// Start is called before the first frame update
void Start()
{
Origin = transform.position;
SphereOriginVec = UFOSphere.transform.position;
StickOriginVec = Stick.transform.position;
gameManager = GameObject.Find("GameManager").GetComponent <GameManager>();
LeftArm1Controller = LeftArm1.GetComponent <ArmController>();
LeftArm2Controller = LeftArm2.GetComponent <ArmController>();
LeftArm3Controller = LeftArm3.GetComponent <ArmController>();
RightArm1Controller = RightArm1.GetComponent <ArmController>();
RightArm2Controller = RightArm2.GetComponent <ArmController>();
RightArm3Controller = RightArm3.GetComponent <ArmController>();
ArmList.Add(GameObject.Find("L1").gameObject);
ArmList.Add(GameObject.Find("L2").gameObject);
ArmList.Add(GameObject.Find("L3").gameObject);
ArmList.Add(GameObject.Find("R1").gameObject);
ArmList.Add(GameObject.Find("R2").gameObject);
ArmList.Add(GameObject.Find("R3").gameObject);
foreach (GameObject obj in ArmList)
{
ArmPos.Add(obj, obj.transform.position);
}
}
void Start()
{
arm = gameObject.GetComponentInChildren <ArmController>();
camera = gameObject.GetComponentInChildren <Camera>();
follow = gameObject.GetComponent <Follow>();
handleSettings(invertYaxis);
}
void OnEnable()
{
if (serializedObject == null)
{
return;
}
_arm = target as ArmController;
//Find hips
Transform spine2 = _arm.gameObject.transform.Find("Hips").GetChild(2).GetChild(0).GetChild(0);
if (_arm == null)
{
Debug.Log("No torso controller found");
return;
}
_arm.Arms[0].Shoulder.transform = spine2.transform.GetChild(0).GetChild(0);
_arm.Arms[0].Elbow.transform = spine2.transform.GetChild(0).GetChild(0).GetChild(0);
_arm.Arms[0].Wrist.transform = spine2.transform.GetChild(0).GetChild(0).GetChild(0).GetChild(0);
_arm.Arms[1].Shoulder.transform = spine2.transform.GetChild(2).GetChild(0);
_arm.Arms[1].Elbow.transform = spine2.transform.GetChild(2).GetChild(0).GetChild(0);
_arm.Arms[1].Wrist.transform = spine2.transform.GetChild(2).GetChild(0).GetChild(0).GetChild(0);
}
public void enableAbility(CenterController centerController)
{
_isEnable = true;
rotateArm = centerController.getRotateArm();
armController = centerController.getArmController();
this.centerController = centerController;
}
private void OnCollisionStay2D(Collision2D collision)
{
// determine if objects on the treadmill are supposed to move
if (collision.collider.CompareTag("Physical Object"))
{
GameObject objectOnTreadmill = collision.gameObject;
Rigidbody2D rb = objectOnTreadmill.GetComponent <Rigidbody2D>();
if (rb.velocity.magnitude < speed)
{
float horizontal = dir * speed * Time.deltaTime;
float vertical = rb.velocity.y * Time.deltaTime;
rb.velocity = new Vector3(horizontal, vertical, 0.0f);
}
}
if (collision.collider.CompareTag("Player"))
{
PlayerController player = collision.gameObject.GetComponent <PlayerController>();
if (!player.GetOnTreadMill())
{
player.SetOnTreadmill(true);
player.SetTreadmillVelocity(dir * speed);
}
}
if (collision.collider.CompareTag("Arm"))
{
ArmController hand = collision.gameObject.GetComponent <ArmController>();
if (!hand.GetOnTreadMill())
{
hand.SetOnTreadmill(true);
hand.SetTreadmillVelocity(dir * speed);
}
}
}
public void enableAbility(CenterController centerController)
{
_isEnable = true;
armRig = centerController.getArmController().getRig();
playerRig = centerController.getRig();
armController = centerController.getArmController();
}
void Start()
{
rng = new MersenneTwister(seed);
arm = GetComponent <ArmController>();
// Logging
log = new List <string>();
logDataPath = Path.Combine(Application.persistentDataPath, "data");
logDataPath = Path.Combine(logDataPath, name);
if (!Directory.Exists(logDataPath))
{
Directory.CreateDirectory(logDataPath);
}
// Initialize Nik
if (useNik)
{
nik = new NikHtm();
nik.Start();
if (serializedModelName != null && serializedModelName.Trim().Length > 0)
{
StartCoroutine(Load());
}
}
isTraining = false;
}
public void enableAbility(CenterController centerController)
{
armController = centerController.getArmController();
joint2D = armController.getJoint();
rig = armController.getRig();
armController.showArm();
_isEnable = true;
}
// Start is called before the first frame update
void Start()
{
if (arm == null)
{
arm = GetComponent <ArmController>();
}
StartCoroutine(JumpHandler());
}
public GeneralStatus(MyGridProgram program, ArmController arm, ConnectionClient conClient)
{
IMyGridTerminalSystem gts = program.GridTerminalSystem;
IMyCubeGrid grid = program.Me.CubeGrid;
gts.GetBlocksOfType(this.armLights, l => grid != l.CubeGrid && l.CubeGrid.IsSameConstructAs(grid));
gts.GetBlocksOfType(this.frontLights, l => l.CubeGrid == grid && l.DisplayNameText.Contains("Front"));
this.arm = arm;
this.conClient = conClient;
}
void Start()
{
camTransform = Camera.main.transform;
camOffset = camTransform.position - transform.position;
rb = GetComponent <Rigidbody>();
armController = Shoulder.GetComponent <ArmController>();
movingActions = new LinkedList <int>();
buttonDowns = new bool[] { false, false, false, false };
buttonUps = new bool[] { false, false, false, false };
bodyTransform = transform.GetChild(0);
}
private void Start()
{
// Pega referencia do RosConnector
this.rosConnector = GetComponent <RosConnector>();
// Pega referencia do ArmController
this.ac = GetComponent <ArmController>();
// Instancia o action-server
this.kinovagen3ActionServer = new KinovaGen3ActionServer(actionName, rosConnector.RosSocket, new Log(x => Debug.Log(x)), this.ac, this.timeout_ms);
// Inicia o servidor
this.kinovagen3ActionServer.Initialize();
}
protected void UpdateInput(Controller controller, ArmController armController)
{
if (handTarget.isLeft)
{
SetControllerInput(controller.left, armController);
}
else
{
SetControllerInput(controller.right, armController);
}
}
private void OnCollisionExit2D(Collision2D collision)
{
if (collision.collider.CompareTag("Player"))
{
PlayerController player = collision.gameObject.GetComponent <PlayerController>();
player.SetOnTreadmill(false);
}
if (collision.collider.CompareTag("Arm"))
{
ArmController hand = collision.gameObject.GetComponent <ArmController>();
hand.SetOnTreadmill(false);
}
}
public KinovaGen3ActionServer(string actionName, RosSocket rosSocket, Log log, ArmController ac, float timeout)
{
// Nome da ação
this.actionName = actionName;
// RosSocket
this.rosSocket = rosSocket;
// Interface de log
this.log = log;
// Controlador do braço
this.ac = ac;
// Armazena quanto tempo deve-se esperar entre dois pontos de uma trajetória antes de abortar
this.timeout = timeout;
// Variável que armazena a ação em si (como visto em http://docs.ros.org/en/electric/api/control_msgs/html/msg/FollowJointTrajectoryAction.html)
this.action = new FollowJointTrajectoryAction();
}
void Awake()
{
ArmC = GetComponent(typeof(ArmController)) as ArmController;
if (ArmC != null)
{
_arms = ArmC.Arms;
}
#if DEBUGMODE
_targetRPrev = new List <Vector3>();
_targetLPrev = new List <Vector3>();
#endif
_sArr = new List <float>();
_velArr = new List <float>();
_tppArr = new List <float>();
}
private void Awake()
{
m_Rigidbody2D = GetComponent <Rigidbody2D>();
m_Animator = GetComponent <Animator>();
m_SpriteRenderer = GetComponent <SpriteRenderer>();
m_ArmController = gameObject.GetComponentInChildren <ArmController>();
if (OnLandEvent == null)
{
OnLandEvent = new UnityEvent();
}
if (OnCrouchEvent == null)
{
OnCrouchEvent = new BoolEvent();
}
initialGravity = m_Rigidbody2D.gravityScale;
}
public Program()
{
this.Runtime.UpdateFrequency = UpdateFrequency.Update1;
var cockpits = new List <IMyCockpit>();
this.GridTerminalSystem.GetBlocksOfType(cockpits, c => c.CubeGrid == this.Me.CubeGrid);
IMyCockpit cockpit = cockpits.First();
this.manager = Process.CreateManager(this.Echo);
var ct = new CoordinatesTransformer(cockpit, this.manager);
var logger = new Logger(this.manager, cockpit.GetSurface(0), new Color(0, 39, 15), new Color(27, 228, 33), this.Echo, 1.0f);
this.cmd = new CommandLine("Small welder", logger.Log, this.manager);
var ini = new IniWatcher(this.Me, this.manager);
var wc = new WheelsController(this.cmd, cockpit, this.GridTerminalSystem, ini, this.manager, ct);
var ac = new ArmController(ini, this, this.cmd, cockpit, wc, this.manager);
var client = new ConnectionClient(ini, this.GridTerminalSystem, this.IGC, this.cmd, this.manager, logger.Log);
var ah = new PilotAssist(this.GridTerminalSystem, ini, logger.Log, this.manager, wc);
ah.AddBraker(client);
}
protected void SetControllerInput(ControllerSide controllerSide, ArmController armController)
{
controllerSide.stickHorizontal += armController.input.stickHorizontal;
controllerSide.stickVertical += armController.input.stickVertical;
controllerSide.stickButton |= armController.input.stickPress;
//controllerSide.up |= armController.input.up;
//controllerSide.down |= armController.input.down;
//controllerSide.left |= armController.input.left;
//controllerSide.right |= armController.input.right;
controllerSide.buttons[0] |= armController.input.buttons[0];
controllerSide.buttons[1] |= armController.input.buttons[1];
controllerSide.buttons[2] |= armController.input.buttons[2];
controllerSide.buttons[3] |= armController.input.buttons[3];
controllerSide.trigger1 += armController.input.trigger1;
controllerSide.trigger2 += armController.input.trigger2;
controllerSide.option |= armController.input.option;
}
public Program()
{
this.Runtime.UpdateFrequency = UpdateFrequency.Update1;
var topLefts = new List <IMyTextSurface>();
var topRights = new List <IMyTextSurface>();
IMyTextSurface keyboard;
IMyCockpit cockpit;
this.manager = Process.CreateManager(this.Echo);
this.initCockpit(out cockpit, topLefts, topRights, out keyboard);
var ct = new CoordinatesTransformer(cockpit, this.manager);
var logger = new Logger(this.manager, keyboard, new Color(0, 39, 15), new Color(27, 228, 33), this.Echo, 1.0f);
this.cmd = new CommandLine("Boring machine", logger.Log, this.manager);
var ini = new IniWatcher(this.Me, this.manager);
var wc = new WheelsController(this.cmd, cockpit, this.GridTerminalSystem, ini, this.manager, ct);
var ac = new ArmController(ini, this, this.cmd, cockpit, wc, this.manager);
var iw = new InventoryWatcher(this.cmd, this.GridTerminalSystem, cockpit);
var cc = new ConnectionClient(ini, this.GridTerminalSystem, this.IGC, this.cmd, this.manager, logger.Log);
var rcs = new List <IMyRemoteControl>();
this.GridTerminalSystem.GetBlocksOfType(rcs, r => r.CubeGrid == this.Me.CubeGrid);
IMyRemoteControl frc = rcs.First(r => r.DisplayNameText.Contains("Forward"));
IMyRemoteControl brc = rcs.First(r => r.DisplayNameText.Contains("Backward"));
var ap = new Autopilot(ini, wc, this.cmd, frc, logger.Log, this.manager);
var ah = new PilotAssist(this.GridTerminalSystem, ini, logger.Log, this.manager, wc);
ah.AddBraker(cc);
ah.AddDeactivator(ap);
var ar = new AutoRoutineHandler(this.cmd);
// TODO parse routines
new MiningRoutines(ini, this.cmd, ap, this.manager);
var progs = new List <IMyProgrammableBlock>();
this.GridTerminalSystem.GetBlocksOfType(progs, pr => pr.CubeGrid == this.Me.CubeGrid);
var genStatus = new GeneralStatus(this, ac, cc);
new ScreensController(genStatus, iw, topLefts, topRights, this.scheme, cockpit.CustomData, this.manager);
}
public InterpOperation(ArmController arm, Vector3D worldtarg, double WristPitch, double WristYaw)
{
this.arm = arm;
CurrentState = arm.GetCurrentState();
EndState = arm.FindAnglesState(worldtarg, WristPitch, WristYaw);
EndPos = worldtarg;
CurrentPos = arm.FindPos(out StartWristPitch, out StartWristYaw);
//CurrentPos += arm.wristYaw.WorldMatrix.Up * arm.headHeight;
stepAmount = stepSize / Vector3D.Distance(CurrentPos, EndPos);
// StartWristPitch = arm.wristPitch.Angle + arm.shoulderPitch.Angle - arm.Elbow.Angle;
// StartWristYaw = arm.wristYaw.Angle - arm.shoulderYaw.Angle;
EndWristPitch = WristPitch;
EndWristYaw = WristYaw;
}
// Inicializa mensagem e armazena referência do controlador do braço
protected override void Start()
{
this.ac = this.transform.GetComponent <ArmController>();
base.Start();
InitializeMessage();
}
void Awake () {
ArmC = GetComponent(typeof(ArmController)) as ArmController;
if (ArmC != null) _arms = ArmC.Arms;
#if DEBUGMODE
_targetRPrev = new List<Vector3>();
_targetLPrev = new List<Vector3>();
#endif
_sArr = new List<float>();
_velArr = new List<float>();
_tppArr = new List<float>();
}
void Start()
{
armController = GetComponent <ArmController> ();
}
