public void rotateHand(
PhysicsRemoteFPSAgentController controller,
Quaternion targetQuat,
float degreesPerSecond,
bool disableRendering = false,
float fixedDeltaTime = 0.02f,
bool returnToStartPositionIfFailed = false
)
{
collisionListener.Reset();
IEnumerator rotate = ContinuousMovement.rotate(
controller,
collisionListener,
armTarget.transform,
armTarget.transform.rotation * targetQuat,
disableRendering ? fixedDeltaTime : Time.fixedDeltaTime,
degreesPerSecond,
returnToStartPositionIfFailed
);
if (disableRendering)
{
controller.unrollSimulatePhysics(
rotate,
fixedDeltaTime
);
}
else
{
StartCoroutine(rotate);
}
}
// Start is called before the first frame update
void Start()
{
// initialize attributes
character = GetComponent <CharacterController>();
continuousMovement = GetComponent <ContinuousMovement>()
;
}
public void moveArmBase(
PhysicsRemoteFPSAgentController controller,
float height,
float unitsPerSecond,
float fixedDeltaTime = 0.02f,
bool returnToStartPositionIfFailed = false,
bool disableRendering = false
)
{
// clearing out colliders here since OnTriggerExit is not consistently called in Editor
collisionListener.Reset();
// first check if the target position is within bounds of the agent's capsule center/height extents
// if not, actionFinished false with error message listing valid range defined by extents
CapsuleCollider cc = controller.GetComponent <CapsuleCollider>();
Vector3 cc_center = cc.center;
Vector3 cc_maxY = cc.center + new Vector3(0, cc.height / 2f, 0);
Vector3 cc_minY = cc.center + new Vector3(0, (-cc.height / 2f) / 2f, 0); // this is halved to prevent arm clipping into floor
// linear function that take height and adjusts targetY relative to min/max extents
float targetY = ((cc_maxY.y - cc_minY.y) * (height)) + cc_minY.y;
Vector3 target = new Vector3(this.transform.localPosition.x, targetY, 0);
IEnumerator moveCall = ContinuousMovement.move(
controller: controller,
collisionListener: collisionListener,
moveTransform: this.transform,
targetPosition: target,
fixedDeltaTime: disableRendering ? fixedDeltaTime : Time.fixedDeltaTime,
unitsPerSecond: unitsPerSecond,
returnToStartPropIfFailed: returnToStartPositionIfFailed,
localPosition: true
);
if (disableRendering)
{
controller.unrollSimulatePhysics(
enumerator: moveCall,
fixedDeltaTime: fixedDeltaTime
);
}
else
{
StartCoroutine(moveCall);
}
}
void Awake()
{
character = GetComponent <CharacterController>();
continuousMovement = GetComponent <ContinuousMovement>();
}
public void moveArmTarget(
PhysicsRemoteFPSAgentController controller,
Vector3 target,
float unitsPerSecond,
float fixedDeltaTime = 0.02f,
bool returnToStart = false,
string coordinateSpace = "arm",
bool restrictTargetPosition = false,
bool disableRendering = false
)
{
// clearing out colliders here since OnTriggerExit is not consistently called in Editor
collisionListener.Reset();
IK_Robot_Arm_Controller arm = this;
// Move arm based on hand space or arm origin space
// Vector3 targetWorldPos = handCameraSpace ? handCameraTransform.TransformPoint(target) : arm.transform.TransformPoint(target);
Vector3 targetWorldPos = Vector3.zero;
switch (coordinateSpace)
{
case "world":
// world space, can be used to move directly toward positions
// returned by sim objects
targetWorldPos = target;
break;
case "wrist":
// space relative to base of the wrist, where the camera is
targetWorldPos = handCameraTransform.TransformPoint(target);
break;
case "armBase":
// space relative to the root of the arm, joint 1
targetWorldPos = arm.transform.TransformPoint(target);
break;
default:
throw new ArgumentException("Invalid coordinateSpace: " + coordinateSpace);
}
// TODO Remove this after restrict movement is finalized
Vector3 targetShoulderSpace = (this.transform.InverseTransformPoint(targetWorldPos) - new Vector3(0, 0, originToShoulderLength));
#if UNITY_EDITOR
Debug.Log(
$"pos target {target} world {targetWorldPos} remaining {targetShoulderSpace.z}\n" +
$"magnitude {targetShoulderSpace.magnitude} extendedArmLength {extendedArmLength}"
);
#endif
if (restrictTargetPosition && !validArmTargetPosition(targetWorldPos))
{
targetShoulderSpace = (
this.transform.InverseTransformPoint(targetWorldPos)
- new Vector3(0, 0, originToShoulderLength)
);
throw new InvalidOperationException(
$"Invalid target: Position '{target}' in space '{coordinateSpace}' is behind shoulder."
);
}
Vector3 originalPos = armTarget.position;
Vector3 targetDirectionWorld = (targetWorldPos - originalPos).normalized;
IEnumerator moveCall = ContinuousMovement.move(
controller,
collisionListener,
armTarget,
targetWorldPos,
disableRendering ? fixedDeltaTime : Time.fixedDeltaTime,
unitsPerSecond,
returnToStart,
false
);
if (disableRendering)
{
controller.unrollSimulatePhysics(
moveCall,
fixedDeltaTime
);
}
else
{
StartCoroutine(
moveCall
);
}
}
private void Start()
{
character = GetComponent <CharacterController>();
continuousMovement = GetComponent <ContinuousMovement>();
}