private static GameObject createScaler(RoboJoint3 obj, GameObject newParent, int xRot, int yRot, int zRot)
{
GameObject parentObject = new GameObject(); //create an 'empty' object
parentObject.name = "Scaler " + obj.name;
parentObject.transform.parent = newParent.transform;
//parentObject.transform.localScale = obj.transform.localScale;
//Vector3 currScale = newParent.transform.parent.transform.localScale;
//parentObject.transform.localScale = new Vector3((float)(1/currScale.x),(float)(1/currScale.y),(float)(1/currScale.z));//obj.transform.localScale;
//parentObject.transform.localPosition = new Vector3(0,0,0);
obj.transform.parent = parentObject.transform;
//obj.transform.localScale = new Vector3(1,1,1);
parentObject.transform.Rotate(xRot, yRot, zRot);
return(parentObject);
}
void LoadBot(string path)
{
//SceneManager.LoadScene("empty");
GameObject canvas = GameObject.Find("Canvas");
canvas.name = "Canvas Del";
GameObject.DestroyImmediate(canvas);
UnityEngine.Object cPrefab = Resources.Load("Canvas");
canvas = (GameObject)GameObject.Instantiate(cPrefab, new Vector3(0, 0, 0), Quaternion.identity);
canvas.name = "Canvas";
Debug.Log(path);
GameObject parentObj = GameObject.Find("GameObject");
parentObj.name = "GameObject Del";
int childs = parentObj.transform.childCount;
/*for (int i = childs - 1; i >= 0; i--)
* {
* GameObject.DestroyImmediate(transform.GetChild(i).gameObject);
* }*/
GameObject.DestroyImmediate(parentObj);
parentObj = new GameObject("GameObject");
parentObj.AddComponent <Serial>();
parentObj.name = "GameObject";
InverseKinematics ik = parentObj.AddComponent <InverseKinematics>();
//DontDestroyOnLoad(parentObj);
UnityEngine.Object bPrefab = Resources.Load("Button");
GameObject newButt = (GameObject)GameObject.Instantiate(bPrefab, new Vector3(-109f, -75, 0), Quaternion.identity);
newButt.transform.SetParent(GameObject.Find("Canvas").transform, false);
newButt.GetComponentInChildren <Text>().text = "Inverse Kinematics";
newButt.name = "IK";
newButt.transform.GetComponent <RectTransform>().anchorMin = new Vector2(1, 1);
newButt.transform.GetComponent <RectTransform>().anchorMax = new Vector2(1, 1);
//newButt.GetComponent<Button>().onClick.AddListener(delegate { Load(); });
newButt.GetComponent <Button>().onClick.AddListener(() => ik.btn_StartIK());
var sr = new StreamReader(path);
var fileContents = sr.ReadToEnd();
sr.Close();
string [,] inputs = new string[50, 10];
var lines = fileContents.Split("\n"[0]);
int count = 0;
foreach (string line in lines)
{
var lineElements = line.Split(" "[0]);
int count2 = 0;
foreach (string word in lineElements)
{
//Debug.Log(word);
inputs[count, count2] = word;
count2++;
}
Debug.Log(count + " " + line);
count++;
}
int sliderCount = 0;
int armsNo = Int32.Parse(inputs[0, 0]);
ik.jointCount = armsNo + 1;
for (int i = 0; i < armsNo; i++)
{
//Debug.Log(inputs[3*armsNo+1+1,0]);
//Debug.Log(ToLiteral(inputs[3*armsNo+1+1,0]));
//Debug.Log("C:/Users/Victor/Documents/untitled.obj");
//Debug.Log(ToLiteral("C:/Users/Victor/Documents/untitled.obj"));
GameObject obj = loadAndDisplayMesh(inputs[3 * armsNo + 1 + 1 + i, 0].Replace("\r", ""));
obj.transform.SetParent(parentObj.transform);
obj.name = i.ToString() + "," + (i + 1).ToString();
//obj.AddComponent<MeshCollider>();
//obj.GetComponent<MeshCollider>().convex = true;
var colli = obj.AddComponent <NonConvexMeshCollider>();
colli.avoidExceedingMesh = true;
colli.boxesPerEdge = 20;
colli.Calculate();
Limb lmb = obj.AddComponent <Limb>();
lmb.otherScale = Int32.Parse(inputs[i + 1, 0]);
Debug.Log(inputs[5 * armsNo + 9 + i, 0]);;
lmb.overlap = float.Parse(inputs[5 * armsNo + 9 + i, 0], CultureInfo.InvariantCulture);
lmb.offsetX = float.Parse(inputs[6 * armsNo + 9 + i, 0], CultureInfo.InvariantCulture);
GameObject obj2 = loadAndDisplayMesh(inputs[4 * armsNo + 3, 0].Replace("\r", ""));
//obj2.transform.Rotate(new Vector3(Int32.Parse(inputs[armsNo*2+1+i,0]), Int32.Parse(inputs[armsNo*2+1+i,1]), Int32.Parse(inputs[armsNo*2+1+i,2])));
obj2.AddComponent <MeshCollider>();
obj2.GetComponent <MeshCollider>().convex = true;
obj2.transform.SetParent(parentObj.transform);
obj2.name = i.ToString();
if (i == 0)
{
RoboJoint rbj2 = obj2.AddComponent <RoboJoint>();
int refX = Int32.Parse(inputs[7 * armsNo + 14 + i, 0]);
int refY = Int32.Parse(inputs[7 * armsNo + 14 + i, 1]);
int refZ = Int32.Parse(inputs[7 * armsNo + 14 + i, 2]);
rbj2.q2 = Quaternion.Euler(refX, refY, refZ);
rbj2.yOff = float.Parse(inputs[7 * armsNo + 9, 1], CultureInfo.InvariantCulture);
}
else
{
RoboJoint3 rbj2 = obj2.AddComponent <RoboJoint3>();
rbj2.length = Int32.Parse(inputs[armsNo + i, 0]);
rbj2.d = float.Parse(inputs[armsNo + i, 1], CultureInfo.InvariantCulture);
rbj2.xRot = Int32.Parse(inputs[armsNo * 2 + 1 + i, 0]);
rbj2.yRot = Int32.Parse(inputs[armsNo * 2 + 1 + i, 1]);
rbj2.zRot = Int32.Parse(inputs[armsNo * 2 + 1 + i, 2]);
//rbj2.theta = float.Parse(inputs[armsNo+i,1], CultureInfo.InvariantCulture);
//rbj2.alpha = float.Parse(inputs[armsNo+i,2], CultureInfo.InvariantCulture);
int refX = Int32.Parse(inputs[7 * armsNo + 14 + i, 0]);
int refY = Int32.Parse(inputs[7 * armsNo + 14 + i, 1]);
int refZ = Int32.Parse(inputs[7 * armsNo + 14 + i, 2]);
rbj2.q2 = Quaternion.Euler(refX, refY, refZ);
}
Debug.Log("Joint to render: " + i);
Debug.Log(" value: " + inputs[7 * armsNo + 11, i]);
if (inputs[7 * armsNo + 11, i].Trim() == "0")
{
obj2.GetComponent <MeshRenderer>().enabled = false;
obj2.GetComponent <Collider>().enabled = false;
}
UnityEngine.Object pPrefab = Resources.Load("Slider (1)"); // note: not .prefab!
GameObject newSlider = (GameObject)GameObject.Instantiate(pPrefab, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
sliderCount++;
newSlider.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider.name = "Slider (" + (2 * i).ToString() + ")";
//newSlider.GetComponent<Slider>().label = "Slider (" + (i).ToString() + ") Theta";
if (inputs[4 * armsNo + 4 + i, 0] == "0")
{
newSlider.GetComponent <Slider>().interactable = false;
newSlider.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
;
sliderCount--;
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider.transform);
Text myText = textObj.AddComponent <Text>();
myText.text = "Arm " + (i).ToString() + "- Theta";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
if (i < armsNo)
{
//if (i >0){
//newSlider.GetComponent<Slider>().value = float.Parse(inputs[armsNo+i,2], CultureInfo.InvariantCulture);
newSlider.GetComponent <Slider>().value = float.Parse(inputs[armsNo + i + 1, 2], CultureInfo.InvariantCulture);
}
}
GameObject newSlider2 = (GameObject)GameObject.Instantiate(pPrefab, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
sliderCount++;
newSlider2.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider2.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider2.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider2.name = "Slider (" + (2 * i + 1).ToString() + ")";
//newSlider2.label = "Slider (" + (i).ToString() + ") Alpha";
if (inputs[4 * armsNo + 4 + i, 1] == "0")
{
sliderCount--;
newSlider2.GetComponent <Slider>().interactable = false;
newSlider2.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider2.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
Debug.Log(newSlider2.name);
Text myText = textObj.AddComponent <Text>();
myText.text = "Arm " + (i).ToString() + "- Alpha";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
//if (i > 0){
//newSlider2.GetComponent<Slider>().value = float.Parse(inputs[armsNo+i,3], CultureInfo.InvariantCulture);
if (i < armsNo)
{
newSlider2.GetComponent <Slider>().value = float.Parse(inputs[armsNo + i + 1, 3], CultureInfo.InvariantCulture);
}
}
GameObject newSlider8 = (GameObject)GameObject.Instantiate(pPrefab, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
//sliderCount ++;
//newSlider8.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider8.name = "Slider (l" + (2 * i).ToString() + ")";
newSlider8.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider8.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
//newSlider2.label = "Slider (" + (i).ToString() + ") Alpha";
if (inputs[4 * armsNo + 4 + i, 2] == "0")
{
sliderCount--;
newSlider8.GetComponent <Slider>().interactable = false;
newSlider8.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
newSlider8.GetComponent <Slider>().maxValue = 2 * float.Parse(inputs[armsNo + i, 0], CultureInfo.InvariantCulture);
newSlider8.GetComponent <Slider>().minValue = float.Parse(inputs[armsNo + i, 0], CultureInfo.InvariantCulture);
newSlider8.GetComponent <Slider>().value = float.Parse(inputs[armsNo + i, 0], CultureInfo.InvariantCulture);
;
}
else
{
//GameObject textObj = new GameObject("myTextGO");
//textObj.transform.position = new Vector3(229.4f, -30.4f -sliderCount*20, 0);
//textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider8.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
//Text myText = textObj.AddComponent<Text>();
//myText.text = "Slider (" + (i).ToString() + ") length";
//myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
//myText.horizontalOverflow = HorizontalWrapMode.Overflow;
//textObj.transform.GetComponent<RectTransform>().anchorMin = new Vector2(0,1);
//textObj.transform.GetComponent<RectTransform>().anchorMax = new Vector2(0,1);
//newSlider8.GetComponent<RectTransform>().SetSizeWithCurrentAnchors( RectTranform.Axis.Horizontal, 150);
}
}
GameObject obj3 = loadAndDisplayMesh(inputs[5 * armsNo + 6, 0].Replace("\r", ""));
obj3.AddComponent <MeshCollider>();
obj3.GetComponent <MeshCollider>().convex = true;
obj3.name = (armsNo).ToString();
var colli3 = obj3.AddComponent <NonConvexMeshCollider>();
colli3.avoidExceedingMesh = true;
colli3.boxesPerEdge = 20;
//colli3.Calculate();
//obj3.AddComponent<MeshCollider>();
RoboJoint3 rbj3 = obj3.AddComponent <RoboJoint3>();
int refX3 = Int32.Parse(inputs[8 * armsNo + 14, 0]);
int refY3 = Int32.Parse(inputs[8 * armsNo + 14, 1]);
int refZ3 = Int32.Parse(inputs[8 * armsNo + 14, 2]);
rbj3.q2 = Quaternion.Euler(refX3, refY3, refZ3);
rbj3.length = Int32.Parse(inputs[armsNo * 2, 0]);
Debug.Log(inputs[armsNo * 2, 1]);
rbj3.d = float.Parse(inputs[armsNo * 2, 1], CultureInfo.InvariantCulture);
rbj3.otherScale = Int32.Parse(inputs[armsNo, 2]);
obj3.transform.SetParent(parentObj.transform);
//Debug.Log(" HERHE " + (inputs[7*armsNo+12,0].Contains("0")));
//Debug.Log(" HERHE " + (String.Compare(inputs[7*armsNo+12,0],"1")));
if (inputs[7 * armsNo + 12, 0].Contains("1"))
{
rbj3.rotGripper = false;
}
UnityEngine.Object pPrefab2 = Resources.Load("Slider (1)"); // note: not .prefab!
GameObject newSlider3 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
sliderCount++;
//GameObject newSlider = Instantiate(Slider) as GameObject;
newSlider3.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider3.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider3.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider3.name = "Slider (" + (2 * armsNo).ToString() + ")";
//newSlider3.label = "Slider (" + (armsNo).ToString() + ") Theta";
if (inputs[4 * armsNo + 4 + armsNo, 0] == "0")
{
sliderCount--;
newSlider3.GetComponent <Slider>().interactable = false;
newSlider3.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider3.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
Text myText = textObj.AddComponent <Text>();
myText.text = "Hand " + (armsNo).ToString() + "- Theta";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider3.GetComponent <Slider>().value = float.Parse(inputs[armsNo * 2, 2], CultureInfo.InvariantCulture);
}
GameObject newSlider4 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
sliderCount++;
//GameObject newSlider = Instantiate(Slider) as GameObject;
newSlider4.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider4.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider4.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider4.name = "Slider (" + (2 * armsNo + 1).ToString() + ")";
//newSlider4.label = "Slider (" + (armsNo).ToString() + ") Alpha";
if (inputs[4 * armsNo + 4 + armsNo, 1] == "0")
{
sliderCount--;
newSlider4.GetComponent <Slider>().interactable = false;
newSlider4.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
}
else
{
GameObject textObj = new GameObject("myTextGO");
textObj.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider4.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
Text myText = textObj.AddComponent <Text>();
myText.text = "Hand " + (armsNo).ToString() + "- Alpha";
myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider4.GetComponent <Slider>().value = float.Parse(inputs[armsNo * 2, 2], CultureInfo.InvariantCulture);
}
//Debug.Log(inputs[5*armsNo+6,0].Replace("\r", ""));
/*GameObject obj4 = loadAndDisplayMesh(inputs[4*armsNo+7,0].Replace("\r", ""));
* obj4.AddComponent<MeshCollider>();
* obj4.GetComponent<MeshCollider>().convex = true;
* obj4.name = "grabber";
* //obj3.AddComponent<MeshCollider>();
* grabber g4 = obj4.AddComponent<grabber>();
* //rbj3.length = Int32.Parse(inputs[armsNo*2,0]);
* //rbj3.d = Int32.Parse(inputs[armsNo*2,1]);
* obj4.transform.SetParent(parentObj.transform);
* g4.parent = obj3;*/
GameObject newSlider5 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
sliderCount++;
//GameObject newSlider = Instantiate(Slider) as GameObject;
newSlider5.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider5.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider5.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
newSlider5.name = "Slider (" + (2 * armsNo + 2).ToString() + ")";
newSlider5.GetComponent <Slider>().maxValue = 100f;
newSlider5.GetComponent <Slider>().minValue = 30f;
newSlider5.GetComponent <Slider>().value = 100f;
//newSlider4.label = "Slider (" + (armsNo).ToString() + ") Alpha";
GameObject textObj2 = new GameObject("myTextGO");
textObj2.transform.position = new Vector3(229.4f, -30.4f - sliderCount * 20, 0);
textObj2.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj2.transform.SetParent(newSlider5.transform);
//textObj2.transform.localPosition = new Vector3(198.6f,-43f,0f);
Text myText2 = textObj2.AddComponent <Text>();
myText2.text = "Slider grab";
myText2.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
textObj2.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
textObj2.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
GameObject newSlider9 = (GameObject)GameObject.Instantiate(pPrefab2, new Vector3(98, -10 - sliderCount * 20, 0), Quaternion.identity);
//GameObject newSlider = Instantiate(Slider) as GameObject;
//sliderCount ++;
//newSlider9.transform.SetParent(GameObject.Find("Canvas").transform, false);
newSlider9.name = "Slider (l" + (2 * armsNo).ToString() + ")";
newSlider9.transform.GetComponent <RectTransform>().anchorMin = new Vector2(0, 1);
newSlider9.transform.GetComponent <RectTransform>().anchorMax = new Vector2(0, 1);
//newSlider2.label = "Slider (" + (i).ToString() + ") Alpha";
Debug.Log(" ASDasdas" + inputs[5 * armsNo + 4, 2]);
if (inputs[5 * armsNo + 4, 2] == "0")
{
sliderCount--;
newSlider9.GetComponent <Slider>().interactable = false;
newSlider9.GetComponent <RectTransform>().localScale = new Vector3(0f, 0f, 0f);
;
}
else
{
//GameObject textObj = new GameObject("myTextGO");
//textObj.transform.position = new Vector3(229.4f, -30.4f -sliderCount*20, 0);
//textObj.transform.SetParent(GameObject.Find("Canvas").transform, false);
//textObj.transform.SetParent(newSlider9.transform);
//textObj.transform.localPosition = new Vector3(198.6f,-43f,0f);
//Text myText = textObj.AddComponent<Text>();
//myText.text = "Slider (" + (armsNo).ToString() + ") length";
//myText.font = (Font)Resources.GetBuiltinResource(typeof(Font), "Arial.ttf");
//myText.horizontalOverflow = HorizontalWrapMode.Overflow;
//textObj.transform.GetComponent<RectTransform>().anchorMin = new Vector2(0,1);
//textObj.transform.GetComponent<RectTransform>().anchorMax = new Vector2(0,1);
newSlider9.GetComponent <Slider>().maxValue = 2 * float.Parse(inputs[armsNo * 2, 0], CultureInfo.InvariantCulture);
newSlider9.GetComponent <Slider>().minValue = float.Parse(inputs[armsNo * 2, 0], CultureInfo.InvariantCulture);
newSlider9.GetComponent <Slider>().value = float.Parse(inputs[armsNo * 2, 0], CultureInfo.InvariantCulture);
//newSlider8.GetComponent<RectTransform>().SetSizeWithCurrentAnchors( RectTranform.Axis.Horizontal, 150);
}
GameObject obj5 = loadAndDisplayMesh(inputs[5 * armsNo + 7, 0].Replace("\r", ""));
obj5.AddComponent <MeshCollider>();
obj5.GetComponent <MeshCollider>().convex = true;
obj5.name = "hand 1";
//obj3.AddComponent<MeshCollider>();
grabberHand gh5 = obj5.AddComponent <grabberHand>();
//rbj3.length = Int32.Parse(inputs[armsNo*2,0]);
//rbj3.d = Int32.Parse(inputs[armsNo*2,1]);
obj5.transform.SetParent(parentObj.transform);
gh5.parent = obj3;
gh5.jointParent = obj3;
gh5.offsets.x = float.Parse(inputs[7 * armsNo + 13, 0], CultureInfo.InvariantCulture);
gh5.offsets.y = float.Parse(inputs[7 * armsNo + 13, 1], CultureInfo.InvariantCulture);
gh5.offsets.z = float.Parse(inputs[7 * armsNo + 13, 2], CultureInfo.InvariantCulture);
//gh5.xscale = 2f;
gh5.sliderNo = newSlider5.name;
GameObject obj6 = loadAndDisplayMesh(inputs[5 * armsNo + 8, 0].Replace("\r", ""));
obj6.AddComponent <MeshCollider>();
obj6.GetComponent <MeshCollider>().convex = true;
obj6.name = "hand 2";
//obj3.AddComponent<MeshCollider>();
grabberHand gh6 = obj6.AddComponent <grabberHand>();
//rbj3.length = Int32.Parse(inputs[armsNo*2,0]);
//rbj3.d = Int32.Parse(inputs[armsNo*2,1]);
obj6.transform.SetParent(parentObj.transform);
gh6.parent = obj3;
gh6.jointParent = obj3;
gh6.xscale = 2f;
gh6.sliderNo = gh5.sliderNo;
gh6.offsets.x = float.Parse(inputs[7 * armsNo + 13, 0], CultureInfo.InvariantCulture);
gh6.offsets.y = float.Parse(inputs[7 * armsNo + 13, 1], CultureInfo.InvariantCulture);
gh6.offsets.z = float.Parse(inputs[7 * armsNo + 13, 2], CultureInfo.InvariantCulture);
GameObject obj7 = loadAndDisplayMesh(inputs[4 * armsNo + 2, 0].Replace("\r", ""));
//obj7.AddComponent<MeshCollider>();
//obj7.GetComponent<MeshCollider>().convex = true;
obj7.name = "base";
//obj3.AddComponent<MeshCollider>();
var colli7 = obj7.AddComponent <NonConvexMeshCollider>();
colli7.avoidExceedingMesh = true;
colli7.boxesPerEdge = 30;
//colli7.Calculate();
Base b7 = obj7.AddComponent <Base>();
b7.offset.x = float.Parse(inputs[7 * armsNo + 9, 0], CultureInfo.InvariantCulture);
b7.offset.y = float.Parse(inputs[7 * armsNo + 9, 1], CultureInfo.InvariantCulture);
b7.offset.z = float.Parse(inputs[7 * armsNo + 9, 2], CultureInfo.InvariantCulture);
b7.scale = float.Parse(inputs[7 * armsNo + 10, 0], CultureInfo.InvariantCulture);
int bitsNo = Int32.Parse(inputs[8 * armsNo + 15, 0]);
GameObject obj8;
for (int k = 0; k < bitsNo; k++)
{
Debug.Log(inputs[8 * armsNo + 15 + k, 0].Replace("\r", ""));
obj8 = loadAndDisplayMesh(inputs[8 * armsNo + 16 + k, 0].Replace("\r", ""));
//obj8.AddComponent<MeshCollider>();
//obj8.GetComponent<MeshCollider>().convex = true;
obj8.name = "bit" + k.ToString();
Bits bit = obj8.AddComponent <Bits>();
bit.jointNum = (inputs[8 * armsNo + 16 + k, 1].Replace("\r", ""));
bit.jointRotNum = Int32.Parse(inputs[8 * armsNo + 16 + k, 2].Replace("\r", ""));
bit.scale = float.Parse(inputs[8 * armsNo + 16 + k, 3].Replace("\r", ""));
bit.offset.x = float.Parse(inputs[8 * armsNo + 16 + k, 4].Replace("\r", ""));
bit.offset.y = float.Parse(inputs[8 * armsNo + 16 + k, 5].Replace("\r", ""));
bit.offset.z = float.Parse(inputs[8 * armsNo + 16 + k, 6].Replace("\r", ""));
bit.useLocal = Int32.Parse(inputs[8 * armsNo + 16 + k, 7].Replace("\r", ""));
}
}
