From 496f420d6064ddbf6d7a0a1f7c36f8200d172c4e Mon Sep 17 00:00:00 2001 From: chenyulin Date: Fri, 26 Jul 2024 16:50:31 +0800 Subject: [PATCH 1/5] feat. add collision detection --- Assets/Material/IK/Arm Alert.mat | 82 +++ Assets/Material/IK/Arm Alert.mat.meta | 8 + ...ySpatialAwarenessMeshObserverProfile.asset | 4 +- Assets/Scenes/SampleScene.unity | 578 +++++++++++++----- Assets/Script/DT/ArmDTCollision.cs | 42 ++ Assets/Script/DT/ArmDTCollision.cs.meta | 11 + Assets/Script/DT/GhostCollisionDetection.cs | 80 +++ .../Script/DT/GhostCollisionDetection.cs.meta | 11 + ProjectSettings/DynamicsManager.asset | 10 +- ProjectSettings/TagManager.asset | 2 +- 10 files changed, 667 insertions(+), 161 deletions(-) create mode 100644 Assets/Material/IK/Arm Alert.mat create mode 100644 Assets/Material/IK/Arm Alert.mat.meta create mode 100644 Assets/Script/DT/ArmDTCollision.cs create mode 100644 Assets/Script/DT/ArmDTCollision.cs.meta create mode 100644 Assets/Script/DT/GhostCollisionDetection.cs create mode 100644 Assets/Script/DT/GhostCollisionDetection.cs.meta diff --git a/Assets/Material/IK/Arm Alert.mat b/Assets/Material/IK/Arm Alert.mat new file mode 100644 index 0000000..f533459 --- /dev/null +++ b/Assets/Material/IK/Arm Alert.mat @@ -0,0 +1,82 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!21 &2100000 +Material: + serializedVersion: 8 + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_Name: Arm Alert + m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0} + m_ValidKeywords: + - 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NormalMat : AlertMat); + } + } + } + + public void SetMat(Transform target, Material mat) + { + foreach (Transform child in target) + { + MeshRenderer meshRenderer = child.GetComponent(); + if (meshRenderer != null) + { + Material[] newMaterials = new Material[meshRenderer.materials.Length]; + for (int i = 0; i < newMaterials.Length; i++) + { + newMaterials[i] = mat; + } + meshRenderer.materials = newMaterials; + } + SetMat(child, mat); + } + } + public void GetCollision(int index) + { + colliderCnt[index]++; + Valid = !JudgeCollision(); + } + + public void CollisionLeave(int index) + { + colliderCnt[index]--; + Valid = !JudgeCollision(); + } + public bool JudgeCollision() + { + foreach(var cnt in colliderCnt) + { + if (cnt != 0) + { + return true; + } + } + return false; + } + + // Start is called before the first frame update + void Start() + { + + } + + // Update is called once per frame + void Update() + { + + } +} diff --git a/Assets/Script/DT/GhostCollisionDetection.cs.meta b/Assets/Script/DT/GhostCollisionDetection.cs.meta new file mode 100644 index 0000000..cff4953 --- /dev/null +++ b/Assets/Script/DT/GhostCollisionDetection.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4555a82bf0f83684899f943adc11d96a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset index cdc1f3e..88e09e0 100644 --- a/ProjectSettings/DynamicsManager.asset +++ b/ProjectSettings/DynamicsManager.asset @@ -3,10 +3,11 @@ --- !u!55 &1 PhysicsManager: m_ObjectHideFlags: 0 - serializedVersion: 11 + serializedVersion: 13 m_Gravity: {x: 0, y: -9.81, z: 0} m_DefaultMaterial: {fileID: 0} m_BounceThreshold: 2 + m_DefaultMaxDepenetrationVelocity: 10 m_SleepThreshold: 0.005 m_DefaultContactOffset: 0.01 m_DefaultSolverIterations: 6 @@ -17,11 +18,12 @@ PhysicsManager: m_ClothInterCollisionDistance: 0 m_ClothInterCollisionStiffness: 0 m_ContactsGeneration: 1 - m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff + m_LayerCollisionMatrix: 3fffffff3fffffff3fffffffffffffff3fffffff3fffffff88ffff7f48ffff7fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff3fffffff m_AutoSimulation: 1 m_AutoSyncTransforms: 0 m_ReuseCollisionCallbacks: 1 m_ClothInterCollisionSettingsToggle: 0 + m_ClothGravity: {x: 0, y: -9.81, z: 0} m_ContactPairsMode: 0 m_BroadphaseType: 0 m_WorldBounds: @@ -31,4 +33,6 @@ PhysicsManager: m_FrictionType: 0 m_EnableEnhancedDeterminism: 0 m_EnableUnifiedHeightmaps: 1 - m_DefaultMaxAngluarSpeed: 7 + m_ImprovedPatchFriction: 0 + m_SolverType: 0 + m_DefaultMaxAngularSpeed: 7 diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index cb0b5f7..77cb0ce 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -12,7 +12,7 @@ TagManager: - Water - UI - RobotArm - - + - Human - - - From 5878d70c889178888888c5483d01fa466a33717e Mon Sep 17 00:00:00 2001 From: chenyulin Date: Fri, 26 Jul 2024 17:26:35 +0800 Subject: [PATCH 2/5] feat. let collision block robotic arm --- Assets/Script/DT/RouteGenerator.cs | 13 ++++++++++++- Assets/Script/TaskManager.cs | 14 ++++++++++++++ 2 files changed, 26 insertions(+), 1 deletion(-) diff --git a/Assets/Script/DT/RouteGenerator.cs b/Assets/Script/DT/RouteGenerator.cs index 3e432bb..4ebd3ea 100644 --- a/Assets/Script/DT/RouteGenerator.cs +++ b/Assets/Script/DT/RouteGenerator.cs @@ -87,7 +87,18 @@ public class RouteGenerator : MonoBehaviour [SerializeField] uint currHighlight = 0; - + public bool RestRouteValid(int index) + { + int cnt = GhostSpace.childCount; + for (int i = index; i< cnt; i++) + { + if (!GhostSpace.GetChild(i).gameObject.GetComponent().Valid) + { + return false; + } + } + return true; + } public uint CurrHighlight { diff --git a/Assets/Script/TaskManager.cs b/Assets/Script/TaskManager.cs index f1a3ce0..a766fab 100644 --- a/Assets/Script/TaskManager.cs +++ b/Assets/Script/TaskManager.cs @@ -36,6 +36,8 @@ public class TaskManager : MonoBehaviour // hold the coroutine of tasks public IKController IKSolver; public RouteGenerator routeGenerator; public JakaController jaka; + + public ArmDTController ArmDT; Coroutine taskRoutine; @@ -73,6 +75,10 @@ public void GetTask(ArmTask t, GameObject sender) } } + public bool RestRouteValid(int i) + { + return routeGenerator.RestRouteValid(i); + } IEnumerator ExecuteMoveObject() { Debug.Log("Start move object coroutine."); @@ -99,8 +105,15 @@ IEnumerator ExecuteMoveObject() // execute action bool pre_grab = false; + int index = 0; foreach (ArmAction action in routeGenerator.actionSequence) { + while (!RestRouteValid(index)) + { + Debug.Log("Blocking"); + jaka.SetJointRot(ArmDT.Rotate); + yield return new WaitForSeconds(0.1f); + } jaka.SetJointRot(action.angles); yield return new WaitForSeconds(0.1f); @@ -115,6 +128,7 @@ IEnumerator ExecuteMoveObject() jaka.SetGripper(!action.grab); yield return new WaitForSeconds(0.5f); } + index++; } // cancel aim box when finish try From 62fbd365d12a987b110d994129cb12dd3f4dbf7d Mon Sep 17 00:00:00 2001 From: chenyulin Date: Sun, 28 Jul 2024 19:28:39 +0800 Subject: [PATCH 3/5] feat. add grab task --- Assets/Material/ColliderMat.mat | 82 + Assets/Material/ColliderMat.mat.meta | 8 + Assets/Scenes/SampleScene.unity | 4812 +++++++++++++++++++++---- Assets/Script/DT/RouteGenerator.cs | 40 +- Assets/Script/MathTool.cs | 11 + Assets/Script/TaskManager.cs | 298 +- Assets/Script/UI/ObjectFrame.cs | 65 +- ProjectSettings/ProjectSettings.asset | 2 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--git a/Assets/Script/DT/RouteGenerator.cs b/Assets/Script/DT/RouteGenerator.cs index 4ebd3ea..91ab95a 100644 --- a/Assets/Script/DT/RouteGenerator.cs +++ b/Assets/Script/DT/RouteGenerator.cs @@ -43,25 +43,33 @@ public class Route { float stepDist = 0.02f; public List keypoints = new List(); - public Route(List turningPoints) + public Route(List turningPoints, bool discrete = false) { - if (turningPoints.Count < 2) - { - return; - } - for (int i = 1; i < turningPoints.Count; i++) + if (!discrete) { - - KeyPoint start = turningPoints[i-1]; - KeyPoint end = turningPoints[i]; - Debug.Log(start.pos.ToString() + ' ' + end.pos.ToString()); - float dist = (start.pos - end.pos).magnitude; - int sigment = (int)(dist/stepDist); - for (int j = 0; j <= sigment; j++) + if (turningPoints.Count < 2) { - keypoints.Add(new KeyPoint(start.pos + ((float)j) / sigment * (end.pos - start.pos), start.right, start.grab)); + return; + } + for (int i = 1; i < turningPoints.Count; i++) + { + + KeyPoint start = turningPoints[i - 1]; + KeyPoint end = turningPoints[i]; + Debug.Log(start.pos.ToString() + ' ' + end.pos.ToString()); + float dist = (start.pos - end.pos).magnitude; + int sigment = Mathf.Max((int)(dist / stepDist), 1); + for (int j = 0; j <= sigment; j++) + { + keypoints.Add(new KeyPoint(start.pos + ((float)j) / sigment * (end.pos - start.pos), start.right, start.grab)); + } } } + else + { + foreach (KeyPoint keypoint in turningPoints) { keypoints.Add(keypoint); } + } + } public Route() { @@ -185,9 +193,9 @@ private void OnDestroy() StopCoroutine(IncrementVis()); } - public void SetRoute(List turningPoints) + public void SetRoute(List turningPoints, bool discrete = false) { - route = new Route(turningPoints); + route = new Route(turningPoints, discrete); } public void ResetRoute() diff --git a/Assets/Script/MathTool.cs b/Assets/Script/MathTool.cs index 8fb7f10..8e49f29 100644 --- a/Assets/Script/MathTool.cs +++ b/Assets/Script/MathTool.cs @@ -94,6 +94,17 @@ public static float DT_to_IK_angle(float angle, int index) return angle; } } + public static float[] DT_to_IK_angles(float[] angles) + { + float[] res = new float[6]; + res[0] = angles[0]; + res[1] = -angles[1]; + res[2] = angles[2]; + res[3] = angles[3]; + res[4] = angles[4]; + res[5] = angles[5]; + return res; + } public static float[] Real_to_DT_angle(float[] angles) { diff --git a/Assets/Script/TaskManager.cs b/Assets/Script/TaskManager.cs index a766fab..65c8f2e 100644 --- a/Assets/Script/TaskManager.cs +++ b/Assets/Script/TaskManager.cs @@ -1,15 +1,17 @@ using System; using System.Collections; using System.Collections.Generic; +using System.Reflection; using UnityEngine; - +using WW2NavalAssembly; public class ArmTask { public enum Type { Finished, - MoveObject + MoveObject, + GrabObject } public Type type = Type.Finished; @@ -19,6 +21,9 @@ public enum Type public Vector3 move_end; public Vector3 move_end_right; + // grab + public Transform grab_hand; + public void InitAsMoveObject(Vector3 start, Vector3 end, Vector3 start_right, Vector3 end_right) { type = Type.MoveObject; @@ -27,6 +32,13 @@ public void InitAsMoveObject(Vector3 start, Vector3 end, Vector3 start_right, Ve move_start_right = start_right; move_end_right = end_right; } + public void InitAsGrabObject(Vector3 start, Vector3 start_right, Transform hand) + { + type = Type.GrabObject; + move_start = start; + move_start_right = start_right; + grab_hand = hand; + } } public class TaskManager : MonoBehaviour // hold the coroutine of tasks { @@ -66,93 +78,221 @@ public void GetTask(ArmTask t, GameObject sender) } else { - taskRoutine = StartCoroutine(ExecuteMoveObject()); + if (t.type == ArmTask.Type.MoveObject) + { + taskRoutine = StartCoroutine(ExecuteMoveObject()); + } + else + { + taskRoutine = StartCoroutine(ExecuteGetObject()); + } + } - } - else - { - Debug.Log("Current task not finished."); - } - } - - public bool RestRouteValid(int i) - { - return routeGenerator.RestRouteValid(i); - } - IEnumerator ExecuteMoveObject() - { - Debug.Log("Start move object coroutine."); - // generate the action sequence - List turningPoint = new List(); - turningPoint.Add(new KeyPoint(ArmEnd.position, task.move_start_right, false)); - turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_start_right,false)); - turningPoint.Add(new KeyPoint(task.move_start, task.move_start_right, true)); - turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_end_right, true)); - turningPoint.Add(new KeyPoint(task.move_end + Vector3.up * 0.07f, task.move_end_right, true)); - turningPoint.Add(new KeyPoint(task.move_end, task.move_end_right, false)); - turningPoint.Add(new KeyPoint(task.move_end + Vector3.up * 0.07f, default, false)); - routeGenerator.SetRoute(turningPoint); - bool solveable = routeGenerator.CalculateSequence(); - + } + else + { + Debug.Log("Current task not finished."); + } + } + + public bool RestRouteValid(int i) + { + return routeGenerator.RestRouteValid(i); + } + IEnumerator ExecuteMoveObject() + { + taskSouce.GetComponent().SwitchTaskMode(true); + Debug.Log("Start move object coroutine."); + // generate the action sequence + List turningPoint = new List(); + turningPoint.Add(new KeyPoint(ArmEnd.position, task.move_start_right, false)); + turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_start_right,false)); + turningPoint.Add(new KeyPoint(task.move_start, task.move_start_right, true)); + turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_end_right, true)); + turningPoint.Add(new KeyPoint(task.move_end + Vector3.up * 0.07f, task.move_end_right, true)); + turningPoint.Add(new KeyPoint(task.move_end, task.move_end_right, false)); + turningPoint.Add(new KeyPoint(task.move_end + Vector3.up * 0.07f, default, false)); + routeGenerator.SetRoute(turningPoint); + bool solveable = routeGenerator.CalculateSequence(); + if (!solveable) { Debug.Log("Unable to solve the arm action"); - } - else - { - // generate vis - routeGenerator.GenerateGhost(); - - // execute action - bool pre_grab = false; - int index = 0; - foreach (ArmAction action in routeGenerator.actionSequence) + } + else + { + // generate vis + routeGenerator.GenerateGhost(); + + // execute action + bool pre_grab = false; + int index = 0; + foreach (ArmAction action in routeGenerator.actionSequence) { - while (!RestRouteValid(index)) - { - Debug.Log("Blocking"); - jaka.SetJointRot(ArmDT.Rotate); - yield return new WaitForSeconds(0.1f); + while (!RestRouteValid(index)) + { + yield return new WaitForSeconds(0.2f); } - - jaka.SetJointRot(action.angles); - yield return new WaitForSeconds(0.1f); + + jaka.SetJointRot(action.angles); + yield return new WaitForSeconds(0.3f); if (pre_grab != action.grab) { - while((action.position - ArmEnd.position).magnitude > 0.04f) - { - Debug.Log("Arm end not here yet"); - yield return new WaitForSeconds(0.1f); + while((action.position - ArmEnd.position).magnitude > 0.02f) + { + yield return new WaitForSeconds(0.2f); } pre_grab = action.grab; jaka.SetGripper(!action.grab); yield return new WaitForSeconds(0.5f); - } - index++; - } - // cancel aim box when finish - try - { - taskSouce.GetComponent().CancelAim(); - } - catch { } - } - routeGenerator.ResetRoute(); - taskRoutine = null; - task = new ArmTask(); - Debug.Log("Task Finished"); - yield break; - } - - // Start is called before the first frame update - void Start() - { - - } - - // Update is called once per frame - void Update() - { - - } + } + index++; + } + // cancel aim box when finish + try + { + taskSouce.GetComponent().CancelAim(); + } + catch { } + } + routeGenerator.ResetRoute(); + taskRoutine = null; + taskSouce.GetComponent().SwitchTaskMode(false); + taskSouce = null; + task = new ArmTask(); + Debug.Log("Task Finished"); + yield break; + } + + IEnumerator ExecuteGetObject() + { + taskSouce.GetComponent().SwitchTaskMode(true); + Debug.Log("Start move object coroutine."); + // generate the action sequence + List turningPoint = new List(); + turningPoint.Add(new KeyPoint(ArmEnd.position, task.move_start_right, false)); + turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_start_right, false)); + turningPoint.Add(new KeyPoint(task.move_start, task.move_start_right, true)); + turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_end_right, true));// when the arm grab the object up + + routeGenerator.SetRoute(turningPoint); + bool solveable = routeGenerator.CalculateSequence(); + + if (!solveable) + { + Debug.Log("Unable to solve the arm action"); + } + else + { + // generate vis + routeGenerator.GenerateGhost(); + + // execute action + bool pre_grab = false; + int index = 0; + foreach (ArmAction action in routeGenerator.actionSequence) + { + while (!RestRouteValid(index)) + { + yield return new WaitForSeconds(0.2f); + } + + jaka.SetJointRot(action.angles); + yield return new WaitForSeconds(0.3f); + if (pre_grab != action.grab) + { + while ((action.position - ArmEnd.position).magnitude > 0.02f) + { + yield return new WaitForSeconds(0.2f); + } + pre_grab = action.grab; + jaka.SetGripper(!action.grab); + yield return new WaitForSeconds(0.5f); + } + index++; + } + routeGenerator.ResetRoute(); + Debug.Log("Finish Grabbing"); + while ( + Vector3.Angle(task.grab_hand.forward, Vector3.up) > 30f || + (task.grab_hand.position + Vector3.up * 0.03f - ArmEnd.position).magnitude > 0.04f + ) + { + bool palm_up = Vector3.Angle(task.grab_hand.forward, Vector3.up) < 30f; + + turningPoint = new List(); + turningPoint.Add(new KeyPoint(task.grab_hand.position + Vector3.up * (palm_up? 0.03f: 0.12f), task.grab_hand.right, true)); + routeGenerator.SetRoute(turningPoint, true); + solveable = routeGenerator.CalculateSequence(); + if (!solveable) + { + Debug.Log("Unable to solve the arm action"); + } + else + { + foreach (ArmAction action in routeGenerator.actionSequence) + { + jaka.SetJointRot(action.angles); + } + } + yield return new WaitForSeconds(0.3f); + } + yield return new WaitForSeconds(0.4f); + turningPoint = new List(); + turningPoint.Add(new KeyPoint(task.grab_hand.position + Vector3.up * 0.01f, task.grab_hand.right, true)); + routeGenerator.SetRoute(turningPoint, true); + solveable = routeGenerator.CalculateSequence(); + if (!solveable) + { + jaka.SetGripper(true); + yield return new WaitForSeconds(0.5f); + } + else + { + foreach (ArmAction action in routeGenerator.actionSequence) + { + jaka.SetJointRot(action.angles); + yield return new WaitForSeconds(0.3f); + } + jaka.SetGripper(true); + yield return new WaitForSeconds(0.5f); + } + + Debug.Log("Release object on hand"); + + turningPoint = new List(); + turningPoint.Add(new KeyPoint(task.move_start + Vector3.up * 0.07f, task.move_start_right, false)); + routeGenerator.SetRoute(turningPoint, true); + solveable = routeGenerator.CalculateSequence(); + if (!solveable) + { + } + else + { + foreach (ArmAction action in routeGenerator.actionSequence) + { + jaka.SetJointRot(action.angles); + } + } + } + routeGenerator.ResetRoute(); + taskRoutine = null; + taskSouce.GetComponent().SwitchTaskMode(false); + taskSouce = null; + task = new ArmTask(); + Debug.Log("Task Finished"); + yield break; + } + + // Start is called before the first frame update + void Start() + { + + } + + // Update is called once per frame + void Update() + { + + } } diff --git a/Assets/Script/UI/ObjectFrame.cs b/Assets/Script/UI/ObjectFrame.cs index 79fc173..9f2ab44 100644 --- a/Assets/Script/UI/ObjectFrame.cs +++ b/Assets/Script/UI/ObjectFrame.cs @@ -21,7 +21,8 @@ public enum Type public ObjectSpaceManager manager; - public GameObject UI; + public GameObject UI_Aim; + public GameObject UI_Detect; public GameObject Frame; // for aim type @@ -32,13 +33,50 @@ public enum Type // for detect type; ObjectFrame dist; + public bool InTask = false; - public void SendTask() + public Transform RightHand; + public Transform LeftHand; + + public void SwitchTaskMode(bool intask) + { + if (type == Type.Aim) + { + InTask = intask; + try + { + source.InTask = intask; + } + catch { } + } + else + { + InTask = intask; + try + { + dist.InTask = intask; + } + catch { } + } + } + + public void SendTask(int task_type) // type 0 for move, 1 for left grab, 2 for right grab { if (taskManager) { ArmTask t = new ArmTask(); - t.InitAsMoveObject(source.Frame.transform.position, Frame.transform.position, source.Frame.transform.right, Frame.transform.right); + if (task_type == 0) + { + t.InitAsMoveObject(source.Frame.transform.position, Frame.transform.position, source.Frame.transform.right, Frame.transform.right); + }else if ((task_type == 1 || task_type == 2) && type == Type.Detect) + { + t.InitAsGrabObject( + Frame.transform.position, + Frame.transform.right, + task_type == 2 ? RightHand : LeftHand + ); + } + taskManager.GetTask(t, gameObject); } else @@ -58,6 +96,10 @@ public void InitFrame(Type t, Vector3 pos, Vector3 rot, Vector3 scale) public void UpdateFrame(string cat, Vector3 pos, Quaternion rot, Vector3 scale) { + if (InTask) + { + return; + } Category = cat; Frame.transform.localPosition = Vector3.Lerp(Frame.transform.localPosition, pos, 0.3f); Frame.transform.localRotation = Quaternion.Lerp(Frame.transform.localRotation, rot, 0.15f); @@ -66,6 +108,10 @@ public void UpdateFrame(string cat, Vector3 pos, Quaternion rot, Vector3 scale) public void CancelAim() { + if (InTask) + { + return; + } Debug.Log("Cancel Aim"); if (type == Type.Aim) @@ -96,6 +142,10 @@ public void SetMat(Transform target, Material mat) public void SwitchToAim() { + if (InTask) + { + return; + } if (type == Type.Aim) { return; @@ -121,7 +171,8 @@ void Start() { Frame = transform.Find("Frame").gameObject; arrows = Frame.transform.Find("Arrow"); - UI = transform.Find("UI").gameObject; + UI_Aim = transform.Find("UI_Aim").gameObject; + UI_Detect = transform.Find("UI_Detect").gameObject; } // Update is called once per frame @@ -136,11 +187,13 @@ void Update() Line.positionCount = 2; Line.SetPosition(1, Frame.transform.position); Line.SetPosition(0, source.Frame.transform.position); - UI.SetActive(true); + UI_Aim.SetActive(true); + UI_Detect.SetActive(false); } else { - UI.SetActive(false); + UI_Aim.SetActive(false); + UI_Detect.SetActive(true); Line.enabled = false; } diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset index 2a9a050..84072a1 100644 --- a/ProjectSettings/ProjectSettings.asset +++ b/ProjectSettings/ProjectSettings.asset @@ -78,7 +78,7 @@ PlayerSettings: androidAutoRotationBehavior: 1 defaultIsNativeResolution: 1 macRetinaSupport: 1 - runInBackground: 0 + runInBackground: 1 captureSingleScreen: 0 muteOtherAudioSources: 0 Prepare IOS For Recording: 0 From 197569cf08baab31445e43ad46259b189cb0e09a Mon Sep 17 00:00:00 2001 From: chenyulin Date: Mon, 29 Jul 2024 18:06:55 +0800 Subject: [PATCH 4/5] feat. add debugger --- Assets/Scenes/SampleScene.unity | 1193 +++++++++++++++++++++++++- Assets/Script/DT/RouteGenerator.cs | 4 +- Assets/Script/Jaka/JakaController.cs | 2 +- Assets/Script/UI/MRDebugger.cs | 52 ++ Assets/Script/UI/MRDebugger.cs.meta | 11 + Assets/Script/UI/ObjectFrame.cs | 3 +- 6 files changed, 1229 insertions(+), 36 deletions(-) create mode 100644 Assets/Script/UI/MRDebugger.cs create mode 100644 Assets/Script/UI/MRDebugger.cs.meta diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity index 99927a5..35811fb 100644 --- a/Assets/Scenes/SampleScene.unity +++ b/Assets/Scenes/SampleScene.unity @@ -14941,6 +14941,392 @@ MonoBehaviour: m_EditorClassIdentifier: index: 7 GCD: {fileID: 0} +--- !u!1 &571839610 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - 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Debug.Log("Calculate action for " + kpt.pos.ToString()); + //Debug.Log("Calculate action for " + kpt.pos.ToString()); bool success = IK.InverseKinematics(IK.GetPositionForJ4(kpt.pos), kpt.right); if (!success) { diff --git a/Assets/Script/Jaka/JakaController.cs b/Assets/Script/Jaka/JakaController.cs index bf2d677..a1b1825 100644 --- a/Assets/Script/Jaka/JakaController.cs +++ b/Assets/Script/Jaka/JakaController.cs @@ -40,7 +40,7 @@ public void SetGripper(bool open) { string info = "{Gripper}\n"; info += open ? "0\n" : "1\n"; - Debug.Log(info); + //Debug.Log(info); network.SendData(info); } diff --git a/Assets/Script/UI/MRDebugger.cs b/Assets/Script/UI/MRDebugger.cs new file mode 100644 index 0000000..b506c98 --- /dev/null +++ b/Assets/Script/UI/MRDebugger.cs @@ -0,0 +1,52 @@ +using System.Collections; +using System.Collections.Generic; +using TMPro; +using UnityEngine; +using Microsoft.MixedReality.Toolkit.UI; + +public class MRDebugger : MonoBehaviour +{ + public ToolTip logTextMeshPro; // Drag your TextMeshPro UI object here in the inspector + public float logDisplayDuration = 1f; // ÿÐÐÈÕÖ¾ÏÔʾʱ¼ä£¨Ã룩 + private Queue logMessages = new Queue(); // ÓÃÓÚ´æ´¢ÈÕÖ¾µÄ¶ÓÁÐ + private float timer = 0f; + void OnEnable() + { + Application.logMessageReceived += HandleLog; + } + + void OnDisable() + { + Application.logMessageReceived -= HandleLog; + } + + void Update() + { + logDisplayDuration = 5f / (logMessages.Count+1f); + timer += Time.deltaTime; + if (timer >= logDisplayDuration) + { + timer = 0f; + if (logMessages.Count > 0) + { + logMessages.Dequeue(); // ɾ³ý×î¾ÉµÄÒ»ÌõÈÕÖ¾ + UpdateLogText(); // ¸üÐÂÏÔʾµÄÈÕÖ¾ÐÅÏ¢ + } + } + } + + void HandleLog(string logString, string stackTrace, LogType type) + { + // ¼ì²éеÄÈÕÖ¾ÊÇ·ñÓë×îºóÒ»ÌõÈÕÖ¾Ïàͬ + if (logMessages.Count == 0 || logMessages.Peek() != logString) + { + logMessages.Enqueue(logString); // Ìí¼ÓÐÂÈÕÖ¾µ½¶ÓÁÐ + UpdateLogText(); // ¸üÐÂÏÔʾµÄÈÕÖ¾ÐÅÏ¢ + } + } + + void UpdateLogText() + { + logTextMeshPro.ToolTipText = string.Join("\n", logMessages.ToArray()); + } +} diff --git a/Assets/Script/UI/MRDebugger.cs.meta b/Assets/Script/UI/MRDebugger.cs.meta new file mode 100644 index 0000000..ebeca19 --- /dev/null +++ b/Assets/Script/UI/MRDebugger.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c18bf51e19ba32b43979417444ef8c8f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Script/UI/ObjectFrame.cs b/Assets/Script/UI/ObjectFrame.cs index 9f2ab44..a39319c 100644 --- a/Assets/Script/UI/ObjectFrame.cs +++ b/Assets/Script/UI/ObjectFrame.cs @@ -190,7 +190,8 @@ void Update() UI_Aim.SetActive(true); UI_Detect.SetActive(false); } - else + + else if(type == Type.Detect && !dist) { UI_Aim.SetActive(false); UI_Detect.SetActive(true); From 37be9463f8914431481fe880f648d0c8d9004e47 Mon Sep 17 00:00:00 2001 From: chenyulin Date: Wed, 31 Jul 2024 20:31:35 +0800 Subject: [PATCH 5/5] feat. add human DT --- Assets/Scenes/SampleScene.unity | 3368 +++++++++++++---- Assets/Script/DT/Human.meta | 8 + Assets/Script/DT/Human/HumanUdpSocket.cs | 130 + Assets/Script/DT/Human/HumanUdpSocket.cs.meta | 11 + Assets/Script/DT/Human/OnlyCollider.cs | 214 ++ Assets/Script/DT/Human/OnlyCollider.cs.meta | 11 + Assets/Script/DT/RouteGenerator.cs | 28 +- Assets/Script/Kinect_Space.prefab | 628 +++ Assets/Script/Kinect_Space.prefab.meta | 7 + Assets/Script/Obstacle.cs | 37 + Assets/Script/Obstacle.cs.meta | 11 + Assets/Script/TaskManager.cs | 9 +- Assets/Script/UI/ObjectFrame.cs | 19 +- Assets/Script/UI/PlaceExplorer.cs | 12 +- ProjectSettings/DynamicsManager.asset | 2 +- ProjectSettings/TagManager.asset | 2 +- 16 files changed, 3773 insertions(+), 724 deletions(-) create mode 100644 Assets/Script/DT/Human.meta create mode 100644 Assets/Script/DT/Human/HumanUdpSocket.cs create mode 100644 Assets/Script/DT/Human/HumanUdpSocket.cs.meta create mode 100644 Assets/Script/DT/Human/OnlyCollider.cs create mode 100644 Assets/Script/DT/Human/OnlyCollider.cs.meta create mode 100644 Assets/Script/Kinect_Space.prefab create mode 100644 Assets/Script/Kinect_Space.prefab.meta create mode 100644 Assets/Script/Obstacle.cs create mode 100644 Assets/Script/Obstacle.cs.meta diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity index 35811fb..8d764c4 100644 --- a/Assets/Scenes/SampleScene.unity +++ b/Assets/Scenes/SampleScene.unity @@ -238,6 +238,54 @@ MeshFilter: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 17402413} m_Mesh: {fileID: 4300010, guid: b566bbce04d66f4428421e81a3af0299, type: 3} +--- !u!1 &20744025 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - 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Y. T. Elashry +It would be appreciated if you send me how you have used this in your projects (e.g. Machine Learning) at youssef.elashry@gmail.com + +Use at your own risk +Use under the Apache License 2.0 + +Modified by: +Youssef Elashry 12/2020 (replaced obsolete functions and improved further - works with Python as well) +Based on older work by Sandra Fang 2016 - Unity3D to MATLAB UDP communication - [url]http://msdn.microsoft.com/de-de/library/bb979228.aspx#ID0E3BAC[/url] +*/ + +using UnityEngine; +using System.Collections; +using System; +using System.Text; +using System.Net; +using System.Net.Sockets; +using System.Threading; +using System.IO; + +public class HumanUdpSocket : MonoBehaviour +{ + [HideInInspector] public bool isTxStarted = false; + + [SerializeField] string IP = "127.0.0.1"; // local host + [SerializeField] int rxPort = 8000; // port to receive data from Python on + [SerializeField] int txPort = 8001; // port to send data to Python on + + // int i = 0; // DELETE THIS: Added to show sending data from Unity to Python via UDP + public string received_data_hand; + public string received_data_body; + public string received_pos_hand; + + // Create necessary UdpClient objects + UdpClient client; + IPEndPoint remoteEndPoint; + Thread receiveThread; // Receiving Thread + + IEnumerator SendDataCoroutine() // DELETE THIS: Added to show sending data from Unity to Python via UDP + { + while (true) + { + //SendData("Sent from Unity: " + i.ToString()); + //i++; + SendData("Sent from Unity: Position is " + transform.position.ToString()); + yield return new WaitForSeconds(1f); + } + } + + public void SendData(string message) // Use to send data to Python + { + try + { + byte[] data = Encoding.UTF8.GetBytes(message); + client.Send(data, data.Length, remoteEndPoint); + } + catch (Exception err) + { + print(err.ToString()); + } + } + + void Awake() + { + // Create remote endpoint (to Matlab) + remoteEndPoint = new IPEndPoint(IPAddress.Parse(IP), txPort); + + // Create local client + client = new UdpClient(rxPort); + + // local endpoint define (where messages are received) + // Create a new thread for reception of incoming messages + receiveThread = new Thread(new ThreadStart(ReceiveData)); + receiveThread.IsBackground = true; + receiveThread.Start(); + + // Initialize (seen in comments window) + print("UDP Comms Initialised"); + + StartCoroutine(SendDataCoroutine()); // DELETE THIS: Added to show sending data from Unity to Python via UDP + } + + // Receive data, update packets received + private void ReceiveData() + { + while (true) + { + try + { + IPEndPoint anyIP = new IPEndPoint(IPAddress.Any, 0); + byte[] data = client.Receive(ref anyIP); + string received_data = Encoding.UTF8.GetString(data); + if (received_data.Contains("Body")) + received_data_body = received_data; + else if (received_data.Contains("HandPos")) + received_pos_hand = received_data; + else + received_data_hand = received_data; + ProcessInput(received_data); + } + catch (Exception err) + { + print(err.ToString()); + } + } + } + + private void ProcessInput(string input) + { + // PROCESS INPUT RECEIVED STRING HERE + + if (!isTxStarted) // First data arrived so tx started + { + isTxStarted = true; + } + } + + //Prevent crashes - close clients and threads properly! + void OnDisable() + { + if (receiveThread != null) + receiveThread.Abort(); + + client.Close(); + } + +} \ No newline at end of file diff --git a/Assets/Script/DT/Human/HumanUdpSocket.cs.meta b/Assets/Script/DT/Human/HumanUdpSocket.cs.meta new file mode 100644 index 0000000..055c73e --- /dev/null +++ b/Assets/Script/DT/Human/HumanUdpSocket.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 11d2e14a4e291a8469466d1263505732 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Script/DT/Human/OnlyCollider.cs b/Assets/Script/DT/Human/OnlyCollider.cs new file mode 100644 index 0000000..b2ba120 --- /dev/null +++ b/Assets/Script/DT/Human/OnlyCollider.cs @@ -0,0 +1,214 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEditor; + +public class OnlyCollider : MonoBehaviour +{ + // Keep data transmittion between pyKinect and Unity + private HumanUdpSocket udp; + + // Colliders of the Human DT + private CapsuleCollider Left_Upper_arm_collider; + private CapsuleCollider Left_Forearm_collider; + private CapsuleCollider Right_Upper_arm_collider; + private CapsuleCollider Right_Forearm_collider; + private BoxCollider Chest_collider; + + // GameObject type of the body parts + private GameObject Left_upper_arm; + private GameObject Right_upper_arm; + private GameObject Left_forearm; + private GameObject Right_forearm; + private GameObject Left_hand; + private GameObject Right_hand; + private GameObject Chest; + private GameObject Head; + + // Removes brackets and spaces + private readonly string pattern = @"\[\s*(-?\d+\.\d+)\s+(-?\d+\.\d+)\s+(-?\d+\.\d+)\]"; + + // Change human body parts in Unity + public bool ChangeUpperarmRadius; + public bool ChangeForearmRadius; + public float UpperarmRadius; + public float ForearmRadius; + + private void Start() + { + udp = gameObject.GetComponent(); + + Left_upper_arm = GameObject.Find("left_upperarm"); + Right_upper_arm = GameObject.Find("right_upperarm"); + Left_forearm = GameObject.Find("left_forearm"); + Right_forearm = GameObject.Find("right_forearm"); + //Left_hand = GameObject.Find("left_hand"); + //Right_hand = GameObject.Find("right_hand"); + Chest = GameObject.Find("chest"); + Head = GameObject.Find("head"); + + Left_Upper_arm_collider = Left_upper_arm.GetComponent(); + Left_Forearm_collider = Left_forearm.GetComponent(); + //Left_Hand_collider = Left_hand.GetComponent(); + Right_Upper_arm_collider = Right_upper_arm.GetComponent(); + Right_Forearm_collider = Right_forearm.GetComponent(); + //Right_Hand_collider = Right_hand.GetComponent(); + Chest_collider = Chest.GetComponent(); + + ChangeUpperarmRadius = false; + ChangeForearmRadius = false; + UpperarmRadius = Right_Upper_arm_collider.radius; + ForearmRadius = Right_Forearm_collider.radius; + } + + private void FixedUpdate() + { + if (ChangeForearmRadius) + Change_Forearm_Radius(); + + if (ChangeUpperarmRadius) + Change_Upperarm_Radius(); + string inf_handpos = udp.received_pos_hand; + string inf_hand = udp.received_data_hand; + string inf_body = udp.received_data_body; + + List hand_pos = TurnMessageIntoVector3(inf_handpos); + List hand_pointing_towards = TurnMessageIntoVector3(inf_hand); + List body_pos = TurnMessageIntoVector3(inf_body); + + if (hand_pos.Count == 6 && hand_pointing_towards.Count == 4) + { + hand_pos = Adjust_Vector3(hand_pos); + hand_pointing_towards = Adjust_Vector3(hand_pointing_towards); + + Vector3 l_hand = hand_pos[0]; + Vector3 l_arm = hand_pos[1]; + Vector3 l_shoulder = hand_pos[2]; + Vector3 r_hand = hand_pos[3]; + Vector3 r_arm = hand_pos[4]; + Vector3 r_shoulder = hand_pos[5]; + // Debug.Log($"Pos: {l_hand}, {l_arm}, {l_shoulder}, {r_hand}, {r_arm}, {r_shoulder}"); + + Vector3 l_forearm_center = 0.5f * (l_hand + l_arm); + Vector3 r_forearm_center = 0.5f * (r_hand + r_arm); + Vector3 l_upperarm_center = 0.5f * (l_shoulder + l_arm); + Vector3 r_upperarm_center = 0.5f * (r_shoulder + r_arm); + + float l_upperarm_length = Vector3.Distance(l_shoulder, l_arm); + float r_upperarm_length = Vector3.Distance(r_shoulder, r_arm); + float l_forearm_length = Vector3.Distance(l_hand, l_arm); + float r_forearm_length = Vector3.Distance(r_hand, r_arm); + + Adjust_Collider(l_forearm_center, r_forearm_center, l_upperarm_center, r_upperarm_center, l_hand, r_hand, + l_upperarm_length, r_upperarm_length, l_forearm_length, r_forearm_length, + hand_pointing_towards); + } + + if (hand_pos.Count == 6 && body_pos.Count == 3) + { + body_pos = Adjust_Vector3(body_pos); + Vector3 head = body_pos[0]; + Vector3 neck = body_pos[1]; + Vector3 naval = body_pos[2]; + Vector3 to_right = hand_pos[5] - hand_pos[2]; + + Vector3 chest_center = 0.5f * (neck + naval); + + Vector3 chest_up = (neck - naval).normalized; + + Adjust_Body_Collider(head, chest_center, chest_up, to_right); + } + } + + private List TurnMessageIntoVector3(string information) + { + List result = new List(); + + foreach (System.Text.RegularExpressions.Match m in System.Text.RegularExpressions.Regex.Matches(information, pattern)) + { + Vector3 vec = new Vector3( + float.Parse(m.Groups[1].Value), + float.Parse(m.Groups[2].Value), + float.Parse(m.Groups[3].Value)); + // Debug.Log(vec); + result.Add(vec); + } + + return result; + } + + private void Adjust_Collider( + Vector3 l_forearm_center, + Vector3 r_forearm_center, + Vector3 l_upperarm_center, + Vector3 r_upperarm_center, + Vector3 l_hand_center, + Vector3 r_hand_center, + float l_upperarm_length, + float r_upperarm_length, + float l_forearm_length, + float r_forearm_length, + List hand_pointing_towards) + { + Left_Upper_arm_collider.height = l_upperarm_length; + Right_Upper_arm_collider.height = r_upperarm_length; + Left_Forearm_collider.height = l_forearm_length; + Right_Forearm_collider.height = r_forearm_length; + + Left_Upper_arm_collider.transform.localPosition = l_upperarm_center; + Right_Upper_arm_collider.transform.localPosition = r_upperarm_center; + Left_Forearm_collider.transform.localPosition = l_forearm_center; + Right_Forearm_collider.transform.localPosition = r_forearm_center; + //Left_Hand_collider.transform.localPosition = l_hand_center; + //Right_Hand_collider.transform.localPosition = r_hand_center; + + Left_Upper_arm_collider.transform.localRotation = Quaternion.LookRotation(-hand_pointing_towards[0].normalized, + Left_Upper_arm_collider.transform.up); + Right_Upper_arm_collider.transform.localRotation = Quaternion.LookRotation(-hand_pointing_towards[1].normalized, + Right_Upper_arm_collider.transform.up); + Left_Forearm_collider.transform.localRotation = Quaternion.LookRotation(-hand_pointing_towards[2].normalized, + Left_Forearm_collider.transform.up); + Right_Forearm_collider.transform.localRotation = Quaternion.LookRotation(-hand_pointing_towards[3].normalized, + Right_Forearm_collider.transform.up); + } + + private void Adjust_Body_Collider( + Vector3 head, + Vector3 chest_center, + Vector3 chest_up, + Vector3 to_right + ) + { + Chest_collider.transform.localPosition = chest_center; + + Chest_collider.transform.localRotation = Quaternion.Lerp(Chest_collider.transform.localRotation, Quaternion.LookRotation(chest_up, Vector3.Cross(chest_up, to_right) + ), 0.1f); + } + + private Vector3 Adjust_Vector3(Vector3 vec) + { + Vector3 result = vec / 1000; + result.y = -result.y; + return result; + } + + private List Adjust_Vector3(List vec_list) + { + List result = new List(); + foreach (var vec in vec_list) + result.Add(Adjust_Vector3(vec)); + return result; + } + + private void Change_Upperarm_Radius() + { + Left_Upper_arm_collider.radius = UpperarmRadius; + Right_Upper_arm_collider.radius = UpperarmRadius; + } + + private void Change_Forearm_Radius() + { + Left_Forearm_collider.radius = ForearmRadius; + Right_Forearm_collider.radius = ForearmRadius; + } +} \ No newline at end of file diff --git a/Assets/Script/DT/Human/OnlyCollider.cs.meta b/Assets/Script/DT/Human/OnlyCollider.cs.meta new file mode 100644 index 0000000..f88c790 --- /dev/null +++ b/Assets/Script/DT/Human/OnlyCollider.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: bf41132f710ec1a4ba25443c09d361ab +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Script/DT/RouteGenerator.cs b/Assets/Script/DT/RouteGenerator.cs index 173e9bb..60ac114 100644 --- a/Assets/Script/DT/RouteGenerator.cs +++ b/Assets/Script/DT/RouteGenerator.cs @@ -4,6 +4,7 @@ using System.Collections.Generic; using System.ComponentModel; using System.Net.Http.Headers; +using System.Reflection; using UnityEngine; using WW2NavalAssembly; @@ -95,6 +96,20 @@ public class RouteGenerator : MonoBehaviour [SerializeField] uint currHighlight = 0; + public void ResetRouteValid() + { + int cnt = GhostSpace.childCount; + for (int i = 0; i < cnt; i++) + { + GhostCollisionDetection gcd = GhostSpace.GetChild(i).gameObject.GetComponent(); + gcd.Valid = true; + for (int j = 0; j < gcd.colliderCnt.Length; j++) + { + gcd.colliderCnt[j] = 0; + } + } + } + public bool RestRouteValid(int index) { int cnt = GhostSpace.childCount; @@ -125,13 +140,22 @@ public uint CurrHighlight } if (GhostSpace.childCount > 0) { + GhostCollisionDetection obj; if (currHighlight == 0) { - 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taskSouce.GetComponent().SwitchTaskMode(false); taskSouce = null; task = new ArmTask(); Debug.Log("Task Finished"); + Cancel = false; yield break; } diff --git a/Assets/Script/UI/ObjectFrame.cs b/Assets/Script/UI/ObjectFrame.cs index a39319c..1d983ad 100644 --- a/Assets/Script/UI/ObjectFrame.cs +++ b/Assets/Script/UI/ObjectFrame.cs @@ -38,6 +38,8 @@ public enum Type public Transform RightHand; public Transform LeftHand; + public ToolTip CatName; + public void SwitchTaskMode(bool intask) { if (type == Type.Aim) @@ -68,7 +70,8 @@ public void SwitchTaskMode(bool intask) if (task_type == 0) { t.InitAsMoveObject(source.Frame.transform.position, Frame.transform.position, source.Frame.transform.right, Frame.transform.right); - }else if ((task_type == 1 || task_type == 2) && type == Type.Detect) + } + else if ((task_type == 1 || task_type == 2) && type == Type.Detect) { t.InitAsGrabObject( Frame.transform.position, @@ -110,6 +113,11 @@ public void CancelAim() { if (InTask) { + Debug.Log("Cancel Task"); + if (taskManager) + { + taskManager.Cancel = true; + } return; } Debug.Log("Cancel Aim"); @@ -179,8 +187,6 @@ void Start() void Update() { arrows.localScale = new Vector3(1f/Frame.transform.lossyScale.x, 1f/Frame.transform.localScale.y, 1f/Frame.transform.lossyScale.z) * 0.5f * Frame.transform.localScale.magnitude; - - if (type == Type.Aim) { Line.enabled = true; @@ -190,12 +196,13 @@ void Update() UI_Aim.SetActive(true); UI_Detect.SetActive(false); } - - else if(type == Type.Detect && !dist) + else { UI_Aim.SetActive(false); - UI_Detect.SetActive(true); + UI_Detect.SetActive(!dist); Line.enabled = false; + CatName.ToolTipText = Category; + CatName.gameObject.SetActive(Category.Length > 0); } } diff --git a/Assets/Script/UI/PlaceExplorer.cs b/Assets/Script/UI/PlaceExplorer.cs index fcaf0fd..c4c4828 100644 --- a/Assets/Script/UI/PlaceExplorer.cs +++ b/Assets/Script/UI/PlaceExplorer.cs @@ -1,4 +1,5 @@ using Microsoft.MixedReality.Toolkit.UI; +using Microsoft.MixedReality.Toolkit.UI.BoundsControl; using System.Collections; using System.Collections.Generic; using UnityEngine; @@ -11,6 +12,8 @@ public class PlaceExplorer : MonoBehaviour public Transform field; + public RouteGenerator routeGenerator; + public void ButtonPressed(GameObject button) { CancelButton(); @@ -40,9 +43,16 @@ public void DeployObject() GameObject obj = Instantiate(SelectedButton.transform.Find("ButtonContent").GetChild(0).gameObject); obj.SetActive(true); obj.transform.parent = field; - obj.AddComponent(); + Obstacle obstacle = obj.AddComponent(); + obstacle.routeGenerator = routeGenerator; + ObjectManipulator OM = obj.AddComponent(); + OM.OnHoverEntered.AddListener(obj.GetComponent().hoverEnter); + OM.OnHoverExited.AddListener(obj.GetComponent().hoverExit); obj.transform.localScale *= 20f; obj.transform.position = Camera.main.transform.position + Camera.main.transform.forward * 0.8f; + BoundsControl BC = obj.AddComponent(); + BC.ScaleHandlesConfig.ScaleBehavior = Microsoft.MixedReality.Toolkit.UI.BoundsControlTypes.HandleScaleMode.NonUniform; + obj.layer = obj.transform.parent.gameObject.layer; } } diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset index 88e09e0..6180b59 100644 --- a/ProjectSettings/DynamicsManager.asset +++ b/ProjectSettings/DynamicsManager.asset @@ -18,7 +18,7 @@ PhysicsManager: m_ClothInterCollisionDistance: 0 m_ClothInterCollisionStiffness: 0 m_ContactsGeneration: 1 - m_LayerCollisionMatrix: 3fffffff3fffffff3fffffffffffffff3fffffff3fffffff88ffff7f48ffff7fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff3fffffff + m_LayerCollisionMatrix: 3ffeffff3ffeffff3ffeffffffffffff3ffeffff3ffeffff88ffff7f48feff7f48feffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff3fffffff m_AutoSimulation: 1 m_AutoSyncTransforms: 0 m_ReuseCollisionCallbacks: 1 diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index 77cb0ce..ca14de0 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -13,7 +13,7 @@ TagManager: - UI - RobotArm - Human - - + - Environment - - -