void Update()
{
if (!ControlsEnabled)
{
return;
}
#region get the command
//读取字节------------------这里有一个大坑：Python写内存是按字节写入的，所以读内存的时候一定要按字节读出，否则不正确
String com = "";
for (int i = 0; i <= 5; i++)
{
byte ReadByte = viewAccessor.ReadByte(i);
command[i] = ReadByte - '0';
//print(ReadByte);
//print(command[i]);
com += command[i].ToString();
}
print(com);
#endregion
#region grab objects
//0:没有命令 --》按空格抓取 --》1：翻转将手心向下 --》2：伸手（把手运动到目标位置） --》 3：弯曲手指抓 --》4：把手收回来（收到按下空格时的位置）--》5：把手翻过 --》6：等待放下物体--》7：把手翻到0度（手心向下）--》8：松开手
//print(Controller.Parts.Fingers[1].IsBending);
//获取以坐标GPS_transform.position（手掌的中心）为圆心，以DetectionRadius为半径的球的范围内的Layer为‘player’的物体
Collider[] cs = Physics.OverlapSphere(GPS_transform.position, DetectionRadius, 1 << LayerMask.NameToLayer("player"));
if (cs.Length != 0 && grabStep == 0)
{
//print("cube1: " + cube1.GetComponent<Transform>().position + "cube2: " + cube2.GetComponent<Transform>().position + "capsule: " + capsule.GetComponent<Transform>().position);
handStartGrabPosition = Controller.Parts.Forearm.transform.position;
handTargetPosition = Vector3.zero;
if (pick_player)//把上一个被检测成红色的物体转换为蓝色
{
pick_player.GetComponent <MeshRenderer>().material.color = Color.blue;
}
pick_player = cs[0].gameObject;
//print("pick_player: " + pick_player.name);
pick_player.GetComponent <Rigidbody>().useGravity = false;
pick_player_transform = pick_player.GetComponent <Transform>();
pick_player.GetComponent <MeshRenderer>().material.color = Color.red;
Vector3 tra_vec = pick_player_transform.position - GPS_transform.position;
//print(handTargetPosition);
handTargetPosition = new Vector3(
Controller.Parts.Forearm.transform.position.x + tra_vec.x,
Controller.Parts.Forearm.transform.position.y + tra_vec.y + pick_player_transform.position.y,
Controller.Parts.Forearm.transform.position.z + tra_vec.z);
//print(
// "pick_player_name: " + pick_player.name +
// " Forearm.transform: " + Controller.Parts.Forearm.transform.position +
// " GPS_transform: " + GPS_transform.position +
// " pick_player: " + pick_player_transform.position +
// " tra_vec: " + tra_vec +
// " handTargetPosition: " + handTargetPosition);
}
else if (grabStep == 0)//没有检测到物体，状态为0,（没有发出命令）
{
if (pick_player)
{
pick_player.GetComponent <MeshRenderer>().material.color = Color.blue;
}
pick_player = null;
}
if (Input.GetKey(pickup) && grabStep == 0 && pick_player)//按空格
{
resetTargetRotation();
grabStep = 1;
}
if (grabStep == 1)
{
Controller.RotateForearmTo(0);//先将手转到0度，手心向下为0度
wait(15, 2);
}
if (grabStep == 2) //伸手去抓
{
Controller.Parts.Forearm.transform.position = Vector3.MoveTowards(Controller.Parts.Forearm.transform.position, handTargetPosition, step);
if (Mathf.Approximately(Controller.Parts.Forearm.transform.position.y, handTargetPosition.y))
{
grabStep = 3;
Controller.StartBendFingers();
}
}
if (grabStep == 3) //抓
{
wait(30, 4); //等待一段时间后再转到状态3
}
if (grabStep == 4)//收回手
{
Controller.Parts.Forearm.transform.position = Vector3.MoveTowards(Controller.Parts.Forearm.transform.position, handStartGrabPosition, step);
if (Mathf.Approximately(Controller.Parts.Forearm.transform.position.y, handStartGrabPosition.y))
{
grabStep = 5;
}
}
if (grabStep == 5)//翻手
{
Controller.RotateForearm(-160);
wait(30, 6);//等待一段时间后，转到状态6
}
if (Input.GetKey(pickup) && grabStep == 6)
{
grabStep = 7;//如果再次按下空格键，则转到状态7,
}
if (grabStep == 7)
{
Controller.RotateForearmTo(0);//状态7进行翻手，翻到0度，掌心向下为0度
wait(30, 8);
}
if (grabStep == 8)
{
Controller.StopBendFingers();//翻手之后，松开物体
wait(30, 0);
}
if (Input.GetKey(Grab))//按‘G’抓
{
grabStep = 99;
resetTargetRotation();
Controller.StartBendFingers();
}
if (Input.GetKey(StopGrab))//按‘F’松开
{
grabStep = 0;
Controller.StopBendFingers();
}
#endregion
#region gestures
if (Input.GetKey(KeyCode.Alpha1))
{
grabStep = 99;
resetTargetRotation();
Controller.StartBendFinger(FingerType.Middle);
Controller.StartBendFinger(FingerType.Ring);
Controller.StartBendFinger(FingerType.Pinky);
}
if (Input.GetKey(KeyCode.Alpha2))
{
grabStep = 99;
resetTargetRotation();
Controller.StartBendFinger(FingerType.Ring);
Controller.StartBendFinger(FingerType.Pinky);
}
if (Input.GetKey(KeyCode.Alpha3))
{
grabStep = 99;
resetTargetRotation();
Controller.StartBendFinger(FingerType.Index);
}
#endregion
if (Input.GetKey(KeyCode.Q))
{
grabStep = 99;
StartBendFinger(1, 0.0f, 0.3f, 0.5f);
}
if (Input.GetKey(KeyCode.E))
{
grabStep = 99;
StartBendFinger(1, 0.0f, 0.8f, 0.5f);
}
//if (Input.GetKey(KeyCode.Y))
//{
// Controller.RotateWristTo(45);
//}
#region controll by command
if (grabStep == 0)
{
if (command[0] == 1)
{
StartBendFinger(0, 0.0f, 0.0f, 0.3f);//i指的是第i个手指，后边三个浮点数参数为每个关节的弯曲程度，1是最大弯曲
}
else if (command[0] == 2)
{
StartBendFinger(0, 0.0f, 0.0f, 0.9f);
}
else if (command[0] == 0)
{
StopBendFinger(0);
}
for (int i = 1; i < 5; i++)
{
//command[i]为1,2,3分别为三种弯曲程度
if (command[i] == 1)
{
StartBendFinger(i, 0.0f, 0.3f, 0.5f);//i指的是第i个手指，后边三个浮点数参数为每个关节的弯曲程度，1是最大弯曲
}
else if (command[i] == 2)
{
StartBendFinger(i, 0.0f, 0.6f, 0.5f);
}
else if (command[i] == 3)
{
StartBendFinger(i, 0.0f, 0.9f, 0.5f);
}
else if (command[i] == 0)
{
StopBendFinger(i);
}
}
if (command[5] == 1) //用command[5]控制手腕弯曲的角度
{
Controller.RotateWristTo(25); //控制手腕弯曲的角度：25度
}
else if (command[5] == 2)
{
Controller.RotateWristTo(45);
}
else if (command[5] == 0)
{
Controller.RotateWristTo(0);
}
}
#endregion
if (!Input.GetKey(HoldRotation))
{
Controller.MoveForearm(new Vector3(Input.GetAxis(MoveForearmAxisX), Input.GetAxis(MoveForearmAxisY),
Input.GetAxis(MoveForearmAxisZ)));
}
else
{
Controller.RotateWrist(Input.GetAxis(RotateWristAxis));
Controller.RotateForearm(Input.GetAxis(RotateForearmAxis));
}
}
