public void ElbowPointingUp()
{
Vector3 shoulderToElbow = new Vector3(0, 1, 0);
double yaw = InverseKinematics.GetShoulderYaw(neckToSpine, shoulderR2L, shoulderToElbow);
Assert.AreEqual(90, yaw, angleTolerance);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Input variables
Robot robot = null;
Movement Movement = null;
// Catch the input data
if (!DA.GetData(0, ref robot))
{
return;
}
if (!DA.GetData(1, ref Movement))
{
return;
}
// Calculate the robot pose
_inverseKinematics = new InverseKinematics(Movement, robot);
_inverseKinematics.Calculate();
// Check the values
for (int i = 0; i < _inverseKinematics.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, _inverseKinematics.ErrorText[i]);
}
// Set forward kinematics (for visualization)
_forwardKinematics = new ForwardKinematics(robot);
// Output
DA.SetData(0, _inverseKinematics.RobotJointPosition);
DA.SetData(1, _inverseKinematics.ExternalJointPosition);
}
public void WristPointingUp()
{
Point3 wrist = new Point3(10, 11, 9);
double roll = InverseKinematics.GetShoulderRollRight(neckToSpine, shoulderL, shoulderR, elbow, wrist);
Assert.AreEqual(90, roll, angleTolerance);
}
public void Inline()
{
Point3 wrist = new Point3(10, 10, 8);
double roll = InverseKinematics.GetShoulderRollRight(neckToSpine, shoulderL, shoulderR, elbow, wrist);
Assert.AreEqual(0, roll);
}
/// <summary>
/// Initializes a new instance of the Robot class with attached external axes.
/// </summary>
/// <param name="name"> The name. </param>
/// <param name="meshes"> The base and links meshes defined in the world coorindate space. </param>
/// <param name="internalAxisPlanes"> The internal axes planes defined in the world coorindate space. </param>
/// <param name="internalAxisLimits"> The internal axes limit. </param>
/// <param name="basePlane"> The position and orientation of the robot base in the world coordinate space. </param>
/// <param name="mountingFrame"> The tool mounting frame definied in the world coordinate space. </param>
/// <param name="tool"> The Robot Tool. </param>
/// <param name="externalAxes"> The attached external axes. </param>
public Robot(string name, List <Mesh> meshes, List <Plane> internalAxisPlanes, List <Interval> internalAxisLimits, Plane basePlane, Plane mountingFrame, RobotTool tool, List <ExternalAxis> externalAxes)
{
// Robot related fields
_name = name;
_meshes = meshes;
_internalAxisPlanes = internalAxisPlanes;
_internalAxisLimits = internalAxisLimits;
_basePlane = basePlane;
_mountingFrame = mountingFrame;
// Tool related fields
_tool = tool.Duplicate(); // Make a deep copy since we transform it later
_meshes.Add(GetAttachedToolMesh());
CalculateAttachedToolPlane();
// External axis related fields
_externalAxes = externalAxes;
_externalAxisPlanes = new List <Plane>();
_externalAxisLimits = new List <Interval>();
UpdateExternalAxisFields();
// Transform Robot Tool to Mounting Frame
Transform trans = Transform.PlaneToPlane(_tool.AttachmentPlane, _mountingFrame);
_tool.Transform(trans);
// Set kinematics
_inverseKinematics = new InverseKinematics(new RobotTarget("init", Plane.WorldXY), this);
_forwardKinematics = new ForwardKinematics(this);
}
public void Inline()
{
Vector3 elbowToWrist = new Vector3(1, 0, 0);
double angle = InverseKinematics.GetElbowAngle(shoulderToElbow, elbowToWrist);
Assert.AreEqual(0, angle, angleTolerance);
}
public void Inline()
{
Vector3 shoulderToElbow = new Vector3(1, 0, 0);
double yaw = InverseKinematics.GetShoulderYaw(neckToSpine, shoulderL2R, shoulderToElbow);
Assert.AreEqual(0, yaw, angleTolerance);
}
public void RestorePose(Pose pose)
{
var bones = GetComponentsInChildren <Bone>();
Undo.RegisterCompleteObjectUndo(bones, "Assign Pose");
foreach (RotationValue rv in pose.rotations)
{
System.Array.Find <Bone>(bones, b => b.name == rv.name).transform.localRotation = rv.rotation;
}
foreach (PositionValue pv in pose.positions)
{
System.Array.Find <Bone>(bones, b => b.name == pv.name).transform.localPosition = pv.position;
}
foreach (PositionValue tv in pose.targets)
{
Bone bone = System.Array.Find <Bone>(bones, b => b.name == tv.name);
InverseKinematics ik = bone.GetComponent <InverseKinematics>();
if (ik != null)
{
Undo.RecordObject(ik.target, "Assign Pose");
ik.target.transform.localPosition = tv.position;
}
}
}
public void WristPointingUp()
{
Vector3 elbowToWrist = new Vector3(0, 1, 0);
double angle = InverseKinematics.GetElbowAngle(shoulderToElbow, elbowToWrist);
Assert.AreEqual(-90, angle, angleTolerance);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
private void Start()
{
Transform lowerLeg = transform.Find("LowerLeg");
Transform upperLeg = transform.Find("UpperLeg");
this.kinematics = new InverseKinematics(lowerLeg, upperLeg);
this.foot = kinematics.Foot();
this.state = LegState.Stationary;
}
private static void AssertProjectionsMatchPointsLeft(Point3 elbow, Point3 wrist)
{
// Make sure the lengths of each segment are the expected lengths.
Assert.AreEqual(1, Vector3.FromPoints(shoulderL, elbow).Magnitude);
Assert.AreEqual(1, Vector3.FromPoints(elbow, wrist).Magnitude);
InverseKinematics ik = InverseKinematics.GetInverseKinematicsLeft(neck, spine, shoulderL, shoulderR, elbow, wrist, inRadians: true);
ForwardKinematics fk = ForwardKinematics.GetForwardKinematicsLeft(shoulderL, ik);
Assert.AreEqual(elbow, fk.Elbow);
Assert.AreEqual(wrist, fk.Wrist);
}
public void Clear()
{
MarkAsInvalid();
InverseKinematics.Clear();
Controller.DeleteAllLayers();
Controller.Variables.Clear();
Controller.ResultBonesPool.Reset(null);
m_characterBones = null;
m_boneRelativeTransforms = null;
m_boneAbsoluteTransforms = null;
CharacterBonesSorted = null;
}
private void Init()
{
serviceInitializer = new ServiceInitializerIK(sliders);
serviceInitializer.InitializeSliders();
serviceRotation = ScriptableObject.CreateInstance <ServiceRotationIK>();
serviceRotation.Init(topLegs, bottomLegs);
inverseKinematics = ScriptableObject.CreateInstance <InverseKinematics>();
ballSimulation = new BallSimulation(sliders);
panelDrawing = new PanelDrawing(panels);
}
private void EditorUpdate()
{
foreach (Bone b in gameObject.GetComponentsInChildren <Bone>())
{
InverseKinematics ik = b.GetComponent <InverseKinematics>();
if (ik != null && !editMode && ik.enabled && ik.influence > 0)
{
ik.resolveSK2D();
}
}
}
void Start()
{
this.JointAngles = new float[JointTransforms.Length];
this.JointBuffer = new float[JointTransforms.Length];
if (this.physics_enabled)
{
this.MJoints = new ManipulatorJoint[7];
for (int i = 0; i < 7; i++)
{
this.MJoints[i] = this.JointTransforms[i].GetComponent <ManipulatorJoint>();
}
}
this.ik = GetComponent <InverseKinematics>();
this.reset_pose = false;
// ResetPose();
}
private List <Interval> _externalAxisLimits; // The external axis limit
#endregion
#region (de)serialization
/// <summary>
/// Protected constructor needed for deserialization of the object.
/// </summary>
/// <param name="info"> The SerializationInfo to extract the data from. </param>
/// <param name="context"> The context of this deserialization. </param>
protected Robot(SerializationInfo info, StreamingContext context)
{
_name = (string)info.GetValue("Name", typeof(string));
_meshes = (List <Mesh>)info.GetValue("Meshes", typeof(List <Mesh>));
_internalAxisPlanes = (List <Plane>)info.GetValue("Internal Axis Planes", typeof(List <Plane>));
_internalAxisLimits = (List <Interval>)info.GetValue("Internal Axis Limits", typeof(List <Interval>));
_basePlane = (Plane)info.GetValue("Base Plane", typeof(Plane));
_mountingFrame = (Plane)info.GetValue("Mounting Frame", typeof(Plane));
_tool = (RobotTool)info.GetValue("RobotTool", typeof(RobotTool));
_toolPlane = (Plane)info.GetValue("Tool Plane", typeof(Plane));
_externalAxes = (List <ExternalAxis>)info.GetValue("External Axis", typeof(List <ExternalAxis>));
_externalAxisPlanes = (List <Plane>)info.GetValue("External Axis Planes", typeof(List <Plane>));
_externalAxisLimits = (List <Interval>)info.GetValue("External Axis Limits", typeof(List <Interval>));
_inverseKinematics = new InverseKinematics(new RobotTarget("init", Plane.WorldXY), this);
_forwardKinematics = new ForwardKinematics(this);
}
private void EditorUpdate()
{
if (bones != null)
{
for (int i = 0; i < bones.Length; i++)
{
if (bones[i] != null)
{
InverseKinematics ik = bones[i].GetComponent <InverseKinematics>();
if (ik != null && !editMode && ik.enabled && ik.influence > 0)
{
ik.resolveSK2D();
}
}
}
}
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Input variables
Robot robot = null;
Movement Movement = null;
// Catch the input data
if (!DA.GetData(0, ref robot))
{
return;
}
if (!DA.GetData(1, ref Movement))
{
return;
}
// Calculate the robot pose
InverseKinematics inverseKinematics = new InverseKinematics(Movement, robot);
inverseKinematics.Calculate();
// Check the values
for (int i = 0; i < inverseKinematics.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, inverseKinematics.ErrorText[i]);
}
// Create list with externan axis values
List <double> externalAxisValues = inverseKinematics.ExternalJointPosition.ToList();
externalAxisValues.RemoveAll(val => val == 9e9);
// Output
DA.SetDataList(0, inverseKinematics.RobotJointPosition.ToList());
DA.SetDataList(1, externalAxisValues);
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
_deferral = taskInstance.GetDeferral();
_display = new SparkFunSerial16X2Lcd();
_xboxController = new XboxController(_display);
_ntripClient = new NtripClient("172.16.0.237", 8000, "", "", "", _display); //172.16.0.227
_ioTClient = new IoTClient(_display);
_gps = new Gps.Gps(_display, _ntripClient);
_inverseKinematics = new InverseKinematics(_display);
_ikController = new IkController(_inverseKinematics, _display, _ioTClient, _gps); //Range and yaw/pitch/roll data from Arduino and SparkFun Razor IMU
_navigator = new Navigator(_ikController, _display, _gps);
_hexapi = new Hexapi(_ikController, _xboxController, _navigator, _display, _gps, _ioTClient);
_initializeTasks.Add(_display.InitializeAsync());
_initializeTasks.Add(_xboxController.InitializeAsync());
_initializeTasks.Add(_ikController.InitializeAsync());
_initializeTasks.Add(_ntripClient.InitializeAsync());
_initializeTasks.Add(_gps.InitializeAsync());
_initializeTasks.Add(_inverseKinematics.InitializeAsync());
_initializeTasks.Add(_ioTClient.InitializeAsync());
_startTasks.Add(_ntripClient.StartAsync());
_startTasks.Add(_ikController.StartAsync());
_startTasks.Add(_gps.StartAsync());
_startTasks.Add(_inverseKinematics.StartAsync());
//_startTasks.Add(_ioTClient.StartAsync());//only needed if expecting messages from the server
//foreach (var d in await SerialDeviceHelper.ListAvailablePorts())
//{
// await _ioTClient.SendEvent(d);
//}
await Task.WhenAll(_initializeTasks.ToArray());
await Task.WhenAll(_startTasks.ToArray());
}
/// <summary>
/// Initializes a new instance of the Robot class by duplicating an existing Robot instance.
/// </summary>
/// <param name="robot"> The Robot instance to duplicate. </param>
public Robot(Robot robot)
{
// Robot related fields
_name = robot.Name;
_meshes = robot.Meshes.ConvertAll(mesh => mesh.DuplicateMesh()); // This includes the tool mesh
_internalAxisPlanes = new List <Plane>(robot.InternalAxisPlanes);
_internalAxisLimits = new List <Interval>(robot.InternalAxisLimits);
_basePlane = new Plane(robot.BasePlane);
_mountingFrame = new Plane(robot.MountingFrame);
// Tool related fields
_tool = robot.Tool.Duplicate();
_toolPlane = new Plane(robot.ToolPlane);
// External axis related fields
_externalAxes = new List <ExternalAxis>(robot.ExternalAxes); //TODO: make deep copy
_externalAxisPlanes = new List <Plane>(robot.ExternalAxisPlanes);
_externalAxisLimits = new List <Interval>(robot.ExternalAxisLimits);
// Kinematics
_inverseKinematics = new InverseKinematics(robot.InverseKinematics.Movement.Duplicate(), this);
_forwardKinematics = new ForwardKinematics(this, robot.ForwardKinematics.HideMesh);
}
void OnEnable()
{
ik = (InverseKinematics)target;
}
static void DrawIKGizmo(InverseKinematics ik, GizmoType gizmoType)
{
Handles.Label(ik.transform.position + new Vector3(0.1f, 0), "IK");
}
// Restore a saved pose for the Skeleton
public void RestorePose(Pose pose)
{
var bones = GetComponentsInChildren <Bone>();
/// WILL BE DEPRECIATED IN FUTURE RELEASE AS ControlPoint IS NO LONGER SUPPORTED ///
var cps = GetComponentsInChildren <ControlPoint>();
var skin2Ds = GetComponentsInChildren <Skin2D>();
#if UNITY_EDITOR
Undo.RegisterCompleteObjectUndo(bones, "Assign Pose");
Undo.RegisterCompleteObjectUndo(cps, "Assign Pose");
Undo.RegisterCompleteObjectUndo(skin2Ds, "Assign Pose");
#endif
if (bones.Length > 0)
{
for (int i = 0; i < pose.rotations.Length; i++)
{
bool hasRot = false;
for (int b = 0; b < bones.Length; b++)
{
if (bones[b].name == pose.rotations[i].name)
{
#if UNITY_EDITOR
Undo.RecordObject(bones[b].transform, "Assign Pose");
#endif
// Set the bone rotation to the pose rotation
bones[b].transform.localRotation = pose.rotations[i].rotation;
#if UNITY_EDITOR
EditorUtility.SetDirty(bones[b].transform);
#endif
hasRot = true;
}
}
if (!hasRot)
{
Debug.Log("This skeleton has no bone '" + pose.rotations[i].name + "'");
}
}
for (int j = 0; j < pose.positions.Length; j++)
{
bool hasPos = false;
for (int o = 0; o < bones.Length; o++)
{
if (bones[o].name == pose.positions[j].name)
{
#if UNITY_EDITOR
Undo.RecordObject(bones[o].transform, "Assign Pose");
#endif
// Set the bone position to the pose position
bones[o].transform.localPosition = pose.positions[j].position;
#if UNITY_EDITOR
EditorUtility.SetDirty(bones[o].transform);
#endif
hasPos = true;
}
}
if (!hasPos)
{
Debug.Log("This skeleton has no bone '" + pose.positions[j].name + "'");
}
}
for (int k = 0; k < pose.targets.Length; k++)
{
bool hasTarget = false;
for (int n = 0; n < bones.Length; n++)
{
if (bones[n].name == pose.targets[k].name)
{
InverseKinematics ik = bones[n].GetComponent <InverseKinematics>();
if (ik != null)
{
#if UNITY_EDITOR
Undo.RecordObject(ik.target, "Assign Pose");
#endif
// Set IK position to the pose IK target position
ik.target.transform.localPosition = pose.targets[k].position;
#if UNITY_EDITOR
EditorUtility.SetDirty(ik.target.transform);
#endif
}
else
{
Debug.Log("This skeleton has no ik for bone '" + bones[n].name + "'");
}
hasTarget = true;
}
}
if (!hasTarget)
{
Debug.Log("This skeleton has no bone '" + pose.targets[k].name + "'");
}
}
}
if (pose.controlPoints.Length > 0)
{
for (int l = 0; l < pose.controlPoints.Length; l++)
{
bool hasControlPoint = false;
/// WILL BE DEPRECIATED IN FUTURE RELEASE AS CONTROL POINT IS NO LONGER SUPPORTED ///
if (cps.Length > 0)
{
for (int c = 0; c < cps.Length; c++)
{
if (cps[c].name == pose.controlPoints[l].name)
{
#if UNITY_EDITOR
Undo.RecordObject(cps[c].transform, "Assign Pose");
#endif
// Set the control point transform position to the control point position
cps[c].transform.localPosition = pose.controlPoints[l].position;
#if UNITY_EDITOR
EditorUtility.SetDirty(cps[c].transform);
#endif
hasControlPoint = true;
}
}
}
// Move control points in Skin2D component
if (skin2Ds.Length > 0)
{
for (int s = 0; s < skin2Ds.Length; s++)
{
if (skin2Ds[s].points != null && skin2Ds[s].controlPoints != null &&
skin2Ds[s].controlPoints.Length > 0 &&
pose.controlPoints[l].name.StartsWith(skin2Ds[s].name + " Control Point"))
{
#if UNITY_EDITOR
Undo.RecordObject(skin2Ds[s], "Assign Pose");
Undo.RecordObject(skin2Ds[s].points, "Assign Pose");
#endif
// Get control point index by name in pose
int index = GetControlPointIndex(pose.controlPoints[l].name);
skin2Ds[s].controlPoints[index].position = pose.controlPoints[l].position;
skin2Ds[s].points.SetPoint(skin2Ds[s].controlPoints[index]);
#if UNITY_EDITOR
EditorUtility.SetDirty(skin2Ds[s]);
EditorUtility.SetDirty(skin2Ds[s].points);
#endif
hasControlPoint = true;
// Debug.Log("Found " + pose.controlPoints[l].name + " set to " + index + skin2Ds[s].points.GetPoint(skin2Ds[s].controlPoints[index]));
}
}
}
if (!hasControlPoint)
{
Debug.Log("There is no control point '" + pose.controlPoints[l].name + "'");
}
}
}
}
public void AddGun(GunObject addGun)
{
if (Application.isPlaying)
{
Debug.LogWarning("ONLY CALL THIS OUTSIDE OF PLAY");
return;
}
RemoveBlanks();
//Find where to place this gun
PrefabHandler playerPrefab = new PrefabHandler(FindObjectOfType <PlayerController>().transform, playerPrefabPath);
GunHandler handler = gunInventory.Find(x => x.gun.GetHashCode() == addGun.GetHashCode());
if (handler == null) //If we did not find a handler with the gun using the gun name
{
playerPrefab.ChangePrefab(() =>
{
GameObject gunParent = new GameObject();
gunParent.transform.name = addGun.prefabName;
gunParent.transform.SetParent(this.transform);
TransformHelper.ResetLocalTransform(gunParent.transform);
Animator ani = gunParent.AddComponent(typeof(Animator)) as Animator;
if (addGun.animationController != null)
{
ani.runtimeAnimatorController = addGun.animationController;
}
handler = gunParent.AddComponent(typeof(GunHandler)) as GunHandler;
handler.gun = addGun;
handler.handIKTarget = new GameObject().transform;
handler.handIKTarget.name = "IK_Hand";
handler.handIKTarget.SetParent(gunParent.transform);
TransformHelper.SetLocalTransformData(handler.handIKTarget, addGun.IK_HandTarget);
gunInventory.Add(handler);
handler.gunIndex = gunInventory.Count - 1;
});
}
else
{
Debug.Log("Already have gun named : " + addGun.prefabName + " [UPDATING GUN]");
playerPrefab.ChangePrefab(() =>
{
handler.transform.SetParent(this.transform);
TransformHelper.ResetLocalTransform(handler.transform);
if (addGun.animationController != null)
{
Animator ani = handler.gameObject.GetComponent <Animator>();
ani.runtimeAnimatorController = addGun.animationController;
}
handler.gun = addGun;
handler.handIKTarget.SetParent(handler.transform.parent);
TransformHelper.DeleteAllChildren(handler.transform);
handler.handIKTarget.SetParent(handler.transform);
TransformHelper.SetLocalTransformData(handler.handIKTarget, addGun.IK_HandTarget);
});
}
playerPrefab.ChangePrefab(() =>
{
if (addGun.prefabObj != null)
{
CreateGunPrefab(handler);
}
if (addGun.animationController != null)
{
handler.SetAnimations(addGun.gunMotions);
}
selectedGun = handler.gunIndex;
for (int i = 0; i < gunInventory.Count; i++)
{
gunInventory[i].gameObject.SetActive(i == selectedGun);
}
handler.SetAmmo();
handler.bulletSpawn = handler.gameObject.GetComponentInChildren <GunBulletSpawn>();
InverseKinematics ik = null;
if ((ik = FindObjectOfType <ArmIKController>().armIK) != null)
{
ik.target = handler.handIKTarget;
}
});
playerPrefab.RecreatePrefab();
}
public void RestorePose(Pose pose)
{
var bones = GetComponentsInChildren <Bone>();
var cps = GetComponentsInChildren <ControlPoint>();
Undo.RegisterCompleteObjectUndo(bones, "Assign Pose");
Undo.RegisterCompleteObjectUndo(cps, "Assign Pose");
foreach (RotationValue rv in pose.rotations)
{
Bone bone = bones.First(b => b.name == rv.name);
if (bone != null)
{
bone.transform.localRotation = rv.rotation;
}
else
{
Debug.Log("This skeleton has no bone '" + bone.name + "'");
}
}
foreach (PositionValue pv in pose.positions)
{
Bone bone = bones.First(b => b.name == pv.name);
if (bone != null)
{
bone.transform.localPosition = pv.position;
}
else
{
Debug.Log("This skeleton has no bone '" + bone.name + "'");
}
}
foreach (PositionValue tv in pose.targets)
{
Bone bone = bones.First(b => b.name == tv.name);
if (bone != null)
{
InverseKinematics ik = bone.GetComponent <InverseKinematics>();
if (ik != null)
{
Undo.RecordObject(ik.target, "Assign Pose");
ik.target.transform.localPosition = tv.position;
}
}
else
{
Debug.Log("This skeleton has no bone '" + bone.name + "'");
}
}
foreach (PositionValue cpv in pose.controlPoints)
{
ControlPoint cp = cps.First(c => (c.transform.parent.name + c.name) == cpv.name);
if (cp != null)
{
cp.transform.localPosition = cpv.position;
}
else
{
Debug.Log("There is no control point '" + cpv.name + "'");
}
}
}
public void RestorePose(Pose pose)
{
var bones = GetComponentsInChildren <Bone>();
var cps = GetComponentsInChildren <ControlPoint>();
#if UNITY_EDITOR
Undo.RegisterCompleteObjectUndo(bones, "Assign Pose");
Undo.RegisterCompleteObjectUndo(cps, "Assign Pose");
#endif
if (bones.Length > 0)
{
foreach (RotationValue rv in pose.rotations)
{
Bone bone = bones.FirstOrDefault(b => b.name == rv.name);
if (bone != null)
{
#if UNITY_EDITOR
Undo.RecordObject(bone.transform, "Assign Pose");
#endif
bone.transform.localRotation = rv.rotation;
#if UNITY_EDITOR
EditorUtility.SetDirty(bone.transform);
#endif
}
else
{
Debug.Log("This skeleton has no bone '" + rv.name + "'");
}
}
foreach (PositionValue pv in pose.positions)
{
Bone bone = bones.FirstOrDefault(b => b.name == pv.name);
if (bone != null)
{
#if UNITY_EDITOR
Undo.RecordObject(bone.transform, "Assign Pose");
#endif
bone.transform.localPosition = pv.position;
#if UNITY_EDITOR
EditorUtility.SetDirty(bone.transform);
#endif
}
else
{
Debug.Log("This skeleton has no bone '" + pv.name + "'");
}
}
foreach (PositionValue tv in pose.targets)
{
Bone bone = bones.FirstOrDefault(b => b.name == tv.name);
if (bone != null)
{
InverseKinematics ik = bone.GetComponent <InverseKinematics>();
if (ik != null)
{
#if UNITY_EDITOR
Undo.RecordObject(ik.target, "Assign Pose");
#endif
ik.target.transform.localPosition = tv.position;
#if UNITY_EDITOR
EditorUtility.SetDirty(ik.target.transform);
#endif
}
}
else
{
Debug.Log("This skeleton has no bone '" + tv.name + "'");
}
}
}
if (cps.Length > 0)
{
foreach (PositionValue cpv in pose.controlPoints)
{
ControlPoint cp = cps.FirstOrDefault(c => (c.name) == cpv.name || (c.name) == c.transform.parent.name + c.name);
if (cp != null)
{
#if UNITY_EDITOR
Undo.RecordObject(cp.transform, "Assign Pose");
#endif
cp.transform.localPosition = cpv.position;
#if UNITY_EDITOR
EditorUtility.SetDirty(cp.transform);
#endif
}
else
{
Debug.Log("There is no control point '" + cpv.name + "'");
}
}
}
}
private void InitializeMember()
{
Joint6ToFlangeTrafo = new TransformationMatrix(Transformations.GetIdentityMatrix());
InvKin = new InverseKinematics();
}
static void DrawIKGizmo(InverseKinematics ik, GizmoType gizmoType)
{
Handles.Label(ik.transform.position + new Vector3(0.1f, 0), "IK");
}
void OnEnable()
{
ik = (InverseKinematics)target;
}
void LoadBot(string path)
{
//SceneManager.LoadScene("empty");
GameObject canvas = GameObject.Find("Canvas");
canvas.name = "Canvas Del";
GameObject.DestroyImmediate(canvas);
UnityEngine.Object cPrefab = Resources.Load("Canvas");
canvas = (GameObject)GameObject.Instantiate(cPrefab, new Vector3(0, 0, 0), Quaternion.identity);
canvas.name = "Canvas";
Debug.Log(path);
GameObject parentObj = GameObject.Find("GameObject");
parentObj.name = "GameObject Del";
int childs = parentObj.transform.childCount;
/*for (int i = childs - 1; i >= 0; i--)
* {
* GameObject.DestroyImmediate(transform.GetChild(i).gameObject);
* }*/
GameObject.DestroyImmediate(parentObj);
parentObj = new GameObject("GameObject");
parentObj.AddComponent <Serial>();
parentObj.name = "GameObject";
InverseKinematics ik = parentObj.AddComponent <InverseKinematics>();
//DontDestroyOnLoad(parentObj);
UnityEngine.Object bPrefab = Resources.Load("Button");
GameObject newButt = (GameObject)GameObject.Instantiate(bPrefab, new Vector3(-109f, -75, 0), Quaternion.identity);
newButt.transform.SetParent(GameObject.Find("Canvas").transform, false);
newButt.GetComponentInChildren <Text>().text = "Inverse Kinematics";
newButt.name = "IK";
newButt.transform.GetComponent <RectTransform>().anchorMin = new Vector2(1, 1);
newButt.transform.GetComponent <RectTransform>().anchorMax = new Vector2(1, 1);
//newButt.GetComponent<Button>().onClick.AddListener(delegate { Load(); });
newButt.GetComponent <Button>().onClick.AddListener(() => ik.btn_StartIK());
var sr = new StreamReader(path);
var fileContents = sr.ReadToEnd();
sr.Close();
string [,] inputs = new string[50, 10];
var lines = fileContents.Split("\n"[0]);
int count = 0;
foreach (string line in lines)
{
var lineElements = line.Split(" "[0]);
int count2 = 0;
foreach (string word in lineElements)
{
//Debug.Log(word);
inputs[count, count2] = word;
count2++;
}
Debug.Log(count + " " + line);
count++;
}
int sliderCount = 0;
int armsNo = Int32.Parse(inputs[0, 0]);
ik.jointCount = armsNo + 1;
for (int i = 0; i < armsNo; i++)
{
//Debug.Log(inputs[3*armsNo+1+1,0]);
//Debug.Log(ToLiteral(inputs[3*armsNo+1+1,0]));
//Debug.Log("C:/Users/Victor/Documents/untitled.obj");
//Debug.Log(ToLiteral("C:/Users/Victor/Documents/untitled.obj"));
GameObject obj = loadAndDisplayMesh(inputs[3 * armsNo + 1 + 1 + i, 0].Replace("\r", ""));
obj.transform.SetParent(parentObj.transform);
obj.name = i.ToString() + "," + (i + 1).ToString();
//obj.AddComponent<MeshCollider>();
//obj.GetComponent<MeshCollider>().convex = true;
var colli = obj.AddComponent <NonConvexMeshCollider>();
colli.avoidExceedingMesh = true;
colli.boxesPerEdge = 20;
colli.Calculate();
Limb lmb = obj.AddComponent <Limb>();
lmb.otherScale = Int32.Parse(inputs[i + 1, 0]);
Debug.Log(inputs[5 * armsNo + 9 + i, 0]);;
lmb.overlap = float.Parse(inputs[5 * armsNo + 9 + i, 0], CultureInfo.InvariantCulture);
lmb.offsetX = float.Parse(inputs[6 * armsNo + 9 + i, 0], CultureInfo.InvariantCulture);
GameObject obj2 = loadAndDisplayMesh(inputs[4 * armsNo + 3, 0].Replace("\r", ""));
//obj2.transform.Rotate(new Vector3(Int32.Parse(inputs[armsNo*2+1+i,0]), Int32.Parse(inputs[armsNo*2+1+i,1]), Int32.Parse(inputs[armsNo*2+1+i,2])));
obj2.AddComponent <MeshCollider>();
obj2.GetComponent <MeshCollider>().convex = true;
obj2.transform.SetParent(parentObj.transform);
obj2.name = i.ToString();
if (i == 0)
{
RoboJoint rbj2 = obj2.AddComponent <RoboJoint>();
int refX = Int32.Parse(inputs[7 * armsNo + 14 + i, 0]);
int refY = Int32.Parse(inputs[7 * armsNo + 14 + i, 1]);
int refZ = Int32.Parse(inputs[7 * armsNo + 14 + i, 2]);
rbj2.q2 = Quaternion.Euler(refX, refY, refZ);
rbj2.yOff = float.Parse(inputs[7 * armsNo + 9, 1], CultureInfo.InvariantCulture);
}
else
{
RoboJoint3 rbj2 = obj2.AddComponent <RoboJoint3>();
rbj2.length = Int32.Parse(inputs[armsNo + i, 0]);
rbj2.d = float.Parse(inputs[armsNo + i, 1], CultureInfo.InvariantCulture);
rbj2.xRot = Int32.Parse(inputs[armsNo * 2 + 1 + i, 0]);
rbj2.yRot = Int32.Parse(inputs[armsNo * 2 + 1 + i, 1]);
rbj2.zRot = Int32.Parse(inputs[armsNo * 2 + 1 + i, 2]);
//rbj2.theta = float.Parse(inputs[armsNo+i,1], CultureInfo.InvariantCulture);
//rbj2.alpha = float.Parse(inputs[armsNo+i,2], CultureInfo.InvariantCulture);
int refX = Int32.Parse(inputs[7 * armsNo + 14 + i, 0]);
int refY = Int32.Parse(inputs[7 * armsNo + 14 + i, 1]);
int refZ = Int32.Parse(inputs[7 * armsNo + 14 + i, 2]);
rbj2.q2 = Quaternion.Euler(refX, refY, refZ);
}
Debug.Log("Joint to render: " + i);
Debug.Log(" value: " + inputs[7 * armsNo + 11, i]);
if (inputs[7 * armsNo + 11, i].Trim() == "0")
{
obj2.GetComponent <MeshRenderer>().enabled = false;
obj2.GetComponent <Collider>().enabled = false;
}
UnityEngine.Object pPrefab = Resources.Load("Slider (1)"); // note: not .prefab!
GameObject newSlider = (GameObject)GameObject.Instantiate(pPrefab, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
sliderCount++;
newSlider.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider.name = "Slider (" + (2 * i).ToString() + ")";
//newSlider.GetComponent<Slider>().label = "Slider (" + (i).ToString() + ") Theta";
if (inputs[4 * armsNo + 4 + i, 0] == "0")
{
newSlider.GetComponent <Slider>().interactable = false;
newSlider.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
;
sliderCount--;
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider.transform);
Text myText = textObj.AddComponent <Text>();
myText.text = "Arm " + (i).ToString() + "- Theta";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
if (i < armsNo)
{
//if (i >0){
//newSlider.GetComponent<Slider>().value = float.Parse(inputs[armsNo+i,2], CultureInfo.InvariantCulture);
newSlider.GetComponent <Slider>().value = float.Parse(inputs[armsNo + i + 1, 2], CultureInfo.InvariantCulture);
}
}
GameObject newSlider2 = (GameObject)GameObject.Instantiate(pPrefab, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
sliderCount++;
newSlider2.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider2.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider2.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider2.name = "Slider (" + (2 * i + 1).ToString() + ")";
//newSlider2.label = "Slider (" + (i).ToString() + ") Alpha";
if (inputs[4 * armsNo + 4 + i, 1] == "0")
{
sliderCount--;
newSlider2.GetComponent <Slider>().interactable = false;
newSlider2.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider2.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
Debug.Log(newSlider2.name);
Text myText = textObj.AddComponent <Text>();
myText.text = "Arm " + (i).ToString() + "- Alpha";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
//if (i > 0){
//newSlider2.GetComponent<Slider>().value = float.Parse(inputs[armsNo+i,3], CultureInfo.InvariantCulture);
if (i < armsNo)
{
newSlider2.GetComponent <Slider>().value = float.Parse(inputs[armsNo + i + 1, 3], CultureInfo.InvariantCulture);
}
}
GameObject newSlider8 = (GameObject)GameObject.Instantiate(pPrefab, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
//sliderCount ++;
//newSlider8.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider8.name = "Slider (l" + (2 * i).ToString() + ")";
newSlider8.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider8.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
//newSlider2.label = "Slider (" + (i).ToString() + ") Alpha";
if (inputs[4 * armsNo + 4 + i, 2] == "0")
{
sliderCount--;
newSlider8.GetComponent <Slider>().interactable = false;
newSlider8.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
newSlider8.GetComponent <Slider>().maxValue = 2 * float.Parse(inputs[armsNo + i, 0], CultureInfo.InvariantCulture);
newSlider8.GetComponent <Slider>().minValue = float.Parse(inputs[armsNo + i, 0], CultureInfo.InvariantCulture);
newSlider8.GetComponent <Slider>().value = float.Parse(inputs[armsNo + i, 0], CultureInfo.InvariantCulture);
;
}
else
{
//GameObject textObj = new GameObject("myTextGO");
//textObj.transform.position = new Vector3(229.4f, -30.4f -sliderCount*20, 0);
//textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider8.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
//Text myText = textObj.AddComponent<Text>();
//myText.text = "Slider (" + (i).ToString() + ") length";
//myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
//myText.horizontalOverflow = HorizontalWrapMode.Overflow;
//textObj.transform.GetComponent<RectTransform>().anchorMin = new Vector2(0,1);
//textObj.transform.GetComponent<RectTransform>().anchorMax = new Vector2(0,1);
//newSlider8.GetComponent<RectTransform>().SetSizeWithCurrentAnchors( RectTranform.Axis.Horizontal, 150);
}
}
GameObject obj3 = loadAndDisplayMesh(inputs[5 * armsNo + 6, 0].Replace("\r", ""));
obj3.AddComponent <MeshCollider>();
obj3.GetComponent <MeshCollider>().convex = true;
obj3.name = (armsNo).ToString();
var colli3 = obj3.AddComponent <NonConvexMeshCollider>();
colli3.avoidExceedingMesh = true;
colli3.boxesPerEdge = 20;
//colli3.Calculate();
//obj3.AddComponent<MeshCollider>();
RoboJoint3 rbj3 = obj3.AddComponent <RoboJoint3>();
int refX3 = Int32.Parse(inputs[8 * armsNo + 14, 0]);
int refY3 = Int32.Parse(inputs[8 * armsNo + 14, 1]);
int refZ3 = Int32.Parse(inputs[8 * armsNo + 14, 2]);
rbj3.q2 = Quaternion.Euler(refX3, refY3, refZ3);
rbj3.length = Int32.Parse(inputs[armsNo * 2, 0]);
Debug.Log(inputs[armsNo * 2, 1]);
rbj3.d = float.Parse(inputs[armsNo * 2, 1], CultureInfo.InvariantCulture);
rbj3.otherScale = Int32.Parse(inputs[armsNo, 2]);
obj3.transform.SetParent(parentObj.transform);
//Debug.Log(" HERHE " + (inputs[7*armsNo+12,0].Contains("0")));
//Debug.Log(" HERHE " + (String.Compare(inputs[7*armsNo+12,0],"1")));
if (inputs[7 * armsNo + 12, 0].Contains("1"))
{
rbj3.rotGripper = false;
}
UnityEngine.Object pPrefab2 = Resources.Load("Slider (1)"); // note: not .prefab!
GameObject newSlider3 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
sliderCount++;
//GameObject newSlider = Instantiate(Slider) as GameObject;
newSlider3.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider3.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider3.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider3.name = "Slider (" + (2 * armsNo).ToString() + ")";
//newSlider3.label = "Slider (" + (armsNo).ToString() + ") Theta";
if (inputs[4 * armsNo + 4 + armsNo, 0] == "0")
{
sliderCount--;
newSlider3.GetComponent <Slider>().interactable = false;
newSlider3.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider3.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
Text myText = textObj.AddComponent <Text>();
myText.text = "Hand " + (armsNo).ToString() + "- Theta";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider3.GetComponent <Slider>().value = float.Parse(inputs[armsNo * 2, 2], CultureInfo.InvariantCulture);
}
GameObject newSlider4 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
sliderCount++;
//GameObject newSlider = Instantiate(Slider) as GameObject;
newSlider4.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider4.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider4.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider4.name = "Slider (" + (2 * armsNo + 1).ToString() + ")";
//newSlider4.label = "Slider (" + (armsNo).ToString() + ") Alpha";
if (inputs[4 * armsNo + 4 + armsNo, 1] == "0")
{
sliderCount--;
newSlider4.GetComponent <Slider>().interactable = false;
newSlider4.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider4.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
Text myText = textObj.AddComponent <Text>();
myText.text = "Hand " + (armsNo).ToString() + "- Alpha";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider4.GetComponent <Slider>().value = float.Parse(inputs[armsNo * 2, 2], CultureInfo.InvariantCulture);
}
//Debug.Log(inputs[5*armsNo+6,0].Replace("\r", ""));
/*GameObject obj4 = loadAndDisplayMesh(inputs[4*armsNo+7,0].Replace("\r", ""));
* obj4.AddComponent<MeshCollider>();
* obj4.GetComponent<MeshCollider>().convex = true;
* obj4.name = "grabber";
* //obj3.AddComponent<MeshCollider>();
* grabber g4 = obj4.AddComponent<grabber>();
* //rbj3.length = Int32.Parse(inputs[armsNo*2,0]);
* //rbj3.d = Int32.Parse(inputs[armsNo*2,1]);
* obj4.transform.SetParent(parentObj.transform);
* g4.parent = obj3;*/
GameObject newSlider5 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
sliderCount++;
//GameObject newSlider = Instantiate(Slider) as GameObject;
newSlider5.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider5.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider5.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider5.name = "Slider (" + (2 * armsNo + 2).ToString() + ")";
newSlider5.GetComponent <Slider>().maxValue = 100f;
newSlider5.GetComponent <Slider>().minValue = 30f;
newSlider5.GetComponent <Slider>().value = 100f;
//newSlider4.label = "Slider (" + (armsNo).ToString() + ") Alpha";
GameObject textObj2 = new GameObject("myTextGO");
textObj2.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj2.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj2.transform.SetParent(newSlider5.transform);
//textObj2.transform.localPosition = new Vector3(198.6f,-43f,0f);
Text myText2 = textObj2.AddComponent <Text>();
myText2.text = "Slider grab";
myText2.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj2.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj2.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
GameObject newSlider9 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
//sliderCount ++;
//newSlider9.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider9.name = "Slider (l" + (2 * armsNo).ToString() + ")";
newSlider9.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider9.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
//newSlider2.label = "Slider (" + (i).ToString() + ") Alpha";
Debug.Log(" ASDasdas" + inputs[5 * armsNo + 4, 2]);
if (inputs[5 * armsNo + 4, 2] == "0")
{
sliderCount--;
newSlider9.GetComponent <Slider>().interactable = false;
newSlider9.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
;
}
else
{
//GameObject textObj = new GameObject("myTextGO");
//textObj.transform.position = new Vector3(229.4f, -30.4f -sliderCount*20, 0);
//textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider9.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
//Text myText = textObj.AddComponent<Text>();
//myText.text = "Slider (" + (armsNo).ToString() + ") length";
//myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
//myText.horizontalOverflow = HorizontalWrapMode.Overflow;
//textObj.transform.GetComponent<RectTransform>().anchorMin = new Vector2(0,1);
//textObj.transform.GetComponent<RectTransform>().anchorMax = new Vector2(0,1);
newSlider9.GetComponent <Slider>().maxValue = 2 * float.Parse(inputs[armsNo * 2, 0], CultureInfo.InvariantCulture);
newSlider9.GetComponent <Slider>().minValue = float.Parse(inputs[armsNo * 2, 0], CultureInfo.InvariantCulture);
newSlider9.GetComponent <Slider>().value = float.Parse(inputs[armsNo * 2, 0], CultureInfo.InvariantCulture);
//newSlider8.GetComponent<RectTransform>().SetSizeWithCurrentAnchors( RectTranform.Axis.Horizontal, 150);
}
GameObject obj5 = loadAndDisplayMesh(inputs[5 * armsNo + 7, 0].Replace("\r", ""));
obj5.AddComponent <MeshCollider>();
obj5.GetComponent <MeshCollider>().convex = true;
obj5.name = "hand 1";
//obj3.AddComponent<MeshCollider>();
grabberHand gh5 = obj5.AddComponent <grabberHand>();
//rbj3.length = Int32.Parse(inputs[armsNo*2,0]);
//rbj3.d = Int32.Parse(inputs[armsNo*2,1]);
obj5.transform.SetParent(parentObj.transform);
gh5.parent = obj3;
gh5.jointParent = obj3;
gh5.offsets.x = float.Parse(inputs[7 * armsNo + 13, 0], CultureInfo.InvariantCulture);
gh5.offsets.y = float.Parse(inputs[7 * armsNo + 13, 1], CultureInfo.InvariantCulture);
gh5.offsets.z = float.Parse(inputs[7 * armsNo + 13, 2], CultureInfo.InvariantCulture);
//gh5.xscale = 2f;
gh5.sliderNo = newSlider5.name;
GameObject obj6 = loadAndDisplayMesh(inputs[5 * armsNo + 8, 0].Replace("\r", ""));
obj6.AddComponent <MeshCollider>();
obj6.GetComponent <MeshCollider>().convex = true;
obj6.name = "hand 2";
//obj3.AddComponent<MeshCollider>();
grabberHand gh6 = obj6.AddComponent <grabberHand>();
//rbj3.length = Int32.Parse(inputs[armsNo*2,0]);
//rbj3.d = Int32.Parse(inputs[armsNo*2,1]);
obj6.transform.SetParent(parentObj.transform);
gh6.parent = obj3;
gh6.jointParent = obj3;
gh6.xscale = 2f;
gh6.sliderNo = gh5.sliderNo;
gh6.offsets.x = float.Parse(inputs[7 * armsNo + 13, 0], CultureInfo.InvariantCulture);
gh6.offsets.y = float.Parse(inputs[7 * armsNo + 13, 1], CultureInfo.InvariantCulture);
gh6.offsets.z = float.Parse(inputs[7 * armsNo + 13, 2], CultureInfo.InvariantCulture);
GameObject obj7 = loadAndDisplayMesh(inputs[4 * armsNo + 2, 0].Replace("\r", ""));
//obj7.AddComponent<MeshCollider>();
//obj7.GetComponent<MeshCollider>().convex = true;
obj7.name = "base";
//obj3.AddComponent<MeshCollider>();
var colli7 = obj7.AddComponent <NonConvexMeshCollider>();
colli7.avoidExceedingMesh = true;
colli7.boxesPerEdge = 30;
//colli7.Calculate();
Base b7 = obj7.AddComponent <Base>();
b7.offset.x = float.Parse(inputs[7 * armsNo + 9, 0], CultureInfo.InvariantCulture);
b7.offset.y = float.Parse(inputs[7 * armsNo + 9, 1], CultureInfo.InvariantCulture);
b7.offset.z = float.Parse(inputs[7 * armsNo + 9, 2], CultureInfo.InvariantCulture);
b7.scale = float.Parse(inputs[7 * armsNo + 10, 0], CultureInfo.InvariantCulture);
int bitsNo = Int32.Parse(inputs[8 * armsNo + 15, 0]);
GameObject obj8;
for (int k = 0; k < bitsNo; k++)
{
Debug.Log(inputs[8 * armsNo + 15 + k, 0].Replace("\r", ""));
obj8 = loadAndDisplayMesh(inputs[8 * armsNo + 16 + k, 0].Replace("\r", ""));
//obj8.AddComponent<MeshCollider>();
//obj8.GetComponent<MeshCollider>().convex = true;
obj8.name = "bit" + k.ToString();
Bits bit = obj8.AddComponent <Bits>();
bit.jointNum = (inputs[8 * armsNo + 16 + k, 1].Replace("\r", ""));
bit.jointRotNum = Int32.Parse(inputs[8 * armsNo + 16 + k, 2].Replace("\r", ""));
bit.scale = float.Parse(inputs[8 * armsNo + 16 + k, 3].Replace("\r", ""));
bit.offset.x = float.Parse(inputs[8 * armsNo + 16 + k, 4].Replace("\r", ""));
bit.offset.y = float.Parse(inputs[8 * armsNo + 16 + k, 5].Replace("\r", ""));
bit.offset.z = float.Parse(inputs[8 * armsNo + 16 + k, 6].Replace("\r", ""));
bit.useLocal = Int32.Parse(inputs[8 * armsNo + 16 + k, 7].Replace("\r", ""));
}
}
