internal void RequestSetGaitType(GaitType gaitType) { _lastGaitType = _gaitType; _gaitType = gaitType; GaitSelect(); }
public Oscillator() { gait = GaitType.Tripod; phase = new float[N_OSCILLATORS]; for (int i = 0; i < N_OSCILLATORS; ++i) { phase[i] = Random.Range(0, 2 * Mathf.PI); } UpdateGait(); }
private float[] GetGaitPhaseBias(GaitType g) { // 7 elements representing links: // (1,2) (1, 3) (2, 4) (3, 4) (3, 5) (4, 6) (5, 6) switch (g) { case GaitType.Metachronal: return(new float[] { 1.0f, 1.0f / 3.0f, 1.0f / 3.0f, 1.0f, 1.0f / 3.0f, 1.0f / 3.0f, 1.0f }); case GaitType.Ripple: return(new float[] { -1.0f, -3.0f / 2.0f, 1.0f / 2.0f, 1.0f, 1.0f / 2.0f, 1.0f / 2.0f, 1.0f }); case GaitType.Tripod: return(new float[] { 1.0f, 1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f }); default: Debug.LogWarning("Using default gait"); return(new float[] { 0, 0, 0, 0, 0, 0, 0 }); } }
private async void XboxController_DpadDirectionChanged(ControllerVector sender) { if (_dpadStopwatch.ElapsedMilliseconds > 250) { _dpadStopwatch.Restart(); } else return; switch (sender.Direction) { case ControllerDirection.Left: switch (_selectedIkFunction) { case SelectedIkFunction.Behavior: _selectedBehavior--; if ((int)_selectedBehavior <= 0) _selectedBehavior = 0; await _display.WriteAsync($"{Enum.GetName(typeof(Behavior), _selectedBehavior)}", 2); break; case SelectedIkFunction.GaitType: _gaitType--; if (_gaitType < 0) _gaitType = (GaitType)4; await _display.WriteAsync(Enum.GetName(typeof(GaitType), _gaitType), 2); SetGaitOptions(); break; case SelectedIkFunction.GaitSpeed: _gaitSpeed = _gaitSpeed - 2; if (_gaitSpeed < GaitSpeedMin) _gaitSpeed = GaitSpeedMin; _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); await _display.WriteAsync($"_gaitSpeed = {_gaitSpeed}", 2); break; case SelectedIkFunction.SetFootHeightOffset: _selectedLeg--; if (_selectedLeg < 0) _selectedLeg = 0; await _display.WriteAsync($"_selectedLeg = {_selectedLeg}", 2); break; } break; case ControllerDirection.Right: switch (_selectedIkFunction) { case SelectedIkFunction.Behavior: _selectedBehavior++; if ((int)_selectedBehavior > 4) _selectedBehavior = (Behavior)4; await _display.WriteAsync($"{Enum.GetName(typeof(Behavior), _selectedBehavior)}", 2); break; case SelectedIkFunction.GaitType: _gaitType++; if ((int)_gaitType > 4) _gaitType = 0; await _display.WriteAsync(Enum.GetName(typeof(GaitType), _gaitType), 2); SetGaitOptions(); break; case SelectedIkFunction.GaitSpeed: _gaitSpeed = _gaitSpeed + 2; if (_gaitSpeed > GaitSpeedMax) _gaitSpeed = GaitSpeedMax; _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); await _display.WriteAsync($"_gaitSpeed = {_gaitSpeed}", 2); break; case SelectedIkFunction.SetFootHeightOffset: _selectedLeg++; if (_selectedLeg == 5) _selectedLeg = 5; await _display.WriteAsync($"_selectedLeg = {_selectedLeg}", 2); break; } break; case ControllerDirection.Up: switch (_selectedIkFunction) { case SelectedIkFunction.LegLiftHeight: _legLiftHeight++; if (_legLiftHeight > LegLiftHeightUpperLimit) _legLiftHeight = LegLiftHeightUpperLimit; await _display.WriteAsync($"Height = {_legLiftHeight}", 2); _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); break; case SelectedIkFunction.SetFootHeightOffset: _legPosY = _legPosY + 1; _ik.RequestLegYHeight(_selectedLeg, _legPosY); break; case SelectedIkFunction.PingSetup: _ik.RequestNewPerimeter(true); break; case SelectedIkFunction.BodyHeight: _bodyPosY = _bodyPosY + 5; if (_bodyPosY > 110) _bodyPosY = 110; _ik.RequestBodyPosition(_bodyRotX, _bodyRotZ, _bodyPosX, _bodyPosZ, _bodyPosY, _bodyRotY); await _display.WriteAsync($"_bodyPosY = {_bodyPosY}", 2); break; case SelectedIkFunction.Posture: _posture++; await SetPosture(); break; case SelectedIkFunction.Behavior: _ik.RequestBehavior(_selectedBehavior, true); await _display.WriteAsync($"{nameof(_selectedBehavior)} start"); break; } break; case ControllerDirection.Down: switch (_selectedIkFunction) { case SelectedIkFunction.LegLiftHeight: _legLiftHeight--; if (_legLiftHeight < LegLiftHeightLowerLimit) _legLiftHeight = LegLiftHeightLowerLimit; await _display.WriteAsync($"Height = {_legLiftHeight}", 2); _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); break; case SelectedIkFunction.SetFootHeightOffset: _legPosY = _legPosY - 1; _ik.RequestLegYHeight(_selectedLeg, _legPosY); break; case SelectedIkFunction.PingSetup: _ik.RequestNewPerimeter(false); break; case SelectedIkFunction.BodyHeight: _bodyPosY = _bodyPosY - 5; if (_bodyPosY < 10) _bodyPosY = 10; _ik.RequestBodyPosition(_bodyRotX, _bodyRotZ, _bodyPosX, _bodyPosZ, _bodyPosY, _bodyRotY); await _display.WriteAsync($"_bodyPosY = {_bodyPosY}", 2); break; case SelectedIkFunction.Posture: _posture--; await SetPosture(); break; case SelectedIkFunction.Behavior: _ik.RequestBehavior(_selectedBehavior, false); await _display.WriteAsync($"{nameof(_selectedBehavior)} stop"); break; } break; } }
internal void RequestSetGaitType(GaitType gaitType) { _inverseKinematics.RequestSetGaitType(gaitType); }
private async void XboxController_DpadDirectionChanged(ControllerVector sender) { if (_dpadStopwatch.ElapsedMilliseconds > 250) { _dpadStopwatch.Restart(); } else { return; } switch (sender.Direction) { case ControllerDirection.Left: switch (_selectedIkFunction) { case SelectedIkFunction.Behavior: _selectedBehavior--; if ((int)_selectedBehavior <= 0) { _selectedBehavior = 0; } await _display.WriteAsync($"{Enum.GetName(typeof(Behavior), _selectedBehavior)}", 2); break; case SelectedIkFunction.GaitType: _gaitType--; if (_gaitType < 0) { _gaitType = (GaitType)4; } await _display.WriteAsync(Enum.GetName(typeof(GaitType), _gaitType), 2); SetGaitOptions(); break; case SelectedIkFunction.GaitSpeed: _gaitSpeed = _gaitSpeed - 2; if (_gaitSpeed < GaitSpeedMin) { _gaitSpeed = GaitSpeedMin; } _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); await _display.WriteAsync($"_gaitSpeed = {_gaitSpeed}", 2); break; case SelectedIkFunction.SetFootHeightOffset: _selectedLeg--; if (_selectedLeg < 0) { _selectedLeg = 0; } await _display.WriteAsync($"_selectedLeg = {_selectedLeg}", 2); break; } break; case ControllerDirection.Right: switch (_selectedIkFunction) { case SelectedIkFunction.Behavior: _selectedBehavior++; if ((int)_selectedBehavior > 4) { _selectedBehavior = (Behavior)4; } await _display.WriteAsync($"{Enum.GetName(typeof(Behavior), _selectedBehavior)}", 2); break; case SelectedIkFunction.GaitType: _gaitType++; if ((int)_gaitType > 4) { _gaitType = 0; } await _display.WriteAsync(Enum.GetName(typeof(GaitType), _gaitType), 2); SetGaitOptions(); break; case SelectedIkFunction.GaitSpeed: _gaitSpeed = _gaitSpeed + 2; if (_gaitSpeed > GaitSpeedMax) { _gaitSpeed = GaitSpeedMax; } _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); await _display.WriteAsync($"_gaitSpeed = {_gaitSpeed}", 2); break; case SelectedIkFunction.SetFootHeightOffset: _selectedLeg++; if (_selectedLeg == 5) { _selectedLeg = 5; } await _display.WriteAsync($"_selectedLeg = {_selectedLeg}", 2); break; } break; case ControllerDirection.Up: switch (_selectedIkFunction) { case SelectedIkFunction.LegLiftHeight: _legLiftHeight++; if (_legLiftHeight > LegLiftHeightUpperLimit) { _legLiftHeight = LegLiftHeightUpperLimit; } await _display.WriteAsync($"Height = {_legLiftHeight}", 2); _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); break; case SelectedIkFunction.SetFootHeightOffset: _legPosY = _legPosY + 1; _ik.RequestLegYHeight(_selectedLeg, _legPosY); break; case SelectedIkFunction.PingSetup: _ik.RequestNewPerimeter(true); break; case SelectedIkFunction.BodyHeight: _bodyPosY = _bodyPosY + 5; if (_bodyPosY > 110) { _bodyPosY = 110; } _ik.RequestBodyPosition(_bodyRotX, _bodyRotZ, _bodyPosX, _bodyPosZ, _bodyPosY, _bodyRotY); await _display.WriteAsync($"_bodyPosY = {_bodyPosY}", 2); break; case SelectedIkFunction.Posture: _posture++; await SetPosture(); break; case SelectedIkFunction.Behavior: _ik.RequestBehavior(_selectedBehavior, true); await _display.WriteAsync($"{nameof(_selectedBehavior)} start"); break; } break; case ControllerDirection.Down: switch (_selectedIkFunction) { case SelectedIkFunction.LegLiftHeight: _legLiftHeight--; if (_legLiftHeight < LegLiftHeightLowerLimit) { _legLiftHeight = LegLiftHeightLowerLimit; } await _display.WriteAsync($"Height = {_legLiftHeight}", 2); _ik.RequestSetGaitOptions(_gaitSpeed, _legLiftHeight); break; case SelectedIkFunction.SetFootHeightOffset: _legPosY = _legPosY - 1; _ik.RequestLegYHeight(_selectedLeg, _legPosY); break; case SelectedIkFunction.PingSetup: _ik.RequestNewPerimeter(false); break; case SelectedIkFunction.BodyHeight: _bodyPosY = _bodyPosY - 5; if (_bodyPosY < 10) { _bodyPosY = 10; } _ik.RequestBodyPosition(_bodyRotX, _bodyRotZ, _bodyPosX, _bodyPosZ, _bodyPosY, _bodyRotY); await _display.WriteAsync($"_bodyPosY = {_bodyPosY}", 2); break; case SelectedIkFunction.Posture: _posture--; await SetPosture(); break; case SelectedIkFunction.Behavior: _ik.RequestBehavior(_selectedBehavior, false); await _display.WriteAsync($"{nameof(_selectedBehavior)} stop"); break; } break; } }
internal void RequestSetGaitType(GaitType gaitType) { _inverseKinematics.RequestSetGaitType(gaitType); }
internal void RequestSetGaitType(GaitType gaitType) { _lastGaitType = _gaitType; _gaitType = gaitType; GaitSelect(); }