public static void Record_Joint_Points(int id, Dictionary <BodyJoint, Point> Joint_Points, DateTime time)
{
JsonJoint j = new JsonJoint();
j.joints = new SortedList <BodyJoint, Point>();
if (writer == null)
{
GenNewTempStreamWriter();
}
j.time = time.Ticks;
j.Id = id;
foreach (var pair in Joint_Points)
{
j.joints.Add(pair.Key, pair.Value);
}
writer.WriteLine(JsonConvert.SerializeObject(j).Trim());
}
public Character(TextAsset jsonText, GameObject refCube)
{
mjsonObject = JsonUtility.FromJson <JsonObject> (jsonText.text);
mBodies = new List <GameObject> ();
// make root
JsonJoint joint = mjsonObject.Skeleton.Joints [0];
JsonBodyDef body = mjsonObject.BodyDefs [0];
GameObject root = GameObject.Instantiate(refCube);
root.name = "root";
Mesh mesh = root.GetComponent <MeshFilter> ().mesh;
mesh.vertices = StretchMesh(mesh.vertices, body.Param0, body.Param1);
mesh.RecalculateBounds();
root.GetComponent <MeshCollider> ().sharedMesh = mesh;
mBodies.Add(root);
for (int i = 1; i < mjsonObject.Skeleton.Joints.Count; i++)
{
joint = mjsonObject.Skeleton.Joints [i];
body = mjsonObject.BodyDefs [i];
// info of parent body & joint
int parentIdx = joint.Parent;
JsonJoint parentJoint = mjsonObject.Skeleton.Joints [parentIdx];
JsonBodyDef parentBody = mjsonObject.BodyDefs [parentIdx];
GameObject parent = GameObject.Find(parentBody.Name);
//Vector3 scale = new Vector3 (body.Param0, body.Param1, 0.1f);
//refCube.transform.localScale = scale;
GameObject obj = (GameObject)GameObject.Instantiate(refCube);
obj.name = body.Name;
// set position of body part
Vector3 position = new Vector3(body.AttachX, body.AttachY) - new Vector3(parentBody.AttachX, parentBody.AttachY);
obj.transform.position = parent.transform.position + position + new Vector3(joint.AttachX, joint.AttachY);
// set joint
HingeJoint hingeJoint = obj.AddComponent <HingeJoint> ();
hingeJoint.connectedBody = parent.GetComponent <Rigidbody>();
hingeJoint.autoConfigureConnectedAnchor = false;
hingeJoint.anchor = -new Vector3(body.AttachX, body.AttachY);
hingeJoint.connectedAnchor = parent.transform.InverseTransformPoint(obj.transform.TransformPoint(hingeJoint.anchor));
hingeJoint.autoConfigureConnectedAnchor = true;
hingeJoint.axis = new Vector3(0, 0, 1);
hingeJoint.useSpring = true;
JointSpring spring = new JointSpring();
JsonPDController pd = mjsonObject.PDControllers [i];
spring.targetPosition = Mathf.Rad2Deg * pd.TargetTheta;
spring.spring = 20 * pd.Kd;
spring.damper = 0.1f * pd.Kp;
hingeJoint.spring = spring;
if (joint.LimLow < joint.LimHigh)
{
hingeJoint.useLimits = true;
JointLimits limit = new JointLimits();
limit.max = Mathf.Rad2Deg * joint.LimHigh;
limit.min = Mathf.Rad2Deg * joint.LimLow;
hingeJoint.limits = limit;
}
// resize mesh
mesh = obj.GetComponent <MeshFilter> ().mesh;
mesh.vertices = StretchMesh(mesh.vertices, body.Param0, body.Param1);
mesh.RecalculateBounds();
obj.GetComponent <MeshCollider> ().sharedMesh = mesh;
obj.GetComponent <Rigidbody> ().mass = body.Mass;
mBodies.Add(obj);
}
for (int i = 0; i < mjsonObject.Skeleton.Joints.Count; i++)
{
for (int j = i; j < mjsonObject.Skeleton.Joints.Count; j++)
{
Physics.IgnoreCollision(mBodies [i].GetComponent <MeshCollider>(), mBodies [j].GetComponent <MeshCollider>());
}
}
refCube.SetActive(false);
}
