void SendControls()
{
scale = TFListener.scale;
//Convert the Unity position of the hand controller to a ROS position (scaled)
Vector3 outPos = UnityToRosPositionAxisConversion(GetComponent <Transform>().position) / scale;
//Convert the Unity rotation of the hand controller to a ROS rotation (scaled, quaternions)
Quaternion outQuat = UnityToRosRotationAxisConversion(GetComponent <Transform>().rotation);
//construct the Ein message to be published
string message = "";
//Allows movement control with controllers if menu is disabled
//if deadman switch held in, move to new pose
if (controller.gripPressed)
{
//construct message to move to new pose for the robot end effector
message = outPos.x + " " + outPos.y + " " + outPos.z + " " +
outQuat.x + " " + outQuat.y + " " + outQuat.z + " " + outQuat.w + " moveToEEPose";
//if touchpad is pressed (Crane game), incrementally move in new direction
}
else if (controller.touchpadPressed)
{
//get the angle contact point on touch pad
float angle = controller.GetTouchpadAxisAngle();
//Con
if (angle >= 45 && angle < 135) // touching right
{
message += " yDown ";
}
else if (angle >= 135 && angle < 225) // touching bottom
{
message += " xDown ";
}
else if (angle >= 225 && angle < 315) // touching left
{
message += " yUp ";
}
else //touching top
{
message += " xUp ";
}
}
//If trigger pressed, open the gripper. Else, close gripper
if (controller.triggerPressed)
{
message += " openGripper ";
}
else
{
message += " closeGripper ";
}
//Send the message to the websocket client (i.e: publish message onto ROS network)
wsc.SendEinMessage(message, arm);
//Debug.Log(arm+":"+message);
}
// Check a single range of numbers
void singleRange()
{
var go = Fsm.GetOwnerDefaultTarget(gameObject);
if (go == null)
{
Finish();
}
// get touch pad script
touchpadAngle.Value = theScript.GetTouchpadAxisAngle();
// check if touchpad is within the range
if (touchpadAngle.Value >= startRange.Value && touchpadAngle.Value <= endRange.Value)
{
if (!requireTrigger.Value)
{
Fsm.Event(inRange);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(inRange);
}
}
}
// else if not in range, then do out of range.
else
{
if (!requireTrigger.Value)
{
Fsm.Event(outOfRange);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(outOfRange);
}
}
}
}
protected virtual void Update()
{
if (controllerEvents != null)
{
float touchpadAngle = controllerEvents.GetTouchpadAxisAngle();
float angle = ((touchpadAngle > 180) ? touchpadAngle -= 360 : touchpadAngle) + headset.eulerAngles.y;
transform.localEulerAngles = new Vector3(0f, angle, 0f);
}
}
void sendControls()
{
scale = TFListener.scale;
Vector3 outPos = UnityToRosPositionAxisConversion(tf.position) / scale;
Quaternion outQuat = UnityToRosRotationAxisConversion(tf.rotation);
string message = "";
//Allows movement control with controllers if menu is disabled
if (!menu.activeSelf)
{
if (controller.gripPressed)
{
message = outPos.x + " " + outPos.y + " " + outPos.z + " " + outQuat.x + " " + outQuat.y + " " + outQuat.z + " " + outQuat.w + " moveToEEPose";
}
else if (controller.touchpadPressed)
{
float angle = controller.GetTouchpadAxisAngle();
if (angle >= 45 && angle < 135) // touching right
{
message += " yDown ";
}
else if (angle >= 135 && angle < 225) // touching bottom
{
message += " xDown ";
}
else if (angle >= 225 && angle < 315) // touching left
{
message += " yUp ";
}
else //touching top
{
message += " xUp ";
}
}
if (controller.triggerPressed)
{
message += " openGripper ";
}
else
{
message += " closeGripper ";
}
wsc.SendEinMessage(message, arm);
}
//Debug.Log(arm+":"+message);
}
protected virtual void Update()
{
//transform.localEulerAngles = playArea.transform.localEulerAngles;
if (controllerEvents != null)
{
eulerAngle = rightHandAnchor.rotation.eulerAngles;
//eulerAngle = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch).eulerAngles; //+ new Vector3(90, 0, 0);
//Vector3 position = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch);
//Quaternion rotation = Quaternion.Euler(90, 0, 0);
//Matrix4x4 m = Matrix4x4.Rotate(rotation);
//transformedAngleMatrix = m.MultiplyVector(eulerAngle);
transformedAngleM = Quaternion.Euler(90, 0, 0) * eulerAngle;
//transform.localRotation = Quaternion.Euler(new Vector3(90, 0, 0));
Vector2 forward2D = new Vector2(playArea.transform.forward.x, playArea.transform.forward.z).normalized;
Vector2 destVect2D = (new Vector2(transform.position.x, transform.position.z) - new Vector2(playArea.transform.position.x, playArea.transform.position.z)).normalized;
float baseAngle = Vector2.SignedAngle(destVect2D, forward2D);
float correctAngle = transform.localEulerAngles.y;
//Debug.Log(baseAngle);
float touchpadAngle = controllerEvents.GetTouchpadAxisAngle();
float angle = ((touchpadAngle > 180) ? touchpadAngle -= 360 : touchpadAngle) + headset.eulerAngles.y;
transform.eulerAngles = new Vector3(0f, (eulerAngle.z * (-sensibilityFactor)) + playArea.transform.eulerAngles.y + baseAngle, 0f);//(360 - eulerAngle.z * 3f) + playArea.transform.eulerAngles.y +
//Debug.Log("angle of z : " + (eulerAngle.z * (-1f)) + " Transformed angle Matrix : " + (transformedAngleM.z * (-1f)) + " angle of cursor : " + transform.eulerAngles.y);
//storedRotation = transform.localEulerAngles;
//Debug.Log("eulerAngle of Player : " + playArea.transform.eulerAngles.y);
//Debug.Log("eulerAngle of indicator : " + transform.eulerAngles.y);
}
}
void Update()
{
scale = TFListener.scale;
Vector3 deltaPos = tf.position - lastControllerPosition; //displacement of current controller position to old controller position
lastControllerPosition = tf.position;
Quaternion deltaRot = tf.rotation * Quaternion.Inverse(lastControllerRotation); //delta of current controller rotation to old controller rotation
lastControllerRotation = tf.rotation;
//message to be sent over ROs network
message = "";
//Allows movement control with controllers if menu is disabled
if (controller.gripPressed) //deadman switch being pressed
{
lastArmPosition = lastArmPosition + deltaPos; //new arm position
lastArmRotation = deltaRot * lastArmRotation; //new arm rotation
if ((Vector3.Distance(new Vector3(0f, 0f, 0f), lastArmPosition)) < 1.5) //make sure that the target stays inside a 1.5 meter sphere around the robot
{
targetTransform.position = lastArmPosition + 0.09f * lastArmTF.up;
//targetTransform.position = lastArmPosition;
}
targetTransform.rotation = lastArmRotation;
//Vector3 outPos = UnityToRosPositionAxisConversion(lastArmTF.position + deltaPos) / scale;
Vector3 outPos = UnityToRosPositionAxisConversion(lastArmPosition) / scale;
//Quaternion outQuat = UnityToRosRotationAxisConversion(deltaRot * lastArmTF.rotation);
Quaternion outQuat = UnityToRosRotationAxisConversion(lastArmRotation);
message = outPos.x + " " + outPos.y + " " + outPos.z + " " + outQuat.x + " " + outQuat.y + " " + outQuat.z + " " + outQuat.w + " moveToEEPose";
}
else if (controller.touchpadPressed)
{
float angle = controller.GetTouchpadAxisAngle();
if (angle >= 45 && angle < 135) // touching right
{
message += " yDown ";
}
else if (angle >= 135 && angle < 225) // touching bottom
{
message += " xDown ";
}
else if (angle >= 225 && angle < 315) // touching left
{
message += " yUp ";
}
else //touching top
{
message += " xUp ";
}
}
if (controller.triggerPressed)
{
message += " openGripper ";
}
else
{
message += " closeGripper ";
}
Debug.Log(message);
//Debug.Log(lastArmPosition);
}
void CheckColor()
{
if (colorLerpTime >= 1f)
{
oldCol = crystalMaterial.material.color;
colorLerpTime = 0f;
}
ColorLerpDEBUG(); //ONLY RUN THIS IF USING VRTK SIMULATOR. Num1, 2, 3 change colors;
//SPELL TYPES: 0 = red, 1 = green, 2 = blue.
if (myController.touchpadAxisChanged)
{
float myAngle = myController.GetTouchpadAxisAngle();
{/*if (myController.GetTouchpadAxisAngle() <= 90 && myController.GetTouchpadAxisAngle() > 45) {
* //if in the center of the red and green tri
* if (myController.GetTouchpadAxis().x > 0) {
* redAm = 1f;
* spellType = 0;
* }
* else {
* greenAm = 1f;
* spellType = 1;
* }
* }
* else if (myController.GetTouchpadAxisAngle() > 90 && myController.GetTouchpadAxisAngle() < 120) {
* if (myController.GetTouchpadAxis().x > 0) {
* //if in the half of the red and green tri
* redAm = 0.5f;
* greenAm = 0.25f;
* spellType = 0;
* }
* redAm = 0.25f;
* greenAm = 0.5f;
* spellType = 1;
* }
* if (myController.GetTouchpadAxisAngle() >= 120 && myController.GetTouchpadAxisAngle() < 150) {
* blueAm = 0.5f;
* spellType = 2;
* //if in the first half of the blue tri
* }
* else if (myController.GetTouchpadAxisAngle() >= 150) {
* blueAm = 1f;
* //else if in the center of the blue tri
* spellType = 2;
* }
* else {
* blueAm = 0.25f;
* //else if outside of blue
* }*/
//detect if red
//detect if green
//detect if blue
}
if (myAngle >= 0 && myAngle < 120)
{
tarCol = Color.red;
spellType = 0;
}
if (myAngle >= 120 && myAngle < 240)
{
tarCol = Color.green;
spellType = 1;
}
if (myAngle >= 240)
{
tarCol = Color.blue;
spellType = 2;
}
tarCol.a = ogValue;
oldCol = crystalMaterial.material.color;
}
if (oldCol != tarCol)
{
realCol = Color.Lerp(oldCol, tarCol, colorLerpTime);// this doesn't work because it's setting it to a value between 0 and 1.
colorLerpTime += 0.02f;
} // I want to put this in update, and not use oldCol as a method of judgement.
if (myController.touchpadPressed)
{
if (myController.GetTouchpadAxisAngle() <= 120)
{
if (myController.GetTouchpadAxis().x > 0)
{
realCol = new Color(1f, 0.25f, 0.25f, ogValue);
}
else
{
realCol = new Color(0.25f, 1f, 0.25f, ogValue);
}
}
else
{
realCol = new Color(0.25f, 0.25f, 1f, ogValue);
}
}
crystalMaterial.material.color = realCol;
}
void Update()
{
// calcul de la progression du fondu au noir
float oldProgression = blackoutProgression;
if (viewmasterObject.IsGrabbed())
{
float distance = 999;
foreach (Transform anchorPoint in viewmasterObjectAnchors)
{
distance = Mathf.Min(distance, Vector3.Distance(anchorPoint.position, Camera.main.transform.position));
}
float range = maxDistance - minDistance;
blackoutProgression = (distance - minDistance) / range;
}
else
{
blackoutProgression += Time.deltaTime;
}
blackoutProgression = Mathf.Clamp(blackoutProgression, 0, 1);
Color matCol = blackoutMesh.material.color;
matCol.a = 1 - blackoutProgression * .9f;
blackoutMesh.material.color = matCol;
renderCam.enabled = blackoutProgression <= 1;
if (blackoutProgression < 1 && oldProgression >= 1)
{
// calcul de la position de l'image en fonction de la tête du joueur
portraitOrientation.localPosition = renderCam.transform.localPosition + new Vector3(0, -.1f, 0);
portraitOrientation.localRotation = Quaternion.Euler(
portraitOrientation.localEulerAngles.x,
renderCam.transform.localEulerAngles.y,
portraitOrientation.localEulerAngles.z);
// désactivation TP
teleportHandler.enabled = false;
}
else if (blackoutProgression >= 1 && oldProgression < 1)
{
teleportHandler.enabled = true;
}
// calcul de la progression du fondu de l'image
if (blackoutProgression <= 0)
{
canvasProgression += Time.deltaTime;
}
else
{
canvasProgression -= Time.deltaTime * 7;
}
canvasProgression = Mathf.Clamp(canvasProgression, 0, 1);
portraitsGroup.alpha = canvasProgression;
if (blackoutProgression <= 0)
{
float angleBetweenPictures = 30;
if (currentClip != null)
{
angleBetweenPictures = 180f / currentClip.images.Length;
}
// float angleBetweenPictures = 30; // à n'utiliser que si l'autre n'est pas assez intuitif
GameObject grabbingObj = viewmasterObject.GetGrabbingObject();
if (grabbingObj != null)
{
VRTK.VRTK_ControllerEvents eventCtrl = grabbingObj.GetComponent <VRTK.VRTK_ControllerEvents>();
lastControllerActions = grabbingObj.GetComponent <VRTK.VRTK_ControllerActions>();
if (eventCtrl != null)
{
// on est en train de visionner l'image, on récupère la manette en train de tenir le VM afin de récupérer les swipes sur le pavé tactile
eventCtrl.axisFidelity = 5;
bool wasPressing = pressingButton;
pressingButton = eventCtrl.IsButtonPressed(VRTK.VRTK_ControllerEvents.ButtonAlias.Touchpad_Touch);
if (pressingButton && !wasPressing)
{
lastRotation = eventCtrl.GetTouchpadAxisAngle();
}
float trigger = eventCtrl.GetTriggerAxis();
if (trigger != 1)
{
ignoreTrigger = false;
}
if (trigger == 1 && !ignoreTrigger)
{
ignoreTrigger = true;
autoMoveToNextPicture = true;
StartCoroutine(TriggerHapticCoroutine());
}
if (pressingButton && trigger == 0 && false)
{
float oldPortraitRotation = currentPortraitRotation;
// en train de faire un swipe
float currentPadRotation = eventCtrl.GetTouchpadAxisAngle();
if (lastRotation - currentPadRotation < 180 && lastRotation - currentPadRotation > -180)
{
currentPortraitRotation += (lastRotation - currentPadRotation) * rotateSensitivity;
}
if (lastControllerActions != null && ((int)(currentPadRotation) / 35) != ((int)(lastRotation) / 35))
{
lastControllerActions.TriggerHapticPulse(.05f);
}
if (currentPortraitRotation > angleBetweenPictures / 2 && oldPortraitRotation < angleBetweenPictures / 2)
{
StartCoroutine(TriggerHapticCoroutine());
}
if (currentPortraitRotation < -angleBetweenPictures / 2 && oldPortraitRotation > -angleBetweenPictures / 2)
{
StartCoroutine(TriggerHapticCoroutine());
}
lastRotation = currentPadRotation;
}
}
}
if (!pressingButton || autoMoveToNextPicture)
{
if (autoMoveToNextPicture)
{
currentPortraitRotation += Time.deltaTime * (angleBetweenPictures + .01f - currentPortraitRotation) * 10;
}
else
{
// retour à l'image la plus proche
if (currentPortraitRotation > angleBetweenPictures / 2)
{
currentPortraitRotation += Time.deltaTime * (angleBetweenPictures + .01f - currentPortraitRotation) * 10;
}
else if (currentPortraitRotation < -angleBetweenPictures / 2)
{
currentPortraitRotation += Time.deltaTime * -(angleBetweenPictures + .01f + currentPortraitRotation) * 10;
}
else
{
currentPortraitRotation -= Time.deltaTime * currentPortraitRotation * 10;
}
}
}
if (currentPortraitRotation > angleBetweenPictures)
{
currentPortraitRotation -= angleBetweenPictures;
nextImage();
}
if (currentPortraitRotation < -angleBetweenPictures)
{
currentPortraitRotation += angleBetweenPictures;
previousImage();
}
// rotation de l'image
leftImageTransform.transform.localRotation = Quaternion.Euler(0, 0, currentPortraitRotation);
rightImageTransform.transform.localRotation = Quaternion.Euler(0, 0, currentPortraitRotation);
leftImageTransformNext.transform.localRotation = Quaternion.Euler(0, 0, currentPortraitRotation + angleBetweenPictures);
leftImageTransformPrev.transform.localRotation = Quaternion.Euler(0, 0, currentPortraitRotation - angleBetweenPictures);
rightImageTransformNext.transform.localRotation = Quaternion.Euler(0, 0, currentPortraitRotation + angleBetweenPictures);
rightImageTransformPrev.transform.localRotation = Quaternion.Euler(0, 0, currentPortraitRotation - angleBetweenPictures);
}
else
{
// rotation du disque du grabbable, pas de la vue.
GameObject grabbingObj = viewmasterObject.GetGrabbingObject();
if (grabbingObj != null)
{
VRTK.VRTK_ControllerEvents eventCtrl = grabbingObj.GetComponent <VRTK.VRTK_ControllerEvents>();
lastControllerActions = grabbingObj.GetComponent <VRTK.VRTK_ControllerActions>();
if (eventCtrl != null)
{
// on est en train de visionner l'image, on récupère la manette en train de tenir le VM afin de récupérer les swipes sur le pavé tactile
eventCtrl.axisFidelity = 5;
bool wasPressing = pressingButton;
pressingButton = eventCtrl.IsButtonPressed(VRTK.VRTK_ControllerEvents.ButtonAlias.Touchpad_Touch);
if (pressingButton && !wasPressing)
{
lastRotation = eventCtrl.GetTouchpadAxisAngle();
}
if (pressingButton && false)
{
// en train de faire un swipe
float currentPadRotation = eventCtrl.GetTouchpadAxisAngle();
if (lastRotation - currentPadRotation < 180 && lastRotation - currentPadRotation > -180)
{
currentClipRotation += (lastRotation - currentPadRotation) * rotateSensitivity;
}
if (lastControllerActions != null && ((int)(currentPadRotation) / 275) != ((int)(lastRotation) / 275))
{
triggerAnimator.SetTrigger("Trigger");
}
lastRotation = currentPadRotation;
viewmasterGrabbableClipRotation.transform.localRotation = Quaternion.Euler(currentClipRotation, 0, 0);
}
}
}
}
}
void MakeItSo()
{
var go = Fsm.GetOwnerDefaultTarget(gameObject);
if (go == null)
{
Finish();
}
touchpadAngle.Value = theScript.GetTouchpadAxisAngle();
// position 1 up A
if (touchpadAngle.Value >= 0 && touchpadAngle.Value <= 45)
{
if (!requireTrigger.Value)
{
Fsm.Event(position1);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(position1);
}
}
}
// position 1 up B
if (touchpadAngle.Value >= 315 && touchpadAngle.Value <= 360.1)
{
if (!requireTrigger.Value)
{
Fsm.Event(position1);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(position1);
}
}
}
// position 2 right - up. NOT excluding 90
if (!excludeDefaultPos.Value)
{
if (touchpadAngle.Value >= 45.1 && touchpadAngle.Value <= 135)
{
if (!requireTrigger.Value)
{
Fsm.Event(position2);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(position2);
}
}
}
}
// position 2 right - up. Excluding 90
if (excludeDefaultPos.Value)
{
if (touchpadAngle.Value >= 45.1 && touchpadAngle.Value <= 135 && touchpadAngle.Value != 90)
{
if (!requireTrigger.Value)
{
Fsm.Event(position2);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(position2);
}
}
}
}
// position 3 right - down
if (touchpadAngle.Value >= 135.1 && touchpadAngle.Value <= 225)
{
if (!requireTrigger.Value)
{
Fsm.Event(position3);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(position3);
}
}
}
// position 4 - down
if (touchpadAngle.Value >= 225.1 && touchpadAngle.Value <= 315)
{
if (!requireTrigger.Value)
{
Fsm.Event(position4);
}
if (requireTrigger.Value)
{
if (theScript.touchpadPressed)
{
Fsm.Event(position4);
}
}
}
}
