/******************
* Custom methods *
******************/
void GenerateRandomShapes()
{
// Destroy existing objects before creating new ones
pool.ReclaimAll();
int objectsThisTime = Random.Range(minObjects, maxObjects);
// Create objects with random properties
for (int i = 0; i < objectsThisTime; i++)
{
// Pick a random prefab
int prefabIndex = Random.Range(0, prefabs.Length);
// Set position
float newX, newY, newZ;
newX = Random.Range(-10.0f, 10.0f);
newY = Random.Range(2.0f, 10.0f);
newZ = Random.Range(-10.0f, 10.0f);
Vector3 newPos = new Vector3(newX, newY, newZ);
// Set rotation
Quaternion newRot = Random.rotation;
// Set color
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
Color newColor = new Color(newR, newG, newB);
// Set scale
float s = Random.Range(0.5f, 4.0f);
Vector3 newScale = new Vector3(s, s, s);
// Place the prefab in the scene with its new properties
Shape shape = pool.Get((ShapeLabel)prefabIndex);
GameObject newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.localScale = newScale;
newObj.transform.localScale = newScale;
newObj.GetComponent <Renderer>().material.color = newColor;
}
// Redraw the image for each hidden camera
synth.OnSceneChange(useGrayScale);
}
void GenerateRandom()
{
pool.ReclaimAll();
int objectsThisTime = Random.Range(minObjects, maxObjects);
for (int i = 0; i < objectsThisTime; i++)
{
// pick out a prefab
int prefabIndx = Random.Range(0, prefabs.Length);
GameObject prefab = prefabs[prefabIndx];
// Pick a random position
float newX, newY, newZ;
newX = Random.Range(13.0f, -13.0f);
newY = Random.Range(2.0f, 10.0f);
newZ = Random.Range(13.0f, -13.0f);
var newPos = new Vector3(newX, newY, newY);
// Random Rotation
var newRot = Random.rotation;
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.rotation = newRot;
// Scale
float sx = Random.Range(0.5f, 4.0f);
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
var newColor = new Color(newR, newG, newB);
newObj.GetComponent <Renderer>().material.color = newColor;
}
synth.OnSceneChange(grayscale);
}
void GenerateRandom()
{
pool.ReclaimAll();
int objectsThisTime = Random.Range(minObjects, maxObjects);
for (int i = 0; i < objectsThisTime; i++)
{
//Выбираем случайный префаб
int prefabIndx = Random.Range(0, prefabs.Length);
GameObject prefab = prefabs[prefabIndx];
//Позиция для префаба
float newX, newY, newZ;
newX = Random.Range(-10.0f, 10.0f);
newY = Random.Range(2.0f, 10.0f);
newZ = Random.Range(-10.0f, 10.0f);
Vector3 newPos = new Vector3(newX, newY, newZ);
var newRot = Random.rotation;
var shape = pool.Get((ShapeLabel)prefabIndx);
GameObject newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.rotation = newRot;
//Размер
float scaleFactor = Random.Range(0.5f, 2.0f);
Vector3 newScale = new Vector3(scaleFactor, scaleFactor, scaleFactor);
newObj.transform.localScale = newScale;
//Цвет
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
var newColor = new Color(newR, newG, newB);
newObj.GetComponent <Renderer>().material.color = newColor;
}
synth.OnSceneChange(grayscale);
}
void GenerateRandom()
{
pool.ReclaimAll();
int objectsThisTime = 8;
for (int i = 0; i < objectsThisTime; i++)
{
//pick out prefab
int prefabIndx = 0;
if (i == 0 || i == 1)
{
prefabIndx = 0;
}
else if (i == 2 || i == 3)
{
prefabIndx = 1;
}
else if (i == 4 || i == 6) //Careful to include the correct index here, in the Scene Controller prefab2 should be Jawlft and prefab3 should be jaw right
{
prefabIndx = 2;
}
else
{
prefabIndx = 3;
}
GameObject prefab = prefabs[prefabIndx];
if (i == 0)
{
//OBJECT 1 SHAFT RIGHT ARM
/*
* DATA from Python script
* JOINT 4 PSM_1 SHAFT RIGHT ARM Orientation in quaternions WXYZ [ 0.06844 0.458484 -0.60438 0.647945]
* JOINT 4 PSM_1 SHAFT RIGHT ARM Position in mm [14.620537 3.197187 64.227186]
*
*/
//Position
float newX, newY, newZ;
newX = 14.620537f;
newY = 3.197186f;
newZ = 64.227186f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.458484f;
float quatY = -0.60438f;
float quatZ = 0.647945f;
float quatW = 0.06844f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 1)
{
//OBJECT 2 SHAFT LEFT ARM
/*
* DATA from Python script
*
* JOINT 4 PSM_2 SHAFT LEFT ARM Orientation in quaternions WXYZ [ 0.647431 -0.618062 -0.015413 -0.44564 ]
* JOINT 4 PSM_2 SHAFT LEFT ARM Position in mm [-29.382017 11.433768 96.028443]
*
*/
//Position
float newX, newY, newZ;
newX = -29.382016f;
newY = 11.433768f;
newZ = 96.028442f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = -0.618062f;
float quatY = -0.015413f;
float quatZ = -0.44564f;
float quatW = 0.647431f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 2)
{
//OBJECT 3 LOGO BODY RIGHT ARM
/*
* DATA from Python script
*
* JOINT 5 PSM_1 LOGO BODY RIGHT ARM Orientation in quaternions WXYZ [ 0.85215 -0.171896 0.181329 -0.459795]
* JOINT 5 PSM_1 LOGO BODY RIGHT ARM Position in mm [14.620537 3.197187 64.227186]
*
*/
//Position
float newX, newY, newZ;
newX = 14.620537f;
newY = 3.197187f;
newZ = 64.227186f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = -0.171896f;
float quatY = 0.181329f;
float quatZ = -0.459795f;
float quatW = 0.85215f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 3)
{
//OBJECT 4 LOGO BODY LEFT ARM
/*
* DATA from Python script
*
* JOINT 5 PSM_2 LOGO BODY LEFT ARM Orientation in quaternions WXYZ [ 0.873159 0.055205 -0.104977 0.472785]
* JOINT 5 PSM_2 LOGO BODY RIGHT ARM Position in mm [-29.382017 11.433768 96.028443]
*/
//Position
float newX, newY, newZ;
newX = -29.382017f;
newY = 11.433768f;
newZ = 96.028443f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.055205f;
float quatY = -0.104977f;
float quatZ = 0.472785f;
float quatW = 0.873159f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 4)
{
//OBJECT 5 LEFT-JAW RIGHT-ARM
/*
* DATA from Python script
*
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_1 JAW RIGHT ARM Orientation in quaternions WXYZ [ 0.207232 0.472756 0.228358 -0.825475]
* JOINT 6 PSM_1 JAW RIGHT ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
* NEW
* JOINT 6 PSM_1 LEFT-JAW RIGHT-ARM Orientation in quaternions WXYZ [ 0.096489 0.507083 0.038358 -0.85562 ]
* JOINT 6 PSM_1 LEFT-JAW RIGHT-ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
*
*
*/
//Position
float newX, newY, newZ;
newX = 8.056809f;
newY = -1.517353f;
newZ = 68.410556f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.507083f;
float quatY = 0.038358f;
float quatZ = -0.85562f;
float quatW = 0.096489f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 5)
{
//OBJECT 6 RIGHT-JAW RIGHT-ARM
/*
* DATA from Python script
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_1 JAW RIGHT ARM Orientation in quaternions WXYZ [ 0.207232 0.472756 0.228358 -0.825475]
* JOINT 6 PSM_1 JAW RIGHT ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
* NEW
* JOINT 6 PSM_1 RIGHT-JAW RIGHT-ARM Orientation in quaternions WXYZ [ 0.30752 0.414578 0.406837 -0.753684]
* JOINT 6 PSM_1 RIGHT-JAW RIGHT-ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
*/
//Position
float newX, newY, newZ;
newX = 8.056809f;
newY = -1.517353f;
newZ = 68.410556f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.414578f;
float quatY = 0.406837f;
float quatZ = -0.753684f;
float quatW = 0.30752f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 6)
{
//OBJECT 7 LEFT-JAW LEFT-ARM
/*
* DATA from Python script
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_2 JAW LEFT ARM Orientation in quaternions WXYZ [ 0.684541 0.311392 0.642027 -0.149132]
* JOINT 6 PSM_2 JAW LEFT ARM Position in mm [-21.763284 6.4574 96.054437]
*
* NEW
* JOINT 6 PSM_2 LEFT-JAW LEFT-ARM Orientation in quaternions WXYZ [ 0.581031 0.477455 0.581818 -0.309721]
* JOINT 6 PSM_2 LEFT-JAW LEFT-ARM Position in mm [-21.763284 6.4574 96.054437]
*
*/
//Position
float newX, newY, newZ;
newX = -21.763284f;
newY = 6.4574f;
newZ = 96.054437f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.477455f;
float quatY = 0.581818f;
float quatZ = -0.309721f;
float quatW = 0.581031f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else
{
//OBJECT 8 RIGHT-JAW LEFT-ARM
/*
* DATA from Python script
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_2 JAW LEFT ARM Orientation in quaternions WXYZ [ 0.684541 0.311392 0.642027 -0.149132]
* JOINT 6 PSM_2 JAW LEFT ARM Position in mm [-21.763284 6.4574 96.054437]
*
* NEW_DATA
* JOINT 6 PSM_2 RIGHT-JAW LEFT-ARM Orientation in quaternions WXYZ [0.741704 0.124245 0.658767 0.021553]
* JOINT 6 PSM_2 RIGHT-JAW LEFT-ARM Position in mm [-21.763284 6.4574 96.054437]
*
*/
//Position
float newX, newY, newZ;
newX = -21.763284f;
newY = 6.4574f;
newZ = 96.054437f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.124245f;
float quatY = 0.658767f;
float quatZ = 0.021553f;
float quatW = 0.741704f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
}
synth.OnSceneChange(grayscale);
}