath(from, to);
Enemy.Status.NavPath = new Stack<Vector2>(paths);
if (Enemy.Status.Line != null)
{
Enemy.Status.Line.Points = Enemy.Status.NavPath.ToArray();
}
var distance_to_walk = Enemy.MoveSpeed * delta;
while (distance_to_walk > 0f && Enemy.Status.NavPath.Count > 0f)
{
var distance_to_next_point = Enemy.Position.DistanceTo(Enemy.Status.NavPath.Peek());
if (distance_to_walk <= distance_to_next_point)
{
var newPosition = Enemy.Position.DirectionTo(Enemy.Status.NavPath.Peek()) * distance_to_walk;
Enemy.Status.VisionManager.UpdateFacingDirection(newPosition.Normalized());
Enemy.Position += newPosition;
}
else
{
var newPosition = Enemy.Status.NavPath.Pop();
Enemy.Status.VisionManager.UpdateFacingDirection(newPosition.Normalized());
if (Enemy.GetSlideCount() > 0)
{
Enemy.HandleMovableObstacleCollision(newPosition);
}
Enemy.Position = newPosition;
}
distance_to_walk -= distance_to_next_point;
}
if (Enemy.IsDebugging)
{
Enemy.Status.DebugLabel.Text =
#$"
|-----------------------------------------------------------
| Enemy Global Position: {Enemy.GlobalPosition}
| Enemy Local Position: {Enemy.Position}
|----------------------------------------------------------
| Target Global Position: {Enemy.Status.Target.GlobalPosition}
| Target Local Position: {Enemy.Status.Target.Position}
|-----------------------------------------------------------
| From {from}
| To {to}
|-----------------------------------------------------------";
}
}
else
{
Logger.Error("Navigation2D not found");
}
if (Enemy.Status.CurrentCoolDownCounter > 0)
{
Enemy.Status.CurrentCoolDownCounter -= delta;
}
}
}
}
Some images to help show what I'm seeing. Player is green and the enemy is blue. From and To correspond to the values of the variables. The yellow is the sight cone for the enemy and is pointing out in the direction the enemy is walking. Target is an alias for player and the red line is a Line2d I've been using to draw the enemy's path.
//Nav is my Navigation2d
var from = Enemy.Position;
var to = PlayerRef.lPosition;
Second attempt results with :
//Nav is my Navigation2d
var from = Nav.ToLocal(Enemy.GlobalPosition);
var to = Nav.ToLocal(PlayerRef.GlobalPosition);
Any insight at all would be helpful as to what I'm doing wrong.
I can only guess this began failing due to the nodes being moved around. Either the order in the scene tree, or the Navigation2D position. I'm guessing that because the code was previously only using local positions. Meaning that their local coordinates used to match, but they no longer do.
Anyway, this code is correct:
var from = Nav.ToLocal(Enemy.GlobalPosition);
var to = Nav.ToLocal(PlayerRef.GlobalPosition);
And this is progress. You had fragile code before (it depended on the coincidence that the local coordinates matched). So this will ultimately be good.
I believe the issue you are facing comes from here:
Enemy.Position.DistanceTo(Enemy.Status.NavPath.Peek());
Which would be be correct if their local coordinates matched, but they don't. So we need to convert the result we get here.
If you are going to work on the enemy local coordinates, you need to convert again:
Enemy.Position.DistanceTo(Enemy.ToLocal(Nav.ToGlobal(Enemy.Status.NavPath.Peek())));
However, I'd suggest to work in global coordinates instead (since you can write to Enemy.GlobalPosition instead of Enemy.Position):
Enemy.GlobalPosition.DistanceTo(Nav.ToGlobal(Enemy.Status.NavPath.Peek()));
You would have to do the same change in other places in your code.
Let us see here:
var newPosition = Enemy.Position.DirectionTo(Enemy.Status.NavPath.Peek()) * distance_to_walk;
Enemy.Status.VisionManager.UpdateFacingDirection(newPosition.Normalized());
Wait, that isn't a position is it? That's a displacement. Don't mix things up.
Well, the question is what coordinates does UpdateFacingDirection expect.
You also have this code:
var newPosition = Enemy.Status.NavPath.Pop();
Enemy.Status.VisionManager.UpdateFacingDirection(newPosition.Normalized());
Sure a position normalized is a direction… From the origin. But which origin? In this case it is the origin of the Navigation2D…
So, I have searched for UpdateFacingDirection in your code. I found a couple implementations which look like this:
public void UpdateFacingDirection(Vector2 newVelocity)
{
this.Rotation = this.Position.AngleToPoint(newVelocity);
}
See? This makes no sense. The code claims to be taking the angle to go from a point to a velocity. I'll believe your instruction and not your naming. In which case UpdateFacingDirection takes a position in local coordinates.
I have also looked for HandleMovableObstacleCollision, and I found this implementation:
public void HandleMovableObstacleCollision(Vector2 motion)
{
this.PrintCaller();
motion = motion.Normalized();
if (GetSlideCollision(0).Collider is PushBlock box && box.CanBePushed)
{
box.Push(PushSpeed * motion);
}
}
So apparently this only cares about the direction of the argument. Now, this is the Push I found:
public void Push(Vector2 velocity)
{
MoveAndSlide(velocity);
}
So that is global coordinates. Meaning that HandleMovableObstacleCollision takes a direction in global coordinates.
Ok, I think I can rewrite:
var from = Nav.ToLocal(Enemy.GlobalPosition);
var to = Nav.ToLocal(PlayerRef.GlobalPosition);
var paths = Nav.GetSimplePath(from, to);
// …
var distance_to_walk = Enemy.MoveSpeed * delta;
while (distance_to_walk > 0f && paths.Count > 0f)
{
var next_point = Nav.ToGlobal(paths.Peek());
var global_direction = Enemy.GlobalPosition.DirectionTo(next_point);
var global_distance = Enemy.GlobalPosition.DistanceTo(next_point);
if (distance_to_walk <= global_distance)
{
var global_displacement = global_direction * distance_to_walk;
var global_new_position = Enemy.GlobalPosition + global_displacement;
var local_new_position = Enemy.ToLocal(global_new_position);
Enemy.Status.VisionManager.UpdateFacingDirection(local_new_position);
Enemy.GlobalPosition = global_new_position;
}
else
{
_ = paths.Pop();
// var global_displacement = next_point - Enemy.GlobalPosition;
var global_new_position = next_point;
var local_new_position = Enemy.ToLocal(global_new_position);
Enemy.Status.VisionManager.UpdateFacingDirection(local_new_position);
if (Enemy.GetSlideCount() > 0)
{
Enemy.HandleMovableObstacleCollision(global_direction);
}
Enemy.GlobalPosition = global_new_position;
}
distance_to_walk -= global_distance;
}
I don't know what are you storing Enemy.Status.NavPath for, if you are calling navigation each frame. So I removed that from the code above. If you do need it, add it back. Similarly, I don't know what to make of Enemy.Status.Line.Points. My guess is that is only for debug, and it should be in local coordinates of the Line2D, if you need it, perhaps you can use the global transforms to convert them (with Xform and XformInv).
About the line:
_ = paths.Pop();
Is a discard. We don't really need a discard. You can simply call Pop:
paths.Pop();
The discard - in this case - is just meant to indicate that we intentionally do not use the returned value. We don't need to, because we already got it from Peek.
By the way, in the second branch I added comment with global_displacement, you will see what you would need that line for below.
There is something else that bothers me:
if (Enemy.GetSlideCount() > 0)
{
Enemy.HandleMovableObstacleCollision(/*…*/);
}
What slide count? In fact, in HandleMovableObstacleCollision I see you use GetSlideCollision, but what slide collisions? If you don't use MoveAndSlide or similar on the Enemy? Instead I see you write Enemy.Position (which I changed to Enemy.GlobalPosition)?
Let us use MoveAndSlide. The catch is that it does not take a displacement, nor a position, it takes a velocity. So we will pass global_displacement / delta (remember that velocity is displacement divided by delta time). So instead of this:
Enemy.GlobalPosition = global_new_position;
Do this:
Enemy.MoveAndSlide(global_displacement / delta);
Also, don't you want to do that before checking Enemy.GetSlideCount()? Well, I don't know. You can finish figuring this out.
I want to move a shape using an animation and am currently using the following code. However this does not result in the object actually moving, it just seems to change the location the object is rendered in, which is expected given we are setting the crossHair.RenterTransform.
EDIT:
To clarify - I am using the animation to simulate what an input file instructions contain and as a result think I can only build the animations in code when parsing the input files. I could be wrong about this but can't see how one could do this in XAML. The input file format is not in XAML.
Because there are a number of sequential moves contained in the input file I an currently using the shapes current position as the start point for the next animation, however this does not work because it seems the animation is not actually moving the shape.
As a work around I am now changing the shapes actual position in the animations completion handler. This seems to be working.
So the question remains as to how can I use the same transform to actually move the shape rather than simply rendering it in a different position ?
private Storyboard MoveCrossHairToPoint(double x, double y)
{
// Adjust for crosshair size so its centered on the x
double xPos = x;
double yPos = y;
double xStart = Canvas.GetLeft(crossHair)+crossHair.Width/2;
double yStart = Canvas.GetTop(crossHair)+crossHair.Height/2;
// Create a NameScope for the page so that
// we can use Storyboards.
NameScope.SetNameScope(this, new NameScope());
// Create a MatrixTransform. This transform
// will be used to move the crossHair.
MatrixTransform crossHairMatrixTransform = new MatrixTransform();
crossHair.RenderTransform = crossHairMatrixTransform;
// Register the transform's name with the page
// so that it can be targeted by a Storyboard.
this.RegisterName("MoveCrossHairMatrixTransform", crossHairMatrixTransform);
// Create the animation path.
PathGeometry animationPath = new PathGeometry();
PathFigure pFigure = new PathFigure();
pFigure.StartPoint = new Point(xStart, yStart);
LineSegment lineSegment = new LineSegment(new Point(x, y),true);
pFigure.Segments.Add(lineSegment);
animationPath.Figures.Add(pFigure);
// Create a path to follow
Path path = new Path();
path.Data = animationPath;
path.Stroke = System.Windows.Media.Brushes.Green;
this.bedCanvas.Children.Add(path);
// Freeze the PathGeometry for performance benefits.
animationPath.Freeze();
// Create a MatrixAnimationUsingPath to move the
// button along the path by animating
// its MatrixTransform.
MatrixAnimationUsingPath matrixAnimation =
new MatrixAnimationUsingPath();
matrixAnimation.PathGeometry = animationPath;
double time = GetTimeForVelocityOverPath(animationPath, this.velocityMove);
matrixAnimation.Duration = TimeSpan.FromSeconds(time);
//matrixAnimation.RepeatBehavior = RepeatBehavior.;
// Set the animation's DoesRotateWithTangent property
// to true so that rotates the rectangle in addition
// to moving it.
matrixAnimation.DoesRotateWithTangent = false;
// Set the animation to target the Matrix property
// of the MatrixTransform named "ButtonMatrixTransform".
Storyboard.SetTargetName(matrixAnimation, "MoveCrossHairMatrixTransform");
Storyboard.SetTargetProperty(matrixAnimation,
new PropertyPath(MatrixTransform.MatrixProperty));
// Create a Storyboard to contain and apply the animation.
Storyboard pathAnimationStoryboard = new Storyboard();
pathAnimationStoryboard.Children.Add(matrixAnimation);
return pathAnimationStoryboard;
}
I'm using ilnumerics with C# on a simple WindowsFormsApplication and created some LinePlots in a PlotCube on an ILPanel. Like in:
How to find the 3D coordinates of a surface from the click location of the mouse on the ILNumerics surface plots?
i tried to get the translated coordinates while clicking into the PlotCube to create something similar to the data tips at MATLAB.
Instead of a ILSurface I'm using ILLinePlot and my x-Axis is of logarithmic scale.
So I adapted the method mentioned at the above link to my setting.
My problem is that I only get correct coordinates when i am clicking exactly at the LinePlot!
When clicking right next to the line or anywhere else at the PlotCube the above MouseClick method runs into a NullReferenceException.
My idea for that problem was not to use the MouseClick target to get the transformations if i didn't hit the LinePlot but to set the group to the LinePlot like as if I had clicked on it (see at my example).
But although I now get the same groups in the while-loop and no Exception debugging shows that the transformation matrices of the PlotsData group and the PlotCubeScale group differ in both cases.
If I don't hit the LinePlot all transformation matrices are just the identities.
Here comes my short example:
private void ilPanel1_Load(object sender, EventArgs e)
{
ILArray<double> A = new Double[,] {{1,4,0},{10,12,0},{100,10,0},{1000,18,0},{10000,15,0}};
var scene = new ILScene() {
new ILPlotCube(twoDMode: true){
new ILLinePlot(ILMath.tosingle(A))
}
};
scene.First<ILPlotCube>().ScaleModes.XAxisScale = AxisScale.Logarithmic;
scene.First<ILPlotCube>().MouseEnter += (_s, _a) =>
{
if (!_a.DirectionUp)
{
//onplot is a global flag which is true if the mouse is over the LinePlot
Text = "On Plot - Target: " + _a.Target.ToString();
onplot = true;
}
};
scene.First<ILPlotCube>().MouseLeave += (_s, _a) =>
{
if (!_a.DirectionUp)
{
Text = "Off Plot - Target: " + _a.Target.ToString();
onplot = false;
}
};
scene.First<ILPlotCube>().MouseClick += (s, arg) =>
{
if (!arg.DirectionUp)
return;
var group = arg.Target.Parent;
// *new part: group holds my LinePlot if I clicked on it
// else it holds the PlotCube
if (!onplot)
{
// so I search the LinePlot at set group to it
foreach (ILLineStrip strip in scene.Find<ILLineStrip>())
{
if (strip.Tag == "LinePlotLine")
{
group = strip.Parent;
}
}
}
if (group != null)
{
// walk up to the next camera node
Matrix4 trans = group.Transform;
while (!(group is ILCamera) && group != null)
{
group = group.Parent;
// collect all nodes on the path up
trans = group.Transform * trans;
}
if (group != null && (group is ILCamera))
{
// convert args.LocationF to world coords
// The Z coord is not provided by the mouse! -> choose arbitrary value
var pos = new Vector3(arg.LocationF.X * 2 - 1, arg.LocationF.Y * -2 + 1, 0);
// invert the matrix.
trans = Matrix4.Invert(trans);
// trans now converts from the world coord system (at the camera) to
// the local coord system in the 'target' group node (surface).
// In order to transform the mouse (viewport) position, we
// left multiply the transformation matrix.
pos = trans * pos;
// here I take care of the logarithmic scale of the xAxis
pos.X = (float)ILMath.pow(10.0, pos.X);
// view result in the window title
Text = "Model Position: " + pos.ToString();
}
}
};
ilPanel1.Scene = scene;
}
Why do the group.Transform-matrices differ depending on my clicking position? The while-loop is exactly the same in both cases.
I hope that anyone can understand my problem. Although searching for weeks I didn't find any answer or different ways to reach my goal which is just to show the user the Coordinates of the Points on the line where he is clicking.
Thank you very much in advance for any help.
One work around is to get the lineplot node from the mouse handler's target rather than from the scene directly. That way we always get the right transforms. Replace your logic of identifying the lineplot with the following
ILGroup plotcubeGroup = e.Target as ILGroup;
ILGroup group = plotcubeGroup.Children.Where(item => item.Tag == "LinePlot").First() as ILGroup;
if(group != null)
{
// continue with same logic as above
}
Hope it helps.
I am using the A* pathfinding algorithm taken from here http://arongranberg.com/astar/docs/ and I am trying to make an object move from a random point to another random point in a loop system in unity.This is the code used to move the object: I tried to put the points into an array but it didnt work. The author says that If I want additional behaviour after the AI reached its destination I should write the code in the OnTargetReached() method, but I am not sure exactly how to. If you've got any ideas, even the smallest would be very helpful.
public virtual void SearchPath () {
//if (target == null)
//{ Debug.LogError ("Target is null, aborting all search"); canSearch = false; return; }
lastRepath = Time.time;
//This is where we should search to
//Vector3 [] position = new Vector3[2];
//position[0] = new Vector3(Random.Range(-2,-7), 0, Random.Range(21,26));
//position[1] = new Vector3(Random.Range(19,23), 0, Random.Range (28,31));
//position[2] =
canSearchAgain = false;
//Alternative way of requesting the path
//Path p = PathPool<Path>.GetPath().Setup(GetFeetPosition(),targetPoint,null);
//seeker.StartPath (p);
//We should search from the current position
seeker.StartPath (GetFeetPosition(),targetPosition);
}
public virtual void OnTargetReached () {
//End of path has been reached
//If you want custom logic for when the AI has reached it's destination
//add it here
//You can also create a new script which inherits from this one
//and override the function in that script
//Vector3 new_targetPosition = new Vector3(Random.Range(19,23), 0, Random.Range (28,31));
//Vector3 new_targetPosition = new Vector3(19,0,28);
seeker.StartPath (GetFeetPosition(),new_targetPosition);
}
stick a bunch of nodes in your scene (just empty unity objects)
name them node1,2,3,4,5 make your loop / path and number them in order.
Make an pathManager script that has a public transform[] nodeLoop; array and drag your nodes onto the array in order.
Now you have a list of node/postions.
Now jsut hook it up to your existing OnTargetReached()
make a function that just gets the next node position...
something like this
void OnTargetReached ()
{
new_targetPosition = pathManager.m.getNextPathPoint()
}
pathmanager has something like this...
int pathPoint=0;
Vector3 getNextPathPoint()
{
pathPoint++;
if(pathPoint >= nodeLoop.length)
pathPoint=0;
return nodeLoop[pathPoint];
}
sorry for the hasty pseudocode, but you should get the idea
I'm looking for a way to transofrm given points that are relative to a Visual to Points on the screen.
I found this solution:
http://social.msdn.microsoft.com/Forums/vstudio/en-US/b327c0bc-d27e-44fe-b833-c7db3400d632/how-to-get-control-location-in-screen-coordinate-system
I can't understand the different beween the pointRoot and the pointClient as they seem to be equal all the time:
// [...]
// Translate the point from the visual to the root.
GeneralTransform transformToRoot = relativeTo.TransformToAncestor(root);
Point pointRoot = transformToRoot.Transform(point);
// Transform the point from the root to client coordinates.
Matrix m = Matrix.Identity;
Transform transform = VisualTreeHelper.GetTransform(root);
if (transform != null)
m = Matrix.Multiply(m, transform.Value);
Vector offset = VisualTreeHelper.GetOffset(root);
m.Translate(offset.X, offset.Y);
Point pointClient = m.Transform(pointRoot);
// [...]
(for the full code click on the link)
It seems that the VisualTreeHelper.GetOffset(root) tries to get the transform of the window...
Assuming that your Visual comes from a Button control... are you looking for something like this?:
Point locationFromWindow = button1.TranslatePoint(new Point(0, 0), this);
Point locationFromScreen = button1.PointToScreen(locationFromWindow);
Note: these are both methods of the Visual class, so you can also call them from your Visual directly.