/**
* Supply a vertex to return the distance to that vertex from this one.
* @param toVertex The vertex to measure the distance too.
* @param normalise Indicates that the difference values are to be normalised.
* @return A four item array, containing the distance and the x y z difference between the vertices. Normalised if told too.
*/
public float[] distanceToVertex(RFrame_Vertex toVertex, bool normalise)
{
float diffX = toVertex.x - this.x;
float diffY = toVertex.y - this.y;
float diffZ = toVertex.z - this.z;
float dist = Mathf.Sqrt(diffX * diffX + diffY * diffY + diffZ * diffZ);
float[] returnVals = { dist, diffX, diffY, diffZ };
if (normalise)
{
returnVals[1] = diffX / dist;
returnVals[2] = diffY / dist;
returnVals[3] = diffZ / dist;
}
return(returnVals);
}
public void calculateDistancesThenOrientate()
{
RFrame_Strut strutPull;
foreach (GameObject strutObject in struts)
{
strutPull = strutObject.GetComponent <RFrame_Strut>();
GameObject v1Obj = allVertices[strutPull.v1];
GameObject v2Obj = allVertices[strutPull.v2];
RFrame_Vertex v1 = v1Obj.GetComponent <RFrame_Vertex>();
RFrame_Vertex v2 = v2Obj.GetComponent <RFrame_Vertex>();
strutPull.length = Mathf.Abs(v1.distanceToVertex(v2, false)[0]);
checkIfShortestStrut(strutPull);
// Update the line renderers.
Vector3[] positions = { v1Obj.transform.localPosition, v2Obj.transform.localPosition };
strutPull.updateLineRenderPositions(positions);
}
}
public void performCyclesV2(RFrame_Object[] frameObjects, int affirmPerCycle)
{
// ******************************************************************
// ******************************************************************
// ******************************************************************
RFrame_Strut strut;
if (frameObjects != null)
{
if (frameObjects.Length == 0)
{
return;
} // Bin out if there's nothing to work on.
//Debug.Log("Frame objects detected. Peforming cycles");
for (int i = 0; i < affirmPerCycle; i++)
{
// Update the work align switch - Moved to here from the start of the function
// on the 20 March 2019.
workAlignSwitch = !workAlignSwitch; // Swap over the work alignment
// Pass through each frame in the array and process their vertices and struts.
foreach (RFrame_Object frameObject in frameObjects)
{
// Set the adjustment values per frame.
//adjustmentThreshhold = 0.0f; //frameObject.GetShortestStrutLength() * 0.05f;
affirmRatio = 1.0f; //adjustmentThreshhold * 0.2f;
// Work through strut array and affirm strut lengths
foreach (GameObject strutGameObject in frameObject.struts)
{
strut = strutGameObject.GetComponent <RFrame_Strut>();
// Collect the vertices involved with this strut.
RFrame_Vertex v1 = frameObject.allVertices[strut.v1].GetComponent <RFrame_Vertex>();
RFrame_Vertex v2 = frameObject.allVertices[strut.v2].GetComponent <RFrame_Vertex>();
// Get the distance between the two, along with normalised
// axis vector pointing in the direction of the two.
float[] distNormV1 = v1.distanceToVertex(v2, true);
strut.actualLength = distNormV1[0]; // Record the current length to the strut.
// No need to call the method for the other way round.
// Just reverse the normals.
float limitDiff = strut.distanceOutFromAcceptableRange(distNormV1[0]); // strut.length - distNormV1[0];
// If the difference between the length and measured distance
// between the two vertices, is greater than the adjustmentThreshold
// variable, then adjust the vertices to the correct distance
// IDEA - Have a think about percentage shift bias for each vertex, depending on how many struts are connected to it.
//if (Mathf.Abs(limitDiff)>adjustmentThreshhold) {
// Calculate the translation for each vertex.
float v1xShift = -(limitDiff * affirmRatio * distNormV1[1]);
float v1yShift = -(limitDiff * affirmRatio * distNormV1[2]);
float v1zShift = -(limitDiff * affirmRatio * distNormV1[3]);
// This will simply be the reverse direction.
float v2xShift = -v1xShift;
float v2yShift = -v1yShift;
float v2zShift = -v1zShift;
// Applying the translations to the vertices.
// Only apply if not locked in place.
if (!v1.lockedInPlace)
{
v1.applyTranslationV2(v1xShift, v1yShift, v1zShift, this);
}
else
{
v1.applyTranslationV2(0, 0, 0, this);
}
if (!v2.lockedInPlace)
{
v2.applyTranslationV2(v2xShift, v2yShift, v2zShift, this);
}
else
{
v2.applyTranslationV2(0, 0, 0, this);
}
//}
}
// For each vertex that was effected, have it's movement divided
// by the amount of effects applied to it.
// foreach (GameObject vertex in frameObject.allVertices) {
// vertex.GetComponent<RFrame_Vertex>().finaliseTranslations(this);
// }
// Updating the line renderers
// RFrame_Strut strutPull;
// foreach (GameObject strutObj in frameObject.struts) {
// strutPull = strutObj.GetComponent<RFrame_Strut>();
// GameObject v1Obj = frameObject.allVertices[strutPull.v1];
// GameObject v2Obj = frameObject.allVertices[strutPull.v2];
// Vector3[] positions = {v1Obj.transform.position,v2Obj.transform.position};
// strutPull.updateLineRenderPositions(positions);
// }
}
}
}
// ******************************************************************
// ******************************************************************
// ******************************************************************
}
/**
* Test method for creating a Frame_Object from an OBJ file
* 23 Jan 2019 - Updated to read from modified OBJ files.
* @param objFile The filename of the OBJ file
* @return A Frame_Object file
* @throws FileNotFoundException
*/
void createFromOBJ(TextAsset objFile)
{
//System.out.println("Loading OBJ file : " + objFile.toString());
string[] inFile = objFile.text.Split('\n');
List <GameObject> verticesBuild = new List <GameObject>();
List <GameObject> strutBuild = new List <GameObject>();
List <GameObject> angleViewBuild = new List <GameObject>();
List <GameObject> compRepBuild = new List <GameObject>();
List <GameObject> balPosBuild = new List <GameObject>();
List <GameObject> disHolBuild = new List <GameObject>();
List <GameObject> ancPoiBuild = new List <GameObject>();
int vertexIndex = 0;
foreach (string objLine in inFile)
{
//System.out.println(objLine); // Debug print to console the current line.
// Reading in a vertex line
if (objLine.StartsWith("v") && !objLine.StartsWith("vn") && !objLine.StartsWith("vt") && !objLine.StartsWith("vp"))
{
// Split the string using space. e.g. v 3.00 2.00 -2.00
//System.out.println("Vertex : " + objLine);
string[] splits = objLine.Split(' ');
float x = float.Parse(splits[1]);
float y = float.Parse(splits[2]);
float z = float.Parse(splits[3]);
GameObject vertexGameObject = Instantiate(VertexInstantiator, this.transform);
vertexGameObject.name = vertexGameObject.name + "_" + vertexIndex;
vertexGameObject.transform.localPosition = new Vector3(x, y, z);
RFrame_Vertex vertexScript = vertexGameObject.GetComponent <RFrame_Vertex>();
vertexScript.x = x;
vertexScript.y = y;
vertexScript.z = z;
// Check for lock character
if (splits.Length > 4)
{
if (splits[4] == "l")
{
vertexScript.lockedInPlace = true;
}
}
verticesBuild.Add(vertexGameObject);
vertexIndex++;
}
else if (objLine.StartsWith("l"))
{
// This is for any standalone lines, which will be turned into struts.
// Modified to only work with the first two vertice indexes
string[] splits = objLine.Split(' ');
// Remember that indexes start at 1 in the obj/txt file and need converting to zero-indexed.
int v1 = int.Parse(splits[1]) - 1;
int v2 = int.Parse(splits[2]) - 1;
GameObject strutGameObject = RFrame_Object.createStrutIfNotExisting(this, StrutInstantiator, strutBuild, v1, v2);
// Check if strut is displayed. This is determined by having more than three entries in splits.
// Basically any character entered after the 2 indexes will trigger this.
//if(strutGameObject!=null && splits.Length > 3) {
if (splits.Length == 5)
{
RFrame_Strut strutScript = strutGameObject.GetComponent <RFrame_Strut>();
strutScript.minLength = float.Parse(splits[3]);
strutScript.maxLength = float.Parse(splits[4]);
}
// All line renderers will be switched off.
LineRenderer lineRenderer = strutGameObject.GetComponent <LineRenderer>();
// Used when debugging the a fresh OBJ frame.
lineRenderer.enabled = transform.GetComponentInParent <RFrame_Bridge>().displayStrutsOnLoad;
//}
}
else if (objLine.StartsWith("anglink"))
{
// Angle link entry.
// Requires 4 vertex indexes and a link channel number which will represent the angle measurer struts.
// and the actuator/motor/servo this is linked too.
// Centering and angle limits should be entered.
string[] splits = objLine.Split(' ');
int centerVertex = int.Parse(splits[1]);
int upVertex = int.Parse(splits[2]);
int measure1 = int.Parse(splits[3]);
int measure2 = int.Parse(splits[4]);
int channel = int.Parse(splits[5]); // Channel number should already be zero-indexed.
bool invertChannel = bool.Parse(splits[6]); // Should be 0, 1, true or false
float minChannelAngle = float.Parse(splits[7]); // Channel won't be sent any number smaller than this.
float maxChannelAngle = float.Parse(splits[8]); // Channel won't be sent any number larger than this.
float biasAngle = float.Parse(splits[9]); // The bias to apply. Indicates that a servo may need recentering
int angleMeasureType = int.Parse(splits[10]); // Quaternion or dot product angle
float scaleChangedAngled = float.Parse(splits[11]); // How much to scale the change in angle from initial. Increases range of movement.
GameObject angleViewerObj = Instantiate(AngleViewerInstantiator, this.transform);
RFrame_AngleLink angleLinker = angleViewerObj.GetComponent <RFrame_AngleLink>();
angleLinker.centerVertex = centerVertex;
angleLinker.upVertex = upVertex;
angleLinker.measure1 = measure1;
angleLinker.measure2 = measure2;
angleLinker.linkChannel = channel;
angleLinker.invertedSendAngle = invertChannel;
angleLinker.minimumAngle = minChannelAngle;
angleLinker.maximumAngle = maxChannelAngle;
angleLinker.biasAngle = biasAngle;
angleLinker.angleChangeScaling = scaleChangedAngled;
switch (angleMeasureType)
{
case 0: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.quaternionBased;
break;
}
case 1: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.lineBased;
break;
}
default: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.quaternionBased;
break;
}
}
angleViewBuild.Add(angleViewerObj);
}
else if (objLine.StartsWith("comprep") && transform.GetComponentInParent <RFrame_Bridge>().displayComponentRepsOnLoad)
{
// Component representation
string[] splits = objLine.Split(' ');
int centerVertex = int.Parse(splits[1]);
int upVertex = int.Parse(splits[2]);
int forwardVertex = int.Parse(splits[3]);
string meshName = splits[4];
float xRot = float.Parse(splits[5]);
float yRot = float.Parse(splits[6]);
float zRot = float.Parse(splits[7]);
float xTran = float.Parse(splits[8]);
float yTran = float.Parse(splits[9]);
float zTran = float.Parse(splits[10]);
GameObject compRepObj = Instantiate(ComponentRepresentorInstantiator, this.transform);
RFrame_Component componentRep = compRepObj.GetComponent <RFrame_Component>();
componentRep.centerVertex = centerVertex;
componentRep.forwardVertex = forwardVertex;
componentRep.upVertex = upVertex;
GameObject meshObject = Instantiate(Resources.Load <GameObject>(meshName), compRepObj.transform);
meshObject.transform.localPosition = new Vector3(xTran, yTran, zTran);
meshObject.transform.localRotation = Quaternion.Euler(xRot, yRot, zRot);
}
else if (objLine.StartsWith("balpos"))
{
// Balance position behaviour module building here
string[] splits = objLine.Split(' ');
int vertexAttachIndex = int.Parse(splits[1]);
float reduceRatio = float.Parse(splits[2]);
GameObject balPolObj = Instantiate(BalancePositionInstantiator, this.transform);
BMod_BalancePosition balPosMod = balPolObj.GetComponent <BMod_BalancePosition>();
balPosMod.restrictionAreaShrinkRatio = reduceRatio;
balPosMod.controlVertex = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
//balPosMod.controlVertex.lockedInPlace = true;
balPosBuild.Add(balPolObj);
}
else if (objLine.StartsWith("dishol"))
{
// Distance holder behaviour module building here
string[] splits = objLine.Split(' ');
int balPosIndex = int.Parse(splits[1]);
int vertexAttachIndex = int.Parse(splits[2]);
float distanceToHold = float.Parse(splits[3]);
int typeOfDisHol = int.Parse(splits[4]);
GameObject disHolObj = Instantiate(DistanceHolderInstantiator, balPosBuild[balPosIndex].transform);
BMod_DistanceHolder disHolMod = disHolObj.GetComponent <BMod_DistanceHolder>();
disHolMod.vertexPoint = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
// Experimenting with not locking the vertex in place.
// Need to make sure frame doesn't move out of place.
disHolMod.vertexPoint.lockedInPlace = true;
disHolMod.distanceToHold = distanceToHold;
switch (typeOfDisHol)
{
case 0: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.groundDistance; break;
case 1: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.allRoundDistance; break;
default: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.groundDistance; break;
}
disHolBuild.Add(disHolObj);
}
else if (objLine.StartsWith("ancpoi"))
{
// Anchor Point behaviour module building here
string[] splits = objLine.Split(' ');
int disHolIndex = int.Parse(splits[1]);
int vertexAttachIndex = int.Parse(splits[2]);
int priorityValue = int.Parse(splits[3]);
int typeOfAnchor = int.Parse(splits[4]);
GameObject anchorObj = Instantiate(AnchorPointInstantiator, disHolBuild[disHolIndex].transform);
BMod_AnchorPoint anchorMod = anchorObj.GetComponent <BMod_AnchorPoint>();
anchorMod.anchorVertex = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
anchorMod.anchorVertex.lockedInPlace = true;
anchorMod.priorityIndex = priorityValue;
switch (typeOfAnchor)
{
case 0: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.primaryAnchor; break;
case 1: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.secondaryAnchor; break;
case 2: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.tertiaryAnchor; break;
default: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.primaryAnchor; break;
}
ancPoiBuild.Add(anchorObj);
}
}
// Set the parents of the objects instatiated to this object and
// call the function for calculating all the distances between
// struts.
if (verticesBuild.Count != 0 && strutBuild.Count != 0)
{
// Apply the created vertices and struts to this object.
// Set the parent of the vertices and struts to the transform of this frame object.
// foreach (GameObject vertex in verticesBuild) {
// vertex.transform.SetParent(this.transform);
// }
// foreach (GameObject strut in strutBuild) {
// strut.transform.SetParent(this.transform);
// }
allVertices = verticesBuild;
struts = strutBuild;
angleLinks = angleViewBuild;
compReps = compRepBuild;
this.calculateDistancesThenOrientate();
// Get the initial measured angles for each angle link.
foreach (GameObject angleLinkObj in angleViewBuild)
{
angleLinkObj.GetComponent <RFrame_AngleLink>().measureAngle(true);
}
//frame.gatherBounds();
}
}
