void FixedUpdate()
{
{
m_deltaTime += Time.fixedDeltaTime;
m_CurrPos = transform.position;
Vector3 _forward = transform.forward;
Vector3 _right = transform.right;
Vector3 vec3 = new Vector3(_forward.x, 0, _forward.z);
Vector3 vec4 = new Vector3(_right.x, 0, _right.z);
float deg1 = ContAngle(_forward, vec3);
if (_forward.y > 0)
{
deg1 *= -1.0f;
}
float deg2 = ContAngle(_right, vec4);
if (_right.y < 0)
{
deg2 *= -1.0f;
}
Vector3 _rot = new Vector3(deg1, 0, deg2);
LiMoRecv.KiWi_MotionData_Set((m_startTime + m_deltaTime), _rot.x, _rot.y, _rot.z, m_CurrPos.x, m_CurrPos.y, m_CurrPos.z, _forward.x, _forward.y, _forward.z);
}
}
// Use this for initialization
void Start()
{
//KiWi_MotionData_Config(5.0f, 20.0f, 30.0f, 60.0f, 60.0f, 60.0f, 500, 5);
LiMoRecv.KiWi_MotionData_Config(ActuratorMaxSpeed, ActuratorSmooth);
LiMoRecv.KiWi_MotionData_MaxValue(MaxMove_surge, MaxMove_sway, MaxMove_heave, MaxRot_roll, MaxRot_pitch, MaxRot_yaw);
LiMoRecv.StartMotion();
}
public static void SendVibEffect(int id, int weight)
{
if (mLastVibStrength[id] != weight)
{
mLastVibStrength[id] = weight;
LiMoRecv.SendCommand2DLL(LiMoConstant.kEvent_CMD_VibratorNormal, (int)LiMoConstant.ChairVibratorNormal.cEvent_Param_VibratorPlay, id, weight);
}
}
void Update()
{
LeftArmX = LiMoRecv.KiWi_GetLeftArmX();
LeftArmY = LiMoRecv.KiWi_GetLeftArmY();
LeftSlider = LiMoRecv.KiWi_GetLeftSlider();
RightArmX = LiMoRecv.KiWi_GetRightArmX();
RightArmY = LiMoRecv.KiWi_GetRightArmY();
RightSlider = LiMoRecv.KiWi_GetRightSlider();
Foot1 = LiMoRecv.KiWi_GetFoot1();
Foot2 = LiMoRecv.KiWi_GetFoot2();
Foot3 = LiMoRecv.KiWi_GetFoot3();
SetLeftTrigger();
SetLeftAction();
SetRightTrigger();
SetRightAction();
}
void SetLeftAction()
{
int Tvalue = LiMoRecv.KiWi_GetLeftAction();
LeftActionDown = false;
LeftActionUp = false;
if (Tvalue == 0)
{
if (LeftAction)
{
LeftActionUp = true;
}
LeftAction = false;
}
else
{
if (!LeftAction)
{
LeftActionDown = true;
}
LeftAction = true;
}
}
void SetLeftTrigger()
{
int Tvalue = LiMoRecv.KiWi_GetLeftTrigger();
LeftTriggerDown = false;
LeftTriggerUp = false;
if (Tvalue == 0)
{
if (LeftTrigger)
{
LeftTriggerUp = true;
}
LeftTrigger = false;
}
else
{
if (!LeftTrigger)
{
LeftTriggerDown = true;
}
LeftTrigger = true;
}
}
void SetRightAction()
{
int Tvalue = LiMoRecv.KiWi_GetRightAction();
RightActionDown = false;
RightActionUp = false;
if (Tvalue == 0)
{
if (RightAction)
{
RightActionUp = true;
}
RightAction = false;
}
else
{
if (!RightAction)
{
RightActionDown = true;
}
RightAction = true;
}
}
void SetRightTrigger()
{
int Tvalue = LiMoRecv.KiWi_GetRightTrigger();
RightTriggerDown = false;
RightTriggerUp = false;
if (Tvalue == 0)
{
if (RightTrigger)
{
RightTriggerUp = true;
}
RightTrigger = false;
}
else
{
if (!RightTrigger)
{
RightTriggerDown = true;
}
RightTrigger = true;
}
}
void OnApplicationQuit()
{
LiMoRecv.StopArm();
}
// Use this for initialization
void Start()
{
//KiWi_MotionData_Config(5.0f, 20.0f, 30.0f, 60.0f, 60.0f, 60.0f, 500, 5);
LiMoRecv.StartArm();
}
void OnApplicationQuit()
{
LiMoRecv.StopMotion();
}
public static void SendVibEffectAllChair(int weight, int Duration)
{
LiMoRecv.SendCommand2DLL(LiMoConstant.kEvent_CMD_VibratorNormal, (int)LiMoConstant.ChairVibratorNormal.cEvent_Param_VibratorPlay, (int)LiMoConstant.ChairVibratorID.c_VIBID_Chair_ALL, weight, Duration);
}
public static void SendVibEffect(int id, int weight, int Duration)
{
LiMoRecv.SendCommand2DLL(LiMoConstant.kEvent_CMD_VibratorNormal, (int)LiMoConstant.ChairVibratorNormal.cEvent_Param_VibratorPlay, id, weight, Duration);
}
public static void StopMotion()
{
LiMoRecv.SendCommand2DLL(LiMoConstant.kEvent_CMD_Motion, LiMoConstant.KEvent_Param1_Stop);
}
public static void StopArm()
{
LiMoRecv.SendCommand2DLL(LiMoConstant.kEvent_CMD_ARM, LiMoConstant.KEvent_Param1_Stop);
}