Ejemplo n.º 1
0
 // Use this for initialization
 protected virtual void Start()
 {
     if (transform.parent != null)
     {
         ParentJoint = transform.parent.GetComponent <IRobotJoint> ();
     }
 }
Ejemplo n.º 2
0
        int _CalculateJoint(int jointID, int index, int jointNumber, int vCount)
        {
            if (jointID < 0)
            {
                return(index);               //something wrong..
            }
            //int vCount = SamplesPerJoints - (jointNumber-1) * 2;
            if (vCount < 2)
            {
                vCount = 2;
            }

            IRobotJoint joint = _traverseJointList [jointID];

            if (EndEffector == joint)
            {
                joint._UpdateJoint();
                points [index] = transform.InverseTransformPoint(joint.GetAbsPosition());
                colors [index] = Color;
                ++index;
            }
            else
            {
                //IRobotJoint[] joints = joint.GetComponentsInChildren<IRobotJoint> ();

                if (joint.isFixed)
                {
                    joint._UpdateJoint();
                    index = _CalculateJoint(jointID - 1, index, jointNumber + 1, vCount);
                    //	foreach (var i in joints) {
                    //		if (i.ParentJont == joint) {
                    //		index=_CalculateJoint (i,  index,jointNumber+1);
                    //	}
                    //	}
                }
                else
                {
                    int   samples = vCount;                  //SamplesPerJoints;//(int)((float)SamplesPerJoints/(float)(jointNumber+1));
                    float step    = (joint.MaxLimit - joint.MinLimit) / (float)(samples - 1);
                    for (int i = 0; i < samples; ++i)
                    {
                        joint.SetValue(joint.MinLimit + i * step, joint.MinLimit + i * step);
                        index = _CalculateJoint(jointID - 1, index, jointNumber + 1, vCount - 2);
                        //	foreach (var j in joints) {
                        //		if (j.ParentJont == joint) {
                        //			index=_CalculateJoint (j,  index,jointNumber+1);
                        //		}
                        //	}
                    }
                }
            }
            return(index);
        }
Ejemplo n.º 3
0
        // Use this for initialization

        public JointInfo GetJoint(IRobotJoint j)
        {
            foreach (var o in Joints)
            {
                if (o.Joint == j)
                {
                    return(o);
                }
            }

            return(null);
        }
Ejemplo n.º 4
0
        void Start()
        {
            IRobotJoint[]    joints = GetComponentsInChildren <IRobotJoint> ();
            List <JointInfo> jList  = new List <JointInfo> ();

            if (Joints != null && Joints.Length != 0)
            {
                jList.AddRange(Joints);
            }
            //	Root = null;
            foreach (var j in joints)
            {
                if (GetJoint(j) != null)
                {
                    continue;
                }
                if (j.isFixed)
                {
                    continue;
                }
                JointInfo ifo = new JointInfo();
                ifo.Joint = j;
                ifo.Value = 0;
                jList.Add(ifo);
            }

            foreach (var j in jList)
            {
                if (Root == null && j.Joint.ParentJoint == null)
                {
                    Root = j.Joint;
                    break;
                }
            }
            Joints = jList.ToArray();
        }
Ejemplo n.º 5
0
        void _CalculateWorkingSpace()
        {
            MeshFilter mf = GetComponent <MeshFilter> ();

            if (mf.mesh == null)
            {
                mf.mesh = new Mesh();
            }
            Mesh mesh = mf.mesh;

            _traverseJointList.Clear();

            int         totalCount = 0;
            int         vertCount  = 1;
            IRobotJoint jp         = EndEffector.ParentJoint;

            _traverseJointList.Add(EndEffector);
            List <float> originalVals = new List <float> ();

            ;

            int vCount = SamplesPerJoints;

            while (jp != null)
            {
                if (!jp.isFixed && jp != EndEffector)
                {
                    ++totalCount;
                    vertCount = vertCount * vCount;
                    vCount   -= 2;
                    if (vCount < 2)
                    {
                        vCount = 2;
                    }
                }
                _traverseJointList.Add(jp);
                originalVals.Add(jp.Value);
                if (jp == Joints.Root)
                {
                    break;
                }
                jp = jp.ParentJoint;
            }
            Debug.Log("Joints count:" + totalCount);
            Debug.Log("Target samples count:" + vertCount);
            if (vertCount >= 65534)
            {
                Debug.LogError("Vertex count exceeded maximum index!");
                return;
            }
            points = new Vector3[vertCount];
            int[] indecies = new int[vertCount];
            colors = new Color[vertCount];
            for (int i = 0; i < vertCount; ++i)
            {
                indecies [i] = i;
            }

            _CalculateJoint(_traverseJointList.Count - 1, 0, 1, SamplesPerJoints);


            jp = EndEffector.ParentJoint;
            int index = 0;

            while (jp != null)
            {
                float v = originalVals [index++];
                jp.SetValue(v, v);
                if (jp == Joints.Root)
                {
                    break;
                }
                jp = jp.ParentJoint;
            }

            mesh.vertices = points;
            mesh.colors   = colors;
            mesh.SetIndices(indecies, MeshTopology.Points, 0);
        }