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lethanhsonvsp
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Assets/dobot/InputSystem_Actions.cs
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470
Assets/dobot/InputSystem_Actions.cs
Normal file
@@ -0,0 +1,470 @@
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// This code was auto-generated by com.unity.inputsystem:InputActionCodeGenerator
|
||||
// version 1.13.0
|
||||
// from Assets/dobot/InputSystem_Actions.inputactions
|
||||
//
|
||||
// Changes to this file may cause incorrect behavior and will be lost if
|
||||
// the code is regenerated.
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine.InputSystem;
|
||||
using UnityEngine.InputSystem.Utilities;
|
||||
|
||||
/// <summary>
|
||||
/// Provides programmatic access to <see cref="InputActionAsset" />, <see cref="InputActionMap" />, <see cref="InputAction" /> and <see cref="InputControlScheme" /> instances defined in asset "Assets/dobot/InputSystem_Actions.inputactions".
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// This class is source generated and any manual edits will be discarded if the associated asset is reimported or modified.
|
||||
/// </remarks>
|
||||
/// <example>
|
||||
/// <code>
|
||||
/// using namespace UnityEngine;
|
||||
/// using UnityEngine.InputSystem;
|
||||
///
|
||||
/// // Example of using an InputActionMap named "Player" from a UnityEngine.MonoBehaviour implementing callback interface.
|
||||
/// public class Example : MonoBehaviour, MyActions.IPlayerActions
|
||||
/// {
|
||||
/// private MyActions_Actions m_Actions; // Source code representation of asset.
|
||||
/// private MyActions_Actions.PlayerActions m_Player; // Source code representation of action map.
|
||||
///
|
||||
/// void Awake()
|
||||
/// {
|
||||
/// m_Actions = new MyActions_Actions(); // Create asset object.
|
||||
/// m_Player = m_Actions.Player; // Extract action map object.
|
||||
/// m_Player.AddCallbacks(this); // Register callback interface IPlayerActions.
|
||||
/// }
|
||||
///
|
||||
/// void OnDestroy()
|
||||
/// {
|
||||
/// m_Actions.Dispose(); // Destroy asset object.
|
||||
/// }
|
||||
///
|
||||
/// void OnEnable()
|
||||
/// {
|
||||
/// m_Player.Enable(); // Enable all actions within map.
|
||||
/// }
|
||||
///
|
||||
/// void OnDisable()
|
||||
/// {
|
||||
/// m_Player.Disable(); // Disable all actions within map.
|
||||
/// }
|
||||
///
|
||||
/// #region Interface implementation of MyActions.IPlayerActions
|
||||
///
|
||||
/// // Invoked when "Move" action is either started, performed or canceled.
|
||||
/// public void OnMove(InputAction.CallbackContext context)
|
||||
/// {
|
||||
/// Debug.Log($"OnMove: {context.ReadValue<Vector2>()}");
|
||||
/// }
|
||||
///
|
||||
/// // Invoked when "Attack" action is either started, performed or canceled.
|
||||
/// public void OnAttack(InputAction.CallbackContext context)
|
||||
/// {
|
||||
/// Debug.Log($"OnAttack: {context.ReadValue<float>()}");
|
||||
/// }
|
||||
///
|
||||
/// #endregion
|
||||
/// }
|
||||
/// </code>
|
||||
/// </example>
|
||||
public partial class @InputSystem_Actions: IInputActionCollection2, IDisposable
|
||||
{
|
||||
/// <summary>
|
||||
/// Provides access to the underlying asset instance.
|
||||
/// </summary>
|
||||
public InputActionAsset asset { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Constructs a new instance.
|
||||
/// </summary>
|
||||
public @InputSystem_Actions()
|
||||
{
|
||||
asset = InputActionAsset.FromJson(@"{
|
||||
""name"": ""InputSystem_Actions"",
|
||||
""maps"": [
|
||||
{
|
||||
""name"": ""play"",
|
||||
""id"": ""4e681ba2-2b95-427a-9fb6-84cf1284697e"",
|
||||
""actions"": [
|
||||
{
|
||||
""name"": ""New action"",
|
||||
""type"": ""Button"",
|
||||
""id"": ""7ae1680e-9030-455a-9a08-4ee29d3fd38c"",
|
||||
""expectedControlType"": """",
|
||||
""processors"": """",
|
||||
""interactions"": """",
|
||||
""initialStateCheck"": false
|
||||
}
|
||||
],
|
||||
""bindings"": [
|
||||
{
|
||||
""name"": """",
|
||||
""id"": ""f58641c6-1f2a-4370-98b0-b1123626814b"",
|
||||
""path"": ""<Keyboard>/p"",
|
||||
""interactions"": """",
|
||||
""processors"": """",
|
||||
""groups"": """",
|
||||
""action"": ""New action"",
|
||||
""isComposite"": false,
|
||||
""isPartOfComposite"": false
|
||||
},
|
||||
{
|
||||
""name"": """",
|
||||
""id"": ""4f827b1b-cf00-463b-858a-9686ccef1027"",
|
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""path"": ""<Keyboard>/d"",
|
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""interactions"": """",
|
||||
""processors"": """",
|
||||
""groups"": """",
|
||||
""action"": ""New action"",
|
||||
""isComposite"": false,
|
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""isPartOfComposite"": false
|
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},
|
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{
|
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""name"": """",
|
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""id"": ""fe49f098-c0c7-41ab-b67f-4e63344da315"",
|
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""path"": ""<Keyboard>/a"",
|
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""interactions"": """",
|
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""processors"": """",
|
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""groups"": """",
|
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""action"": ""New action"",
|
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""isComposite"": false,
|
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""isPartOfComposite"": false
|
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|
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{
|
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""id"": ""481a17fc-dd51-400d-8925-e6ac596dc816"",
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""path"": ""<Keyboard>/b"",
|
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""interactions"": """",
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|
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""groups"": """",
|
||||
""action"": ""New action"",
|
||||
""isComposite"": false,
|
||||
""isPartOfComposite"": false
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
""controlSchemes"": [
|
||||
{
|
||||
""name"": ""Keyboard&Mouse"",
|
||||
""bindingGroup"": ""Keyboard&Mouse"",
|
||||
""devices"": [
|
||||
{
|
||||
""devicePath"": ""<Keyboard>"",
|
||||
""isOptional"": false,
|
||||
""isOR"": false
|
||||
},
|
||||
{
|
||||
""devicePath"": ""<Mouse>"",
|
||||
""isOptional"": false,
|
||||
""isOR"": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
""name"": ""Gamepad"",
|
||||
""bindingGroup"": ""Gamepad"",
|
||||
""devices"": [
|
||||
{
|
||||
""devicePath"": ""<Gamepad>"",
|
||||
""isOptional"": false,
|
||||
""isOR"": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
""name"": ""Touch"",
|
||||
""bindingGroup"": ""Touch"",
|
||||
""devices"": [
|
||||
{
|
||||
""devicePath"": ""<Touchscreen>"",
|
||||
""isOptional"": false,
|
||||
""isOR"": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
""name"": ""Joystick"",
|
||||
""bindingGroup"": ""Joystick"",
|
||||
""devices"": [
|
||||
{
|
||||
""devicePath"": ""<Joystick>"",
|
||||
""isOptional"": false,
|
||||
""isOR"": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
""name"": ""XR"",
|
||||
""bindingGroup"": ""XR"",
|
||||
""devices"": [
|
||||
{
|
||||
""devicePath"": ""<XRController>"",
|
||||
""isOptional"": false,
|
||||
""isOR"": false
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}");
|
||||
// play
|
||||
m_play = asset.FindActionMap("play", throwIfNotFound: true);
|
||||
m_play_Newaction = m_play.FindAction("New action", throwIfNotFound: true);
|
||||
}
|
||||
|
||||
~@InputSystem_Actions()
|
||||
{
|
||||
UnityEngine.Debug.Assert(!m_play.enabled, "This will cause a leak and performance issues, InputSystem_Actions.play.Disable() has not been called.");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Destroys this asset and all associated <see cref="InputAction"/> instances.
|
||||
/// </summary>
|
||||
public void Dispose()
|
||||
{
|
||||
UnityEngine.Object.Destroy(asset);
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.bindingMask" />
|
||||
public InputBinding? bindingMask
|
||||
{
|
||||
get => asset.bindingMask;
|
||||
set => asset.bindingMask = value;
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.devices" />
|
||||
public ReadOnlyArray<InputDevice>? devices
|
||||
{
|
||||
get => asset.devices;
|
||||
set => asset.devices = value;
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.controlSchemes" />
|
||||
public ReadOnlyArray<InputControlScheme> controlSchemes => asset.controlSchemes;
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.Contains(InputAction)" />
|
||||
public bool Contains(InputAction action)
|
||||
{
|
||||
return asset.Contains(action);
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.GetEnumerator()" />
|
||||
public IEnumerator<InputAction> GetEnumerator()
|
||||
{
|
||||
return asset.GetEnumerator();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="IEnumerable.GetEnumerator()" />
|
||||
IEnumerator IEnumerable.GetEnumerator()
|
||||
{
|
||||
return GetEnumerator();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.Enable()" />
|
||||
public void Enable()
|
||||
{
|
||||
asset.Enable();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.Disable()" />
|
||||
public void Disable()
|
||||
{
|
||||
asset.Disable();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.bindings" />
|
||||
public IEnumerable<InputBinding> bindings => asset.bindings;
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.FindAction(string, bool)" />
|
||||
public InputAction FindAction(string actionNameOrId, bool throwIfNotFound = false)
|
||||
{
|
||||
return asset.FindAction(actionNameOrId, throwIfNotFound);
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.FindBinding(InputBinding, out InputAction)" />
|
||||
public int FindBinding(InputBinding bindingMask, out InputAction action)
|
||||
{
|
||||
return asset.FindBinding(bindingMask, out action);
|
||||
}
|
||||
|
||||
// play
|
||||
private readonly InputActionMap m_play;
|
||||
private List<IPlayActions> m_PlayActionsCallbackInterfaces = new List<IPlayActions>();
|
||||
private readonly InputAction m_play_Newaction;
|
||||
/// <summary>
|
||||
/// Provides access to input actions defined in input action map "play".
|
||||
/// </summary>
|
||||
public struct PlayActions
|
||||
{
|
||||
private @InputSystem_Actions m_Wrapper;
|
||||
|
||||
/// <summary>
|
||||
/// Construct a new instance of the input action map wrapper class.
|
||||
/// </summary>
|
||||
public PlayActions(@InputSystem_Actions wrapper) { m_Wrapper = wrapper; }
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action "play/Newaction".
|
||||
/// </summary>
|
||||
public InputAction @Newaction => m_Wrapper.m_play_Newaction;
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action map instance.
|
||||
/// </summary>
|
||||
public InputActionMap Get() { return m_Wrapper.m_play; }
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionMap.Enable()" />
|
||||
public void Enable() { Get().Enable(); }
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionMap.Disable()" />
|
||||
public void Disable() { Get().Disable(); }
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionMap.enabled" />
|
||||
public bool enabled => Get().enabled;
|
||||
/// <summary>
|
||||
/// Implicitly converts an <see ref="PlayActions" /> to an <see ref="InputActionMap" /> instance.
|
||||
/// </summary>
|
||||
public static implicit operator InputActionMap(PlayActions set) { return set.Get(); }
|
||||
/// <summary>
|
||||
/// Adds <see cref="InputAction.started"/>, <see cref="InputAction.performed"/> and <see cref="InputAction.canceled"/> callbacks provided via <param cref="instance" /> on all input actions contained in this map.
|
||||
/// </summary>
|
||||
/// <param name="instance">Callback instance.</param>
|
||||
/// <remarks>
|
||||
/// If <paramref name="instance" /> is <c>null</c> or <paramref name="instance"/> have already been added this method does nothing.
|
||||
/// </remarks>
|
||||
/// <seealso cref="PlayActions" />
|
||||
public void AddCallbacks(IPlayActions instance)
|
||||
{
|
||||
if (instance == null || m_Wrapper.m_PlayActionsCallbackInterfaces.Contains(instance)) return;
|
||||
m_Wrapper.m_PlayActionsCallbackInterfaces.Add(instance);
|
||||
@Newaction.started += instance.OnNewaction;
|
||||
@Newaction.performed += instance.OnNewaction;
|
||||
@Newaction.canceled += instance.OnNewaction;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Removes <see cref="InputAction.started"/>, <see cref="InputAction.performed"/> and <see cref="InputAction.canceled"/> callbacks provided via <param cref="instance" /> on all input actions contained in this map.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// Calling this method when <paramref name="instance" /> have not previously been registered has no side-effects.
|
||||
/// </remarks>
|
||||
/// <seealso cref="PlayActions" />
|
||||
private void UnregisterCallbacks(IPlayActions instance)
|
||||
{
|
||||
@Newaction.started -= instance.OnNewaction;
|
||||
@Newaction.performed -= instance.OnNewaction;
|
||||
@Newaction.canceled -= instance.OnNewaction;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Unregisters <param cref="instance" /> and unregisters all input action callbacks via <see cref="PlayActions.UnregisterCallbacks(IPlayActions)" />.
|
||||
/// </summary>
|
||||
/// <seealso cref="PlayActions.UnregisterCallbacks(IPlayActions)" />
|
||||
public void RemoveCallbacks(IPlayActions instance)
|
||||
{
|
||||
if (m_Wrapper.m_PlayActionsCallbackInterfaces.Remove(instance))
|
||||
UnregisterCallbacks(instance);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Replaces all existing callback instances and previously registered input action callbacks associated with them with callbacks provided via <param cref="instance" />.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// If <paramref name="instance" /> is <c>null</c>, calling this method will only unregister all existing callbacks but not register any new callbacks.
|
||||
/// </remarks>
|
||||
/// <seealso cref="PlayActions.AddCallbacks(IPlayActions)" />
|
||||
/// <seealso cref="PlayActions.RemoveCallbacks(IPlayActions)" />
|
||||
/// <seealso cref="PlayActions.UnregisterCallbacks(IPlayActions)" />
|
||||
public void SetCallbacks(IPlayActions instance)
|
||||
{
|
||||
foreach (var item in m_Wrapper.m_PlayActionsCallbackInterfaces)
|
||||
UnregisterCallbacks(item);
|
||||
m_Wrapper.m_PlayActionsCallbackInterfaces.Clear();
|
||||
AddCallbacks(instance);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// Provides a new <see cref="PlayActions" /> instance referencing this action map.
|
||||
/// </summary>
|
||||
public PlayActions @play => new PlayActions(this);
|
||||
private int m_KeyboardMouseSchemeIndex = -1;
|
||||
/// <summary>
|
||||
/// Provides access to the input control scheme.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputControlScheme" />
|
||||
public InputControlScheme KeyboardMouseScheme
|
||||
{
|
||||
get
|
||||
{
|
||||
if (m_KeyboardMouseSchemeIndex == -1) m_KeyboardMouseSchemeIndex = asset.FindControlSchemeIndex("Keyboard&Mouse");
|
||||
return asset.controlSchemes[m_KeyboardMouseSchemeIndex];
|
||||
}
|
||||
}
|
||||
private int m_GamepadSchemeIndex = -1;
|
||||
/// <summary>
|
||||
/// Provides access to the input control scheme.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputControlScheme" />
|
||||
public InputControlScheme GamepadScheme
|
||||
{
|
||||
get
|
||||
{
|
||||
if (m_GamepadSchemeIndex == -1) m_GamepadSchemeIndex = asset.FindControlSchemeIndex("Gamepad");
|
||||
return asset.controlSchemes[m_GamepadSchemeIndex];
|
||||
}
|
||||
}
|
||||
private int m_TouchSchemeIndex = -1;
|
||||
/// <summary>
|
||||
/// Provides access to the input control scheme.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputControlScheme" />
|
||||
public InputControlScheme TouchScheme
|
||||
{
|
||||
get
|
||||
{
|
||||
if (m_TouchSchemeIndex == -1) m_TouchSchemeIndex = asset.FindControlSchemeIndex("Touch");
|
||||
return asset.controlSchemes[m_TouchSchemeIndex];
|
||||
}
|
||||
}
|
||||
private int m_JoystickSchemeIndex = -1;
|
||||
/// <summary>
|
||||
/// Provides access to the input control scheme.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputControlScheme" />
|
||||
public InputControlScheme JoystickScheme
|
||||
{
|
||||
get
|
||||
{
|
||||
if (m_JoystickSchemeIndex == -1) m_JoystickSchemeIndex = asset.FindControlSchemeIndex("Joystick");
|
||||
return asset.controlSchemes[m_JoystickSchemeIndex];
|
||||
}
|
||||
}
|
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private int m_XRSchemeIndex = -1;
|
||||
/// <summary>
|
||||
/// Provides access to the input control scheme.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputControlScheme" />
|
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public InputControlScheme XRScheme
|
||||
{
|
||||
get
|
||||
{
|
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if (m_XRSchemeIndex == -1) m_XRSchemeIndex = asset.FindControlSchemeIndex("XR");
|
||||
return asset.controlSchemes[m_XRSchemeIndex];
|
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}
|
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}
|
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/// <summary>
|
||||
/// Interface to implement callback methods for all input action callbacks associated with input actions defined by "play" which allows adding and removing callbacks.
|
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/// </summary>
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/// <seealso cref="PlayActions.AddCallbacks(IPlayActions)" />
|
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/// <seealso cref="PlayActions.RemoveCallbacks(IPlayActions)" />
|
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public interface IPlayActions
|
||||
{
|
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/// <summary>
|
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/// Method invoked when associated input action "New action" is either <see cref="UnityEngine.InputSystem.InputAction.started" />, <see cref="UnityEngine.InputSystem.InputAction.performed" /> or <see cref="UnityEngine.InputSystem.InputAction.canceled" />.
|
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/// </summary>
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/// <seealso cref="UnityEngine.InputSystem.InputAction.started" />
|
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/// <seealso cref="UnityEngine.InputSystem.InputAction.performed" />
|
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/// <seealso cref="UnityEngine.InputSystem.InputAction.canceled" />
|
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void OnNewaction(InputAction.CallbackContext context);
|
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}
|
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2
Assets/dobot/InputSystem_Actions.cs.meta
Normal file
2
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Normal file
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128
Assets/dobot/InputSystem_Actions.inputactions
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128
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Normal file
@@ -0,0 +1,128 @@
|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
"name": "Gamepad",
|
||||
"bindingGroup": "Gamepad",
|
||||
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|
||||
{
|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
"isOR": false
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
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|
||||
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|
||||
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|
||||
"name": "XR",
|
||||
"bindingGroup": "XR",
|
||||
"devices": [
|
||||
{
|
||||
"devicePath": "<XRController>",
|
||||
"isOptional": false,
|
||||
"isOR": false
|
||||
}
|
||||
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|
||||
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|
||||
]
|
||||
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|
||||
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|
||||
autoGenerateAvatarMappingIfUnspecified: 1
|
||||
animationType: 2
|
||||
humanoidOversampling: 1
|
||||
avatarSetup: 0
|
||||
addHumanoidExtraRootOnlyWhenUsingAvatar: 1
|
||||
importBlendShapeDeformPercent: 1
|
||||
remapMaterialsIfMaterialImportModeIsNone: 0
|
||||
additionalBone: 0
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
8
Assets/dobot/Sc.meta
Normal file
8
Assets/dobot/Sc.meta
Normal file
@@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: c4d38cea6a16ee043b070e37bb073bc3
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
13
Assets/dobot/Sc/Frame.cs
Normal file
13
Assets/dobot/Sc/Frame.cs
Normal file
@@ -0,0 +1,13 @@
|
||||
using UnityEngine;
|
||||
|
||||
public class Frame
|
||||
{
|
||||
public Vector3 Position;
|
||||
public Quaternion Rotation;
|
||||
|
||||
public Frame(Vector3 p, Quaternion r)
|
||||
{
|
||||
Position = p;
|
||||
Rotation = r;
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/Frame.cs.meta
Normal file
2
Assets/dobot/Sc/Frame.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 5f7d94ca20c2ce04e86338988f5d8668
|
||||
34
Assets/dobot/Sc/MotionPlanner.cs
Normal file
34
Assets/dobot/Sc/MotionPlanner.cs
Normal file
@@ -0,0 +1,34 @@
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class MotionPlanner
|
||||
{
|
||||
public Frame[] GeneratePath(Frame start, Frame end, int steps)
|
||||
{
|
||||
var list = new List<Frame>();
|
||||
if (steps <= 0)
|
||||
{
|
||||
list.Add(new Frame(end.Position, end.Rotation));
|
||||
return list.ToArray();
|
||||
}
|
||||
|
||||
for (int i = 0; i <= steps; i++)
|
||||
{
|
||||
float t = i / (float)steps;
|
||||
Vector3 pos = Vector3.Lerp(start.Position, end.Position, t);
|
||||
Quaternion rot = Quaternion.Slerp(start.Rotation, end.Rotation, t);
|
||||
list.Add(new Frame(pos, rot));
|
||||
}
|
||||
return list.ToArray();
|
||||
}
|
||||
|
||||
|
||||
// Utility: create N repeated frames (hold)
|
||||
public Frame[] RepeatFrame(Frame f, int count)
|
||||
{
|
||||
if (count <= 0) return new Frame[0];
|
||||
Frame[] arr = new Frame[count];
|
||||
for (int i = 0; i < count; i++) arr[i] = new Frame(f.Position, f.Rotation);
|
||||
return arr;
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/MotionPlanner.cs.meta
Normal file
2
Assets/dobot/Sc/MotionPlanner.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 6e04dc4a0c65cf84f8b5e35021278aff
|
||||
77
Assets/dobot/Sc/PickDropHandler.cs
Normal file
77
Assets/dobot/Sc/PickDropHandler.cs
Normal file
@@ -0,0 +1,77 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using UnityEngine;
|
||||
|
||||
public partial class RobotController
|
||||
{
|
||||
public class PickDropHandler
|
||||
{
|
||||
private Animator animator;
|
||||
private AnimationClip animationUClip;
|
||||
private AnimationClip animationDClip;
|
||||
|
||||
public void Init(Animator animator)
|
||||
{
|
||||
this.animator = animator;
|
||||
animator.SetBool("p", false);
|
||||
animator.SetBool("d", false);
|
||||
|
||||
InitializeAnimationClips();
|
||||
}
|
||||
|
||||
private void InitializeAnimationClips()
|
||||
{
|
||||
if (animator == null || animator.runtimeAnimatorController == null)
|
||||
{
|
||||
Debug.LogError("Animator hoặc AnimatorController không được gán!");
|
||||
return;
|
||||
}
|
||||
|
||||
var clips = animator.runtimeAnimatorController.animationClips;
|
||||
foreach (var clip in clips)
|
||||
{
|
||||
if (clip.name.ToLower().Contains("pick"))
|
||||
animationUClip = clip;
|
||||
else if (clip.name.ToLower().Contains("drop"))
|
||||
animationDClip = clip;
|
||||
}
|
||||
}
|
||||
|
||||
public IEnumerator PlayPick(MonoBehaviour runner)
|
||||
{
|
||||
if (runner == null)
|
||||
{
|
||||
throw new ArgumentNullException(nameof(runner));
|
||||
}
|
||||
|
||||
animator.SetBool("p", true);
|
||||
animator.SetBool("d", false);
|
||||
yield return new WaitForSeconds(animationUClip != null ? animationUClip.length : 0f);
|
||||
}
|
||||
|
||||
public IEnumerator PlayDrop(MonoBehaviour runner)
|
||||
{
|
||||
if (runner == null)
|
||||
{
|
||||
throw new ArgumentNullException(nameof(runner));
|
||||
}
|
||||
|
||||
animator.SetBool("p", false);
|
||||
animator.SetBool("d", true);
|
||||
yield return new WaitForSeconds(animationDClip != null ? animationDClip.length : 0f);
|
||||
}
|
||||
|
||||
public void AttachObjToAmr(Transform endEffector, Transform obj)
|
||||
{
|
||||
if (obj == null) return;
|
||||
obj.SetParent(endEffector);
|
||||
obj.SetLocalPositionAndRotation(Vector3.zero, Quaternion.identity);
|
||||
}
|
||||
|
||||
public void DetachObj(Transform obj)
|
||||
{
|
||||
if (obj != null)
|
||||
obj.SetParent(null);
|
||||
}
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/PickDropHandler.cs.meta
Normal file
2
Assets/dobot/Sc/PickDropHandler.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: e92a39b818e889f459c8c282fff6db3f
|
||||
524
Assets/dobot/Sc/Robot2Controller.cs
Normal file
524
Assets/dobot/Sc/Robot2Controller.cs
Normal file
@@ -0,0 +1,524 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Threading.Tasks;
|
||||
using UnityEngine;
|
||||
using static RobotController;
|
||||
|
||||
public partial class Robot2Controller : MonoBehaviour
|
||||
{
|
||||
// ===== Enums =====
|
||||
public enum StepType { Move, Pick, Drop, AttachA, AttachB, DetachA, DetachB, Detach, CustomAction, Delay, LinearMove, MoveJoints, Parallel }
|
||||
public enum GraspMode { Top, Right, Left, Font }
|
||||
public enum EffectorType { A, B } // NEW
|
||||
|
||||
// ===== Nested Classes =====
|
||||
[System.Serializable]
|
||||
public class Step
|
||||
{
|
||||
public StepType Type;
|
||||
public Frame[] Path;
|
||||
public System.Action Action;
|
||||
public float DelayTime;
|
||||
public float[] JointAngles;
|
||||
public float MoveDuration;
|
||||
public List<IEnumerator> ParallelCoroutines;
|
||||
public EffectorType Effector; // NEW
|
||||
|
||||
public Step(StepType type, EffectorType effector = EffectorType.A)
|
||||
{
|
||||
Type = type;
|
||||
Effector = effector;
|
||||
}
|
||||
}
|
||||
|
||||
public class HomeData
|
||||
{
|
||||
public float[] Angles;
|
||||
public Frame FrameAtZero;
|
||||
public Frame FrameAtAngles;
|
||||
|
||||
public HomeData(float[] angles, Frame frameAtZero, Frame frameAtAngles)
|
||||
{
|
||||
Angles = angles;
|
||||
FrameAtZero = frameAtZero;
|
||||
FrameAtAngles = frameAtAngles;
|
||||
}
|
||||
}
|
||||
|
||||
// ===== Public Fields =====
|
||||
[Header("Joints Setup")]
|
||||
public RobotJoint[] Joints;
|
||||
|
||||
[Header("Phoi từ ABB (đang xử lý)")]
|
||||
public Transform currentPhoiFromAbbA;
|
||||
public Transform currentPhoiFromAbbB;
|
||||
|
||||
[Header("Targets")]
|
||||
public Transform target3;
|
||||
public Transform target4;
|
||||
public Transform target42;
|
||||
public Transform linearTarget4;
|
||||
public Transform target51;
|
||||
public Transform target52;
|
||||
public Transform target7;
|
||||
public Transform target8;
|
||||
public float LinearSpeed = 1f;
|
||||
public Transform LinearBase;
|
||||
public Transform LinearHome;
|
||||
|
||||
[Header("Motion Settings")]
|
||||
public int Steps = 80;
|
||||
public float StepDelay = 0.02f;
|
||||
public float LiftHeight = 0.2f;
|
||||
public int HoldFrames1 = 30;
|
||||
[Range(0f, 1f)] public float ApplyAlpha = 0.35f;
|
||||
|
||||
[Header("Animation Handler")]
|
||||
public Animator armAnimator;
|
||||
|
||||
[Header("References")]
|
||||
public RobotController robot1;
|
||||
|
||||
[Header("Phoi Settings (clones)")]
|
||||
public Transform PhoiForBPrefab; // prefab gốc
|
||||
public Transform PhoiForBInstance; // instance của mỗi vòng
|
||||
|
||||
|
||||
[Header("Phoi từ ABB (đang xử lý)")]
|
||||
public Transform currentPhoiFromAbb;
|
||||
|
||||
[Header("End Effectors")]
|
||||
public Transform EndEffectorA;
|
||||
public Transform EndEffectorB;
|
||||
|
||||
// ===== Private Fields =====
|
||||
private SolverCCD solverA;
|
||||
private SolverCCD solverB;
|
||||
private MotionPlanner planner;
|
||||
private List<Step> steps;
|
||||
private int currentStepIndex;
|
||||
private float[] lastAppliedAngles;
|
||||
private PickDropHandler pickDropHandler;
|
||||
|
||||
private readonly Queue<Transform> phoiQueue = new();
|
||||
private readonly Queue<Transform> abbPhoiQueue = new();
|
||||
|
||||
public bool IsPart2Done { get; private set; } = true;
|
||||
|
||||
// ===== Unity Lifecycle =====
|
||||
void Start()
|
||||
{
|
||||
if (Joints.Length == 0 || EndEffectorA == null || EndEffectorB == null || armAnimator == null)
|
||||
{
|
||||
Debug.LogError("Thiếu cấu hình Robot2Controller!");
|
||||
enabled = false;
|
||||
return;
|
||||
}
|
||||
|
||||
foreach (var j in Joints) j.Init();
|
||||
|
||||
solverA = new SolverCCD(Joints, EndEffectorA);
|
||||
solverB = new SolverCCD(Joints, EndEffectorB);
|
||||
planner = new MotionPlanner();
|
||||
|
||||
lastAppliedAngles = ReadCurrentAngles();
|
||||
|
||||
pickDropHandler = new PickDropHandler();
|
||||
pickDropHandler.Init(armAnimator);
|
||||
|
||||
//InitPhoiStack();
|
||||
}
|
||||
|
||||
// ===== Public API =====
|
||||
public IEnumerator RunStepsExternal()
|
||||
{
|
||||
// spawn one phoi B at transfer location for this cycle (so AttachB has something)
|
||||
if (PhoiForBPrefab != null && target4 != null)
|
||||
{
|
||||
Quaternion zRot = Quaternion.Euler(0, 0, 90);
|
||||
currentPhoiFromAbbB = Instantiate(PhoiForBPrefab, target4.position, target4.rotation * zRot);
|
||||
currentPhoiFromAbbB.name = $"PhoiForB_{Time.frameCount}";
|
||||
Debug.Log($"[RunStepsExternal] Spawned {currentPhoiFromAbbB.name}");
|
||||
}
|
||||
|
||||
BuildSteps();
|
||||
currentStepIndex = 0;
|
||||
|
||||
while (currentStepIndex < steps.Count)
|
||||
{
|
||||
Step step = steps[currentStepIndex];
|
||||
|
||||
switch (step.Type)
|
||||
{
|
||||
case StepType.Move:
|
||||
yield return StartCoroutine(DoMove(step.Path, step.Effector));
|
||||
break;
|
||||
case StepType.MoveJoints:
|
||||
yield return StartCoroutine(DoMoveToJoints(step.JointAngles, step.MoveDuration));
|
||||
break;
|
||||
case StepType.Pick:
|
||||
yield return StartCoroutine(pickDropHandler.PlayPick(this));
|
||||
break;
|
||||
case StepType.Drop:
|
||||
yield return StartCoroutine(pickDropHandler.PlayDrop(this));
|
||||
break;
|
||||
case StepType.AttachA:
|
||||
HandleAttachA();
|
||||
break;
|
||||
case StepType.DetachA:
|
||||
HandleDetachA();
|
||||
break;
|
||||
case StepType.AttachB:
|
||||
HandleAttachB();
|
||||
break;
|
||||
case StepType.DetachB:
|
||||
HandleDetachB();
|
||||
break;
|
||||
case StepType.Detach:
|
||||
DA();
|
||||
DB();
|
||||
break;
|
||||
case StepType.CustomAction:
|
||||
step.Action?.Invoke();
|
||||
break;
|
||||
case StepType.Delay:
|
||||
yield return new WaitForSeconds(step.DelayTime);
|
||||
break;
|
||||
case StepType.LinearMove:
|
||||
if (step.Path != null && step.Path.Length > 0)
|
||||
yield return StartCoroutine(DoLinearMove(step.Path[0], step.DelayTime));
|
||||
break;
|
||||
case StepType.Parallel:
|
||||
if (step.ParallelCoroutines != null && step.ParallelCoroutines.Count > 0)
|
||||
yield return StartCoroutine(RunParallel(step.ParallelCoroutines));
|
||||
break;
|
||||
}
|
||||
|
||||
currentStepIndex++;
|
||||
}
|
||||
|
||||
// ✅ Sau khi kết thúc 1 vòng → xóa phôi của A
|
||||
if (currentPhoiFromAbbA != null) { Destroy(currentPhoiFromAbbA.gameObject); currentPhoiFromAbbA = null; }
|
||||
}
|
||||
|
||||
public bool HasPhoiAtTarget3() => abbPhoiQueue.Count > 0;
|
||||
|
||||
public void EnqueuePhoi(Transform phoi)
|
||||
{
|
||||
if (phoi == null)
|
||||
{
|
||||
Debug.LogWarning("EnqueuePhoi nhận null");
|
||||
return;
|
||||
}
|
||||
|
||||
// Snap về target3
|
||||
phoi.SetPositionAndRotation(target3.position, target3.rotation);
|
||||
phoi.SetParent(null);
|
||||
|
||||
abbPhoiQueue.Enqueue(phoi);
|
||||
}
|
||||
|
||||
// ===== Attach / Detach =====
|
||||
void HandleAttachA()
|
||||
{
|
||||
if (abbPhoiQueue.Count == 0) return;
|
||||
|
||||
currentPhoiFromAbbA = abbPhoiQueue.Dequeue();
|
||||
if (currentPhoiFromAbbA == null) return;
|
||||
|
||||
pickDropHandler.AttachObjToAmr(EndEffectorA, currentPhoiFromAbbA);
|
||||
Debug.Log($"[AttachA] {currentPhoiFromAbbA.name} gắn vào EndEffectorA");
|
||||
}
|
||||
|
||||
void HandleDetachA()
|
||||
{
|
||||
if (currentPhoiFromAbbA != null)
|
||||
{
|
||||
pickDropHandler.DetachObj(currentPhoiFromAbbA);
|
||||
Debug.Log($"[DetachA] Tháo {currentPhoiFromAbbA.name} khỏi EndEffectorA");
|
||||
}
|
||||
}
|
||||
void DA()
|
||||
{
|
||||
Destroy(currentPhoiFromAbbA.gameObject); // ❌ Xóa luôn phôi
|
||||
currentPhoiFromAbbA = null;
|
||||
}
|
||||
|
||||
void HandleAttachB()
|
||||
{
|
||||
if (currentPhoiFromAbbB == null)
|
||||
{
|
||||
Debug.LogWarning("[AttachB] currentPhoiFromAbbB NULL");
|
||||
return;
|
||||
}
|
||||
|
||||
pickDropHandler.AttachObjToAmr(EndEffectorB, currentPhoiFromAbbB);
|
||||
Debug.Log($"[AttachB] {currentPhoiFromAbbB.name} gắn vào EndEffectorB");
|
||||
}
|
||||
|
||||
void HandleDetachB()
|
||||
{
|
||||
if (currentPhoiFromAbbB != null)
|
||||
{
|
||||
pickDropHandler.DetachObj(currentPhoiFromAbbB);
|
||||
Debug.Log($"[DetachB] Tháo và Destroy {currentPhoiFromAbbB.name}");
|
||||
}
|
||||
}
|
||||
void DB()
|
||||
{
|
||||
Destroy(currentPhoiFromAbbB.gameObject); // ❌ Xóa luôn phôi
|
||||
currentPhoiFromAbbB = null;
|
||||
}
|
||||
IEnumerator RunParallel(List<IEnumerator> coroutines)
|
||||
{
|
||||
var running = coroutines.Select(StartCoroutine).ToList();
|
||||
foreach (var r in running) yield return r;
|
||||
}
|
||||
|
||||
void BuildSteps()
|
||||
{
|
||||
steps = new List<Step>();
|
||||
|
||||
HomeData homeAtLinearHome = GetHomeAtLinear(LinearHome);
|
||||
HomeData homeAtTarget4 = GetHomeAtLinear(linearTarget4, homeAtLinearHome.Angles);
|
||||
|
||||
Frame t1 = CreateFrameFromTransform(target3, GraspMode.Top);
|
||||
Frame k1 = CreateLiftFrame(t1, LiftHeight, GraspMode.Top);
|
||||
|
||||
Quaternion yOffset = Quaternion.Euler(0, -90, 0);
|
||||
Quaternion yOffsetv = Quaternion.Euler(0, 90, 0);
|
||||
|
||||
Frame t2 = CreateFrameFromTransform(target4, GraspMode.Right, yOffset);
|
||||
Frame t2v = CreateFrameFromTransform(target42, GraspMode.Right, yOffsetv);
|
||||
|
||||
Frame t3 = CreateFrameFromTransform(target7);
|
||||
Frame t4 = CreateFrameFromTransform(target8);
|
||||
Frame k4 = CreateLiftFrame(t4, LiftHeight, GraspMode.Top);
|
||||
|
||||
Frame k2 = CreateLiftFrame(t2, LiftHeight, GraspMode.Right);
|
||||
Frame k2v = CreateLiftFrame(t2v, LiftHeight, GraspMode.Right);
|
||||
|
||||
|
||||
// Về home
|
||||
steps.Add(new Step(StepType.MoveJoints)
|
||||
{
|
||||
JointAngles = CloneAngles(homeAtLinearHome.Angles),
|
||||
MoveDuration = 1f
|
||||
});
|
||||
|
||||
// Pick object
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(new Frame(EndEffectorA.position, EndEffectorA.rotation), k1, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k1, t1, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.RepeatFrame(t1, HoldFrames1) });
|
||||
steps.Add(new Step(StepType.AttachA));
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t1, k1, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.MoveJoints){JointAngles = CloneAngles(homeAtLinearHome.Angles),MoveDuration = 1f});
|
||||
steps.Add(new Step(StepType.LinearMove){Path = new[] { CreateFrameFromTransform(linearTarget4) },DelayTime = 3f});
|
||||
steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(homeAtTarget4.FrameAtZero, k2, Steps).ToArray() });
|
||||
|
||||
steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(k2, t2, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.RepeatFrame(t2, HoldFrames1) });
|
||||
steps.Add(new Step(StepType.AttachB));
|
||||
steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(t2, k2, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move, EffectorType.B) { Path = planner.GeneratePath(k2, homeAtTarget4.FrameAtAngles, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(homeAtTarget4.FrameAtAngles, k2v, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k2v, t2v, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.RepeatFrame(t2v, HoldFrames1) });
|
||||
steps.Add(new Step(StepType.DetachA));
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t2v,k2v, Steps).ToArray() });
|
||||
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k2v, homeAtTarget4.FrameAtAngles, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(homeAtTarget4.FrameAtAngles, t3, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t3,k4, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k4,t4, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.RepeatFrame(t4, HoldFrames1) });
|
||||
steps.Add(new Step(StepType.DetachB));
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t4,k4, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(k4,t3, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Move) { Path = planner.GeneratePath(t3,homeAtTarget4.FrameAtAngles, Steps).ToArray() });
|
||||
steps.Add(new Step(StepType.Detach));
|
||||
|
||||
// Snap lại home
|
||||
steps.Add(new Step(StepType.MoveJoints){ JointAngles = CloneAngles(homeAtLinearHome.Angles), MoveDuration = 1f});
|
||||
|
||||
// Parallel: Linear về + Part1 + Part2
|
||||
steps.Add(new Step(StepType.Parallel)
|
||||
{
|
||||
ParallelCoroutines = new List<IEnumerator> {
|
||||
DoLinearMove(new Frame(LinearHome.position, LinearHome.rotation), 3f),
|
||||
|
||||
Part2Routine()
|
||||
}
|
||||
});
|
||||
|
||||
steps.Add(new Step(StepType.Delay) { DelayTime = 1f });
|
||||
}
|
||||
|
||||
IEnumerator Part1Routine()
|
||||
{
|
||||
if (currentPhoiFromAbb == null) yield break;
|
||||
|
||||
yield return MoveObject(currentPhoiFromAbb, target4, target4, 0f, true);
|
||||
currentPhoiFromAbb = null;
|
||||
}
|
||||
|
||||
IEnumerator Part2Routine()
|
||||
{
|
||||
StartCoroutine(Part1Routine());
|
||||
Task.Delay(1000);
|
||||
IsPart2Done = false;
|
||||
if (phoiQueue.Count == 0) yield break;
|
||||
|
||||
Transform currentPhoi = phoiQueue.Dequeue();
|
||||
currentPhoi.gameObject.SetActive(true);
|
||||
|
||||
yield return MoveObject(currentPhoi, target51, target52, 3f, true);
|
||||
IsPart2Done = true;
|
||||
}
|
||||
|
||||
// ===== Motion Helpers =====
|
||||
public IEnumerator MoveObject(Transform obj, Transform from, Transform to, float duration, bool destroyOnFinish = false)
|
||||
{
|
||||
if (obj == null) yield break;
|
||||
|
||||
from.GetPositionAndRotation(out Vector3 startPos, out Quaternion startRot);
|
||||
float elapsed = 0f;
|
||||
|
||||
while (elapsed < duration)
|
||||
{
|
||||
elapsed += Time.deltaTime;
|
||||
float t = Mathf.Clamp01(elapsed / duration);
|
||||
obj.SetPositionAndRotation(
|
||||
Vector3.Lerp(startPos, to.position, t),
|
||||
Quaternion.Slerp(startRot, to.rotation, t)
|
||||
);
|
||||
yield return null;
|
||||
}
|
||||
|
||||
if (destroyOnFinish)
|
||||
{
|
||||
Destroy(obj.gameObject);
|
||||
}
|
||||
}
|
||||
|
||||
IEnumerator DoMove(Frame[] path, EffectorType effector)
|
||||
{
|
||||
SolverCCD solver = (effector == EffectorType.A) ? solverA : solverB;
|
||||
foreach (var frame in path)
|
||||
{
|
||||
float[] jointValues = solver.SolveIK(frame);
|
||||
for (int j = 0; j < Joints.Length && j < jointValues.Length; j++)
|
||||
{
|
||||
float applied = Mathf.Lerp(lastAppliedAngles[j], jointValues[j], ApplyAlpha);
|
||||
lastAppliedAngles[j] = applied;
|
||||
Joints[j].SetValue(applied);
|
||||
}
|
||||
yield return new WaitForSeconds(StepDelay);
|
||||
}
|
||||
}
|
||||
|
||||
IEnumerator DoMoveToJoints(float[] targetAngles, float duration = 0.75f)
|
||||
{
|
||||
if (targetAngles == null) yield break;
|
||||
|
||||
int frames = Steps;
|
||||
if (duration > 0f) StepDelay = duration / frames;
|
||||
|
||||
float[] startAngles = ReadCurrentAngles();
|
||||
|
||||
for (int f = 0; f < frames; f++)
|
||||
{
|
||||
float t = (float)f / (frames - 1);
|
||||
for (int j = 0; j < Joints.Length; j++)
|
||||
{
|
||||
float angle = Mathf.Lerp(startAngles[j], targetAngles[j], t);
|
||||
Joints[j].SetValue(angle);
|
||||
lastAppliedAngles[j] = angle;
|
||||
}
|
||||
yield return new WaitForSeconds(StepDelay);
|
||||
}
|
||||
}
|
||||
|
||||
IEnumerator DoLinearMove(Frame target, float duration)
|
||||
{
|
||||
if (LinearBase == null) yield break;
|
||||
|
||||
LinearBase.GetPositionAndRotation(out Vector3 startPos, out Quaternion startRot);
|
||||
float elapsed = 0f;
|
||||
while (elapsed < duration)
|
||||
{
|
||||
elapsed += Time.deltaTime;
|
||||
float t = Mathf.Clamp01(elapsed / duration);
|
||||
LinearBase.SetPositionAndRotation(
|
||||
Vector3.Lerp(startPos, target.Position, t),
|
||||
Quaternion.Slerp(startRot, target.Rotation, t)
|
||||
);
|
||||
yield return null;
|
||||
}
|
||||
}
|
||||
|
||||
// ===== Utility Helpers =====
|
||||
HomeData GetHomeAtLinear(Transform linearPose, float[] referenceAngles = null)
|
||||
{
|
||||
if (linearPose == null) return null;
|
||||
|
||||
LinearBase.GetPositionAndRotation(out Vector3 oldPos, out Quaternion oldRot);
|
||||
float[] backupAngles = ReadCurrentAngles();
|
||||
|
||||
LinearBase.SetPositionAndRotation(linearPose.position, linearPose.rotation);
|
||||
|
||||
float[] refAngles = referenceAngles != null ? CloneAngles(referenceAngles) : ReadCurrentAngles();
|
||||
|
||||
for (int i = 0; i < Joints.Length; i++) Joints[i].SetValue(0f);
|
||||
Frame frameAtZero = new(EndEffectorA.position, EndEffectorA.rotation);
|
||||
|
||||
for (int i = 0; i < Joints.Length; i++) Joints[i].SetValue(refAngles[i]);
|
||||
Frame frameAtAngles = new(EndEffectorA.position, EndEffectorA.rotation);
|
||||
|
||||
for (int i = 0; i < Joints.Length; i++) Joints[i].SetValue(backupAngles[i]);
|
||||
LinearBase.SetPositionAndRotation(oldPos, oldRot);
|
||||
|
||||
return new HomeData(refAngles, frameAtZero, frameAtAngles);
|
||||
}
|
||||
|
||||
float[] ReadCurrentAngles()
|
||||
{
|
||||
float[] a = new float[Joints.Length];
|
||||
for (int i = 0; i < Joints.Length; i++) a[i] = Joints[i].GetValue();
|
||||
return a;
|
||||
}
|
||||
|
||||
float[] CloneAngles(float[] src)
|
||||
{
|
||||
if (src == null) return null;
|
||||
var dst = new float[src.Length];
|
||||
System.Array.Copy(src, dst, src.Length);
|
||||
return dst;
|
||||
}
|
||||
|
||||
private Frame CreateLiftFrame(Frame target, float lift, GraspMode _) =>
|
||||
new(target.Position + Vector3.up * lift, target.Rotation);
|
||||
|
||||
Frame CreateFrameFromTransform(Transform t, GraspMode mode, Quaternion extraRotation) =>
|
||||
new(t.position, GetGraspRotation(mode) * extraRotation);
|
||||
|
||||
Frame CreateFrameFromTransform(Transform t, GraspMode mode) =>
|
||||
new(t.position, GetGraspRotation(mode));
|
||||
|
||||
|
||||
Frame CreateFrameFromTransform(Transform t) =>
|
||||
new(t.position, t.rotation);
|
||||
|
||||
|
||||
Quaternion GetGraspRotation(GraspMode mode)
|
||||
{
|
||||
return mode switch
|
||||
{
|
||||
GraspMode.Right => Quaternion.LookRotation(Vector3.up, Vector3.left),
|
||||
GraspMode.Top => Quaternion.LookRotation(Vector3.right, Vector3.up),
|
||||
GraspMode.Left => Quaternion.LookRotation(Vector3.left),
|
||||
_ => Quaternion.identity,
|
||||
};
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/Robot2Controller.cs.meta
Normal file
2
Assets/dobot/Sc/Robot2Controller.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 2e65dfdf8ad7bb34889658e82d54bf64
|
||||
316
Assets/dobot/Sc/RobotController.cs
Normal file
316
Assets/dobot/Sc/RobotController.cs
Normal file
@@ -0,0 +1,316 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using UnityEngine;
|
||||
|
||||
public partial class RobotController : MonoBehaviour
|
||||
{
|
||||
public enum StepType { Move, MoveJoints, Pick, Drop, Attach, Detach, Action, Delay, CustomAction }
|
||||
|
||||
[System.Serializable]
|
||||
public class Step
|
||||
{
|
||||
public StepType Type;
|
||||
public Frame[] Path;
|
||||
public System.Action Action;
|
||||
public float Delay;
|
||||
public float[] JointAngles;
|
||||
public float MoveDuration;
|
||||
|
||||
public Step(StepType type, Frame[] path = null, System.Action action = null, float delay = 0f, float[] jointAngles = null, float moveDuration = 0)
|
||||
{
|
||||
Type = type;
|
||||
Path = path;
|
||||
Action = action;
|
||||
Delay = delay;
|
||||
JointAngles = jointAngles;
|
||||
MoveDuration = moveDuration;
|
||||
}
|
||||
}
|
||||
|
||||
[Header("Joints Setup")]
|
||||
public RobotJoint[] joints;
|
||||
|
||||
[Header("End Effector")]
|
||||
public Transform endEffector;
|
||||
|
||||
[Header("Targets")]
|
||||
public Transform target1;
|
||||
public Transform target2;
|
||||
public Transform target3;
|
||||
public int HoldFrames = 30;
|
||||
|
||||
[Header("Settings")]
|
||||
public int stepsPerMove = 80;
|
||||
public float stepDelay = 0.02f;
|
||||
public float liftHeight = 0.2f;
|
||||
[Range(0f, 1f)] public float applyAlpha = 0.35f;
|
||||
|
||||
[Header("Animation")]
|
||||
public Animator armAnimator;
|
||||
|
||||
[Header("Objects")]
|
||||
public Transform objectPrefab;
|
||||
public Transform currentObject;
|
||||
|
||||
[Header("Stack Settings")]
|
||||
public Transform objectStacktran;
|
||||
public int stackCount = 12;
|
||||
public float stackSpacingY = 0.1f;
|
||||
public float shiftDelay = 3f;
|
||||
public float shiftDuration = 0.5f;
|
||||
|
||||
SolverCCD solver;
|
||||
MotionPlanner planner;
|
||||
PickDropHandler pickDrop;
|
||||
List<Step> steps;
|
||||
float[] lastAngles;
|
||||
|
||||
private readonly List<Transform> objectStack = new();
|
||||
private Transform nextTop;
|
||||
|
||||
public Transform LastStackObject { get; set; } // đối tượng ABB vừa đặt ở target3
|
||||
public System.Action OnCompleted;
|
||||
|
||||
void Awake()
|
||||
{
|
||||
if (joints == null || joints.Length == 0 || endEffector == null)
|
||||
{
|
||||
Debug.LogError("RobotController: Thiếu joints hoặc endEffector!");
|
||||
enabled = false;
|
||||
return;
|
||||
}
|
||||
|
||||
foreach (var j in joints) j.Init();
|
||||
solver = new SolverCCD(joints, endEffector);
|
||||
planner = new MotionPlanner();
|
||||
pickDrop = new PickDropHandler();
|
||||
pickDrop.Init(armAnimator);
|
||||
|
||||
lastAngles = new float[joints.Length];
|
||||
for (int i = 0; i < joints.Length; i++) lastAngles[i] = joints[i].GetValue();
|
||||
|
||||
InitObjectStack();
|
||||
}
|
||||
|
||||
// ========== STACK ==========
|
||||
void InitObjectStack()
|
||||
{
|
||||
if (objectPrefab == null || objectStacktran == null) return;
|
||||
|
||||
objectStack.Clear();
|
||||
objectStacktran.GetPositionAndRotation(out Vector3 basePos, out Quaternion baseRot);
|
||||
for (int i = 0; i < stackCount; i++)
|
||||
{
|
||||
Vector3 pos = basePos + Vector3.up * (stackSpacingY * i);
|
||||
Transform obj = Instantiate(objectPrefab, pos, baseRot, objectStacktran);
|
||||
obj.name = $"StackObject_{i}";
|
||||
objectStack.Add(obj);
|
||||
}
|
||||
nextTop = null;
|
||||
}
|
||||
|
||||
Transform PeekTop() => objectStack.Count > 0 ? objectStack.Last() : null;
|
||||
Transform PopTop()
|
||||
{
|
||||
if (objectStack.Count == 0) return null;
|
||||
var t = objectStack.Last();
|
||||
objectStack.RemoveAt(objectStack.Count - 1);
|
||||
return t;
|
||||
}
|
||||
|
||||
IEnumerator ShiftStackUpAfterDelay()
|
||||
{
|
||||
yield return new WaitForSeconds(shiftDelay);
|
||||
foreach (var obj in objectStack)
|
||||
{
|
||||
Vector3 targetPos = obj.position + Vector3.up * stackSpacingY;
|
||||
StartCoroutine(MoveToPosition(obj, targetPos, shiftDuration));
|
||||
}
|
||||
yield return new WaitForSeconds(shiftDuration);
|
||||
|
||||
if (currentObject == null) currentObject = PeekTop();
|
||||
else nextTop = PeekTop();
|
||||
}
|
||||
|
||||
IEnumerator MoveToPosition(Transform obj, Vector3 target, float duration)
|
||||
{
|
||||
if (obj == null) yield break;
|
||||
Vector3 start = obj.position;
|
||||
float elapsed = 0f;
|
||||
|
||||
while (elapsed < duration)
|
||||
{
|
||||
elapsed += Time.deltaTime;
|
||||
float t = Mathf.Clamp01(elapsed / duration);
|
||||
obj.position = Vector3.Lerp(start, target, t);
|
||||
yield return null;
|
||||
}
|
||||
obj.position = target;
|
||||
}
|
||||
|
||||
// ========== MAIN FLOW ==========
|
||||
public IEnumerator RunStepsExternal()
|
||||
{
|
||||
BuildSteps();
|
||||
|
||||
foreach (var step in steps)
|
||||
{
|
||||
switch (step.Type)
|
||||
{
|
||||
case StepType.Move:
|
||||
if (step.Path != null) yield return DoMove(step.Path);
|
||||
break;
|
||||
|
||||
case StepType.MoveJoints:
|
||||
yield return StartCoroutine(DoMoveToJoints(step.JointAngles, step.MoveDuration));
|
||||
break;
|
||||
|
||||
case StepType.Pick:
|
||||
yield return pickDrop.PlayPick(this);
|
||||
break;
|
||||
|
||||
case StepType.Drop:
|
||||
yield return pickDrop.PlayDrop(this);
|
||||
break;
|
||||
|
||||
case StepType.Attach:
|
||||
if (currentObject == null)
|
||||
{
|
||||
currentObject = PopTop();
|
||||
if (currentObject == null) break;
|
||||
}
|
||||
pickDrop.AttachObjToAmr(endEffector, currentObject);
|
||||
if (objectStack.Count > 0) StartCoroutine(ShiftStackUpAfterDelay());
|
||||
break;
|
||||
|
||||
case StepType.Detach:
|
||||
pickDrop.DetachObj(currentObject);
|
||||
if (currentObject != null) currentObject.rotation = Quaternion.identity;
|
||||
break;
|
||||
|
||||
case StepType.Action:
|
||||
case StepType.CustomAction:
|
||||
step.Action?.Invoke();
|
||||
break;
|
||||
|
||||
case StepType.Delay:
|
||||
yield return new WaitForSeconds(step.Delay);
|
||||
break;
|
||||
}
|
||||
}
|
||||
OnCompleted?.Invoke();
|
||||
}
|
||||
|
||||
void BuildSteps()
|
||||
{
|
||||
steps = new List<Step>();
|
||||
|
||||
float[] homeAngles = GetHomeJointAngles();
|
||||
|
||||
Frame t1 = new(target1.position, target1.rotation);
|
||||
Frame t2 = new(target2.position, target2.rotation);
|
||||
Frame lift1 = LiftFrame(t1, liftHeight);
|
||||
Frame lift2 = LiftFrame(t2, liftHeight);
|
||||
|
||||
// Về home = dùng MoveJoints
|
||||
steps.Add(new Step(StepType.MoveJoints, jointAngles: homeAngles));
|
||||
|
||||
// Pick từ target1
|
||||
steps.Add(new Step(StepType.Move, planner.GeneratePath(new Frame(endEffector.position, endEffector.rotation), lift1, stepsPerMove).ToArray()));
|
||||
steps.Add(new Step(StepType.Move, planner.GeneratePath(lift1, t1, stepsPerMove).ToArray()));
|
||||
steps.Add(new Step(StepType.Attach));
|
||||
steps.Add(new Step(StepType.Move, planner.RepeatFrame(t1, HoldFrames)));
|
||||
steps.Add(new Step(StepType.Move, planner.GeneratePath(t1, lift1, stepsPerMove).ToArray()));
|
||||
steps.Add(new Step(StepType.MoveJoints, jointAngles: homeAngles) { MoveDuration = 1f });
|
||||
|
||||
// Place tại target2
|
||||
steps.Add(new Step(StepType.Move, planner.GeneratePath(new Frame(endEffector.position, endEffector.rotation), lift2, stepsPerMove).ToArray()));
|
||||
steps.Add(new Step(StepType.Move, planner.GeneratePath(lift2, t2, stepsPerMove).ToArray()));
|
||||
steps.Add(new Step(StepType.Detach));
|
||||
steps.Add(new Step(StepType.Move, planner.RepeatFrame(t2, HoldFrames)));
|
||||
|
||||
// Animate rơi tự do (rơi xuống target3)
|
||||
steps.Add(new Step(StepType.CustomAction, action: () => { StartCoroutine(MoveObject(target2, target3, 0.2f)); }) { MoveDuration = 0.75f });
|
||||
|
||||
// Quay về home
|
||||
steps.Add(new Step(StepType.Move, planner.GeneratePath(t2, lift2, stepsPerMove).ToArray()));
|
||||
steps.Add(new Step(StepType.MoveJoints, jointAngles: homeAngles) { MoveDuration = 1f });
|
||||
}
|
||||
|
||||
// ========== MOTION ==========
|
||||
IEnumerator DoMove(Frame[] path)
|
||||
{
|
||||
foreach (var f in path)
|
||||
{
|
||||
float[] solved = solver.SolveIK(f);
|
||||
for (int i = 0; i < joints.Length && i < solved.Length; i++)
|
||||
{
|
||||
float a = Mathf.Lerp(lastAngles[i], solved[i], applyAlpha);
|
||||
lastAngles[i] = a;
|
||||
joints[i].SetValue(a);
|
||||
}
|
||||
yield return new WaitForSeconds(stepDelay);
|
||||
}
|
||||
}
|
||||
|
||||
IEnumerator DoMoveToJoints(float[] targetAngles, float duration = 0.75f)
|
||||
{
|
||||
if (targetAngles == null) yield break;
|
||||
|
||||
int frames = stepsPerMove;
|
||||
if (duration > 0f) // nếu truyền duration, thì tính lại StepDelay
|
||||
stepDelay = duration / frames;
|
||||
|
||||
float[] startAngles = new float[joints.Length];
|
||||
for (int i = 0; i < joints.Length; i++) startAngles[i] = joints[i].GetValue();
|
||||
|
||||
for (int f = 0; f < frames; f++)
|
||||
{
|
||||
float t = (float)f / (frames - 1);
|
||||
for (int j = 0; j < joints.Length; j++)
|
||||
{
|
||||
float angle = Mathf.Lerp(startAngles[j], targetAngles[j], t);
|
||||
joints[j].SetValue(angle);
|
||||
lastAngles[j] = angle;
|
||||
}
|
||||
yield return new WaitForSeconds(stepDelay);
|
||||
}
|
||||
}
|
||||
float[] GetHomeJointAngles()
|
||||
{
|
||||
float[] home = new float[joints.Length];
|
||||
for (int i = 0; i < joints.Length; i++) home[i] = joints[i].GetValue();
|
||||
return home;
|
||||
}
|
||||
|
||||
Frame LiftFrame(Frame f, float lift)
|
||||
{
|
||||
return new Frame(new Vector3(f.Position.x, f.Position.y + lift, f.Position.z), f.Rotation);
|
||||
}
|
||||
|
||||
// ========== DROP ANIMATION ==========
|
||||
public IEnumerator MoveObject(Transform from, Transform to, float duration)
|
||||
{
|
||||
if (currentObject == null) yield break;
|
||||
|
||||
from.GetPositionAndRotation(out Vector3 startPos, out Quaternion startRot);
|
||||
float elapsed = 0f;
|
||||
|
||||
while (elapsed < duration)
|
||||
{
|
||||
elapsed += Time.deltaTime;
|
||||
float t = Mathf.Clamp01(elapsed / duration);
|
||||
currentObject.SetPositionAndRotation(
|
||||
Vector3.Lerp(startPos, to.position, t),
|
||||
Quaternion.Slerp(startRot, to.rotation, t)
|
||||
);
|
||||
yield return null;
|
||||
}
|
||||
|
||||
// Sau khi thả xong tại target3
|
||||
LastStackObject = currentObject;
|
||||
// thông tin góc lastStackObject Rotation = Quaternion.identity;
|
||||
currentObject = null;
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/RobotController.cs.meta
Normal file
2
Assets/dobot/Sc/RobotController.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 41375b751e0596646809ddac3f41adac
|
||||
49
Assets/dobot/Sc/RobotJoint.cs
Normal file
49
Assets/dobot/Sc/RobotJoint.cs
Normal file
@@ -0,0 +1,49 @@
|
||||
using UnityEngine;
|
||||
|
||||
[System.Serializable]
|
||||
public class RobotJoint
|
||||
{
|
||||
public Transform JointTransform;
|
||||
|
||||
public enum RotationAxis { X, Y, Z }
|
||||
public RotationAxis Axis = RotationAxis.Y;
|
||||
|
||||
public float MinLimit = -180f;
|
||||
public float MaxLimit = 180f;
|
||||
|
||||
[HideInInspector] public float CurrentValue = 0f; // degrees
|
||||
|
||||
// Lưu offset ban đầu
|
||||
private Quaternion baseRotation;
|
||||
|
||||
public void Init()
|
||||
{
|
||||
if (JointTransform != null)
|
||||
baseRotation = JointTransform.localRotation;
|
||||
else
|
||||
Debug.LogWarning("JointTransform is not assigned in RobotJoint!");
|
||||
}
|
||||
|
||||
public void SetValue(float angleDeg)
|
||||
{
|
||||
if (JointTransform == null) return;
|
||||
|
||||
CurrentValue = Mathf.Clamp(angleDeg, MinLimit, MaxLimit);
|
||||
|
||||
Vector3 axisVector = Vector3.zero;
|
||||
switch (Axis)
|
||||
{
|
||||
case RotationAxis.X: axisVector = Vector3.right; break;
|
||||
case RotationAxis.Y: axisVector = Vector3.up; break;
|
||||
case RotationAxis.Z: axisVector = Vector3.forward; break;
|
||||
}
|
||||
|
||||
// rotation = baseRotation * xoay quanh trục
|
||||
JointTransform.localRotation = baseRotation * Quaternion.AngleAxis(CurrentValue, axisVector);
|
||||
}
|
||||
|
||||
public float GetValue()
|
||||
{
|
||||
return CurrentValue;
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/RobotJoint.cs.meta
Normal file
2
Assets/dobot/Sc/RobotJoint.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: da2181db2848d184baf7a6958cf097ff
|
||||
44
Assets/dobot/Sc/RobotManager.cs
Normal file
44
Assets/dobot/Sc/RobotManager.cs
Normal file
@@ -0,0 +1,44 @@
|
||||
using System.Collections;
|
||||
using UnityEngine;
|
||||
|
||||
public class RobotManager : MonoBehaviour
|
||||
{
|
||||
public RobotController abb;
|
||||
public Robot2Controller yas;
|
||||
|
||||
void Start()
|
||||
{
|
||||
StartCoroutine(AbbLoop());
|
||||
StartCoroutine(YasLoop());
|
||||
}
|
||||
bool IsAtTarget3()
|
||||
{
|
||||
return yas.HasPhoiAtTarget3();
|
||||
}
|
||||
IEnumerator AbbLoop()
|
||||
{
|
||||
|
||||
for (int i = 0; i < abb.stackCount; i++)
|
||||
{
|
||||
yield return new WaitUntil(() => !IsAtTarget3());
|
||||
yield return StartCoroutine(abb.RunStepsExternal());
|
||||
|
||||
// ✅ Sau khi ABB đặt phôi, đưa phôi vào queue của YAS
|
||||
yas.EnqueuePhoi(abb.LastStackObject);
|
||||
}
|
||||
Debug.Log("ABB hoàn thành tất cả vòng");
|
||||
}
|
||||
|
||||
IEnumerator YasLoop()
|
||||
{
|
||||
|
||||
for (int i = 0; i < abb.stackCount; i++)
|
||||
{
|
||||
// Đợi tới khi có phôi ở target3
|
||||
yield return new WaitUntil(() => IsAtTarget3());
|
||||
yield return StartCoroutine(yas.RunStepsExternal());
|
||||
}
|
||||
|
||||
Debug.Log("YAS hoàn thành tất cả vòng");
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/RobotManager.cs.meta
Normal file
2
Assets/dobot/Sc/RobotManager.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 3aab6c4444590a34aac534f274340fd0
|
||||
125
Assets/dobot/Sc/SolverCCD.cs
Normal file
125
Assets/dobot/Sc/SolverCCD.cs
Normal file
@@ -0,0 +1,125 @@
|
||||
using UnityEngine;
|
||||
|
||||
public class SolverCCD
|
||||
{
|
||||
public RobotJoint[] Joints;
|
||||
public Transform EndEffector;
|
||||
|
||||
public int MaxIterations = 40;
|
||||
public float PositionTolerance = 0.001f;
|
||||
public float OrientationToleranceDeg = 3f;
|
||||
|
||||
public float MaxStepDegrees = 2f;
|
||||
public float WristMaxStepDegrees = 1f;
|
||||
[Range(0f, 1f)]
|
||||
public float SmoothFactor = 0.5f;
|
||||
public float ProjectionEpsilon = 1e-6f;
|
||||
|
||||
public SolverCCD(RobotJoint[] joints, Transform endEffector)
|
||||
{
|
||||
Joints = joints;
|
||||
EndEffector = endEffector;
|
||||
}
|
||||
|
||||
public float[] SolveIK(Frame target)
|
||||
{
|
||||
int n = Joints != null ? Joints.Length : 0;
|
||||
float[] result = new float[n];
|
||||
|
||||
if (Joints == null || n == 0 || EndEffector == null)
|
||||
return result;
|
||||
|
||||
for (int iter = 0; iter < MaxIterations; iter++)
|
||||
{
|
||||
float posErr = Vector3.Distance(EndEffector.position, target.Position);
|
||||
if (posErr <= PositionTolerance) break;
|
||||
|
||||
for (int i = n - 1; i >= 0; i--)
|
||||
{
|
||||
Transform jointT = Joints[i].JointTransform;
|
||||
Vector3 toEnd = EndEffector.position - jointT.position;
|
||||
Vector3 toTarget = target.Position - jointT.position;
|
||||
|
||||
if (toEnd.sqrMagnitude < 1e-12f || toTarget.sqrMagnitude < 1e-12f) continue;
|
||||
|
||||
Vector3 axisWorld = GetJointAxisWorld(Joints[i], jointT);
|
||||
float angle = SignedAngleBetweenVectorsProjected(toEnd, toTarget, axisWorld, ProjectionEpsilon);
|
||||
|
||||
float maxStep = (i >= n - 3) ? WristMaxStepDegrees : MaxStepDegrees;
|
||||
float delta = Mathf.Clamp(angle, -maxStep, maxStep);
|
||||
|
||||
float current = Joints[i].GetValue();
|
||||
float intended = current + delta;
|
||||
float newAngle = Mathf.Lerp(current, intended, SmoothFactor);
|
||||
newAngle = Mathf.Clamp(newAngle, Joints[i].MinLimit, Joints[i].MaxLimit);
|
||||
|
||||
Joints[i].SetValue(newAngle);
|
||||
}
|
||||
}
|
||||
|
||||
AlignOrientation(target);
|
||||
|
||||
for (int i = 0; i < n; i++) result[i] = Joints[i].GetValue();
|
||||
return result;
|
||||
}
|
||||
|
||||
void AlignOrientation(Frame target)
|
||||
{
|
||||
int n = Joints.Length;
|
||||
if (n == 0) return;
|
||||
|
||||
float angError = Quaternion.Angle(EndEffector.rotation, target.Rotation);
|
||||
if (angError <= OrientationToleranceDeg) return;
|
||||
|
||||
int start = Mathf.Max(0, n - 3);
|
||||
|
||||
for (int iter = 0; iter < 12; iter++)
|
||||
{
|
||||
for (int i = n - 1; i >= start; i--)
|
||||
{
|
||||
Transform jointT = Joints[i].JointTransform;
|
||||
Vector3 axisWorld = GetJointAxisWorld(Joints[i], jointT);
|
||||
|
||||
Quaternion fromTo = target.Rotation * Quaternion.Inverse(EndEffector.rotation);
|
||||
fromTo.ToAngleAxis(out float angleDeg, out Vector3 axis);
|
||||
if (angleDeg > 180f) angleDeg -= 360f;
|
||||
if (float.IsNaN(angleDeg) || Mathf.Abs(angleDeg) < 1e-4f) continue;
|
||||
|
||||
float sign = Mathf.Sign(Vector3.Dot(axis, axisWorld));
|
||||
float step = Mathf.Clamp(angleDeg * sign, -5f, 5f);
|
||||
|
||||
float maxStep = WristMaxStepDegrees;
|
||||
float delta = Mathf.Clamp(step, -maxStep, maxStep);
|
||||
|
||||
float current = Joints[i].GetValue();
|
||||
float intended = current + delta;
|
||||
float newAngle = Mathf.Lerp(current, intended, SmoothFactor);
|
||||
newAngle = Mathf.Clamp(newAngle, Joints[i].MinLimit, Joints[i].MaxLimit);
|
||||
|
||||
Joints[i].SetValue(newAngle);
|
||||
}
|
||||
|
||||
if (Quaternion.Angle(EndEffector.rotation, target.Rotation) <= OrientationToleranceDeg) break;
|
||||
}
|
||||
}
|
||||
|
||||
Vector3 GetJointAxisWorld(RobotJoint joint, Transform jointT)
|
||||
{
|
||||
switch (joint.Axis)
|
||||
{
|
||||
case RobotJoint.RotationAxis.X: return jointT.right;
|
||||
case RobotJoint.RotationAxis.Y: return jointT.up;
|
||||
case RobotJoint.RotationAxis.Z: return jointT.forward;
|
||||
}
|
||||
return jointT.up;
|
||||
}
|
||||
|
||||
static float SignedAngleBetweenVectorsProjected(Vector3 v1, Vector3 v2, Vector3 axis, float eps)
|
||||
{
|
||||
Vector3 p1 = Vector3.ProjectOnPlane(v1, axis);
|
||||
Vector3 p2 = Vector3.ProjectOnPlane(v2, axis);
|
||||
|
||||
if (p1.sqrMagnitude < eps || p2.sqrMagnitude < eps) return 0f;
|
||||
return Vector3.SignedAngle(p1, p2, axis.normalized);
|
||||
}
|
||||
}
|
||||
2
Assets/dobot/Sc/SolverCCD.cs.meta
Normal file
2
Assets/dobot/Sc/SolverCCD.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 1bbde1abab7e62644ad2b4c0f95a99e9
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user