Mesh GenerateMeshCloud()
{
Mesh mesh = new Mesh();
mesh.name = "phantom_workspace_cloud";
mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
int n = 200;
List <Vector3> verts = new List <Vector3>(n * n * n);
for (int i1 = 0; i1 < n; ++i1)
{
float t1 = (float)i1 / (float)(n - 1);
for (int i2 = 0; i2 < n; ++i2)
{
float t2 = (float)i2 / (float)(n - 1);
for (int i3 = 0; i3 < n; ++i3)
{
float t3 = (float)i3 / (float)(n - 1);
float q1 = Mathf.Lerp(-90, 90, t1) + Random.Range(-1, 1);
float q2 = Mathf.Lerp(-85, 120, t2) + Random.Range(-1, 1);
float q3 = Mathf.Lerp(-30, 175, t3) + Random.Range(-1, 1);
if ((q3 - q2) <= 55 && (q2 - q3) <= 65)
{
verts.Add(PhantomModel.ToUnity(PhantomModel.ForwardKinematics(q1, q2, q3)));
}
}
}
}
mesh.SetVertices(verts);
mesh.SetIndices(Enumerable.Range(0, verts.Count).ToArray(), MeshTopology.Points, 0);
return(mesh);
}
void Update()
{
if (Time.time > nextTime)
{
fps = frames / deltaTime;
nextTime += deltaTime;
frames = 0;
}
frames++;
// tau[0] = 0.05 * Input.GetAxis("Horizontal");
// tau[1] = 0.1 * Input.GetAxis("Vertical");
// tau[2] = 0.1 * Input.GetAxis("Vertical2");
Plugin.get_positions(radians);
Vector3 target_pos = PhantomModel.FromUnity(target.transform.localPosition);
Plugin.set_target(target_pos.x, target_pos.y, target_pos.z);
for (int i = 0; i < 3; ++i)
{
model.Q[i] = Mathf.Rad2Deg * (float)radians[i];
}
if (Input.GetKeyDown(KeyCode.R))
{
Restart();
}
if (Input.GetKeyDown(KeyCode.G))
{
Plugin.open_tuner();
}
}
Mesh GenerateMeshHull()
{
Mesh mesh = new Mesh();
mesh.name = "phantom_workspace_hull";
mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
float[] q2s = { 120, -85, 35, 120 };
float[] q3s = { 175, -30, -30, 55 };
float[] ns = { 1000, 200, 80, 200 };
int n = 200;
List <Vector3> verts = new List <Vector3>(n * n * n);
for (int i1 = 0; i1 < 1000; ++i1)
{
float t1 = (float)i1 / (float)(1000 - 1);
int mult = 1;
if (t1 == 0 || t1 == 1)
{
mult = 50;
}
for (int k = 0; k < 4; ++k)
{
int j = (k + 1) % 4;
for (int i3 = 0; i3 < mult * ns[k]; ++i3)
{
float t3 = (float)i3 / (float)(mult * ns[k] - 1);
float q1 = Mathf.Lerp(-90, 90, t1) + Random.Range(-0.1f, 0.1f);
float q2 = Mathf.Lerp(q2s[k], q2s[j], t3);
float q3 = Mathf.Lerp(q3s[k], q3s[j], t3);
verts.Add(PhantomModel.ToUnity(PhantomModel.ForwardKinematics(q1, q2, q3)));
}
}
}
n = 100;
for (int i1 = 0; i1 < n; ++i1)
{
float t1 = (float)i1 / (float)(n - 1);
for (int i2 = 0; i2 < n; ++i2)
{
float t2 = (float)i2 / (float)(n - 1);
for (int i3 = 0; i3 < n; ++i3)
{
float t3 = (float)i3 / (float)(n - 1);
float q1 = Mathf.Lerp(-90, 90, t1) + Random.Range(-1, 1);
float q2 = Mathf.Lerp(-85, 120, t2) + Random.Range(-1, 1);
float q3 = Mathf.Lerp(-30, 175, t3) + Random.Range(-1, 1);
if ((q3 - q2) <= 55 && (q2 - q3) <= 65)
{
verts.Add(PhantomModel.ToUnity(PhantomModel.ForwardKinematics(q1, q2, q3)));
}
}
}
}
mesh.SetVertices(verts);
mesh.SetIndices(Enumerable.Range(0, verts.Count).ToArray(), MeshTopology.Points, 0);
return(mesh);
}