// Returns a new shape spec
public static ObjectSpecs MakeShape(string type, float x, float y, float z)
{
ObjectSpecs newShape = new ObjectSpecs();
newShape.Type = type;
newShape.xScale = x;
newShape.yScale = y;
newShape.zScale = z;
return(newShape);
}
/// <summary>
/// GenerateShape: Helper method to generate the proper shape for a link.
/// TODO: Add more shapes.
///
/// <param name="specs"> A protobuf object holding all of the information regarding a link's shape. </param>
///
/// <returns> A GameObject representing the shape of a link. </returns>
/// </summary>
public static GameObject GenerateShape(ObjectSpecs specs)
{
switch (specs.Type)
{
case "cube":
GameObject newLink = GameObject.CreatePrimitive(PrimitiveType.Cube);
return(newLink);
default:
return(null);
}
}
/// <summary>
/// MakeShape: Creates a new ObjectSpecs object.
///
/// <param name="type"> A string representing the type of shape the link is. </param>
/// <param name="x, y, z"> Coordinates representing the scale of the object.. </param>
///
/// <returns> The newly generated ObjectSpecs object. </returns>
/// </summary>
public static ObjectSpecs MakeShape(string type, float x, float y, float z)
{
ObjectSpecs newShape = new ObjectSpecs();
newShape.Type = type;
List <float> scale = new List <float> {
x, y, z
};
newShape.ScaleParams.AddRange(scale);
return(newShape);
}
// Returns a new LinkStorage
public static LinkStorage MakeLink(Vector3 Position, Quaternion Rotation, ObjectSpecs Shape)
{
LinkStorage newLinkStorage = new LinkStorage();
newLinkStorage.xLoc = Position.x;
newLinkStorage.yLoc = Position.y;
newLinkStorage.zLoc = Position.z;
newLinkStorage.xRot = Rotation.x;
newLinkStorage.yRot = Rotation.y;
newLinkStorage.zRot = Rotation.z;
newLinkStorage.wRot = Rotation.w;
newLinkStorage.shape = Shape;
return(newLinkStorage);
}
/// <summary>
/// MakeLink: Creates a new LinkStorage object.
///
/// <param name="Position"> A vector representing the global position of the link. </param>
/// <param name="Rotation"> A quaternion representing the global rotation of the link. </param>
/// <param name="Shape"> A vector representing the axis that the joint is rotating link. </param>
///
/// <returns> The newly generated LinkStorage object. </returns>
/// </summary>
public static LinkStorage MakeLink(Vector3 Position, Quaternion Rotation, ObjectSpecs Shape)
{
LinkStorage newLinkStorage = new LinkStorage();
List <float> positions = new List <float> {
Position.x, Position.y, Position.z
};
List <float> rotations = new List <float> {
Rotation.x, Rotation.y, Rotation.z, Rotation.w
};
newLinkStorage.PositionParams.AddRange(positions);
newLinkStorage.RotationParams.AddRange(rotations);
newLinkStorage.Shape = Shape;
return(newLinkStorage);
}
// Use this for initialization
void Start()
{
// Creating the structure
testStructure.RootJointID = 1;
// Creating RootJoint
Vector3 onePos = new Vector3(0, 5, 0);
Quaternion oneRot = new Quaternion(0, 0, 0, 0);
Vector3 Axis = new Vector3(0, 0, 1);
float Rotation = 0;
JointStorage jointStorage1 = MakeMethods.MakeJoint(onePos, oneRot, Axis, Rotation, isRoot: true);
testStructure.JointDict.Add(1, jointStorage1);
// Creating Link 1 (Body of the robot)
Vector3 twoPos = new Vector3(0, 4, 0);
Quaternion defaultLinkRotation = new Quaternion();
ObjectSpecs defaultSpecs = MakeMethods.MakeShape("cube", 5, 1, 5);
LinkStorage linkStorage1 = MakeMethods.MakeLink(twoPos, defaultLinkRotation, defaultSpecs);
testStructure.LinkDict.Add(1, linkStorage1);
// Creating legs (first set)
Vector3 link2Pos = new Vector3(2, 2, 2);
ObjectSpecs defaultLeg = MakeMethods.MakeShape("cube", 1, 2, 1);
LinkStorage linkStorage2 = MakeMethods.MakeLink(link2Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(2, linkStorage2);
Vector3 link3Pos = new Vector3(2, 2, -2);
LinkStorage linkStorage3 = MakeMethods.MakeLink(link3Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(3, linkStorage3);
Vector3 link4Pos = new Vector3(-2, 2, 2);
LinkStorage linkStorage4 = MakeMethods.MakeLink(link4Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(4, linkStorage4);
Vector3 link5Pos = new Vector3(-2, 2, -2);
LinkStorage linkStorage5 = MakeMethods.MakeLink(link5Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(5, linkStorage5);
// Creating Joint 2
Vector3 threePos = new Vector3(2, 3, 2);
Quaternion threeRot = new Quaternion(0, 0, 0, 0);
Vector3 threeAxis = new Vector3(0, 0, 1);
float threeRotation = 0;
JointStorage jointStorage2 = MakeMethods.MakeJoint(threePos, threeRot, threeAxis, threeRotation);
testStructure.JointDict.Add(2, jointStorage2);
// Creating Joint 3
Vector3 fourPos = new Vector3(2, 3, -2);
Quaternion fourRot = new Quaternion(0, 0, 0, 0);
Vector3 fourAxis = new Vector3(0, 0, 1);
float fourRotation = 0;
JointStorage jointStorage3 = MakeMethods.MakeJoint(fourPos, fourRot, fourAxis, fourRotation);
testStructure.JointDict.Add(3, jointStorage3);
// Creating Joint 4
Vector3 fivePos = new Vector3(-2, 3, 2);
Quaternion fiveRot = new Quaternion(0, 0, 0, 0);
Vector3 fiveAxis = new Vector3(0, 0, 1);
float fiveRotation = 0;
JointStorage jointStorage4 = MakeMethods.MakeJoint(fivePos, fiveRot, fiveAxis, fiveRotation);
testStructure.JointDict.Add(4, jointStorage4);
// Creating Joint 5
Vector3 sixPos = new Vector3(-2, 3, -2);
Quaternion sixRot = new Quaternion(0, 0, 0, 0);
Vector3 sixAxis = new Vector3(0, 0, 1);
float sixRotation = 0;
JointStorage jointStorage5 = MakeMethods.MakeJoint(sixPos, sixRot, sixAxis, sixRotation);
testStructure.JointDict.Add(5, jointStorage5);
// Creating Knee Joints (need to switch axis rotation)
Vector3 kneeOnePos = new Vector3(2, 1, 2);
Quaternion defaultKneeRotation = new Quaternion(0, 0, 0, 0);
Vector3 kneeRotationAxis = new Vector3(0, 0, 1);
float defaultKneeRotationAmount = 0;
JointStorage kneeOneStorage = MakeMethods.MakeJoint(kneeOnePos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(6, kneeOneStorage);
Vector3 kneeTwoPos = new Vector3(2, 1, -2);
JointStorage kneeTwoStorage = MakeMethods.MakeJoint(kneeTwoPos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(7, kneeTwoStorage);
Vector3 kneeThreePos = new Vector3(-2, 1, 2);
JointStorage kneeThreeStorage = MakeMethods.MakeJoint(kneeThreePos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(8, kneeThreeStorage);
Vector3 kneeFourPos = new Vector3(-2, 1, -2);
JointStorage kneeFourStorage = MakeMethods.MakeJoint(kneeFourPos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(9, kneeFourStorage);
// Creating Final Leg Links
Vector3 shinLeg1Pos = new Vector3(2, -0.5f, 2);
LinkStorage shinLeg1Storage = MakeMethods.MakeLink(shinLeg1Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(6, shinLeg1Storage);
Vector3 shinLeg2Pos = new Vector3(2, -0.5f, -2);
LinkStorage shinLeg2Storage = MakeMethods.MakeLink(shinLeg2Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(7, shinLeg2Storage);
Vector3 shinLeg3Pos = new Vector3(-2, -0.5f, 2);
LinkStorage shinLeg3Storage = MakeMethods.MakeLink(shinLeg3Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(8, shinLeg3Storage);
Vector3 shinLeg4Pos = new Vector3(-2, -0.5f, -2);
LinkStorage shinLeg4Storage = MakeMethods.MakeLink(shinLeg4Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(9, shinLeg4Storage);
// Childrening from the root
jointStorage1.ChildrenLink = 1;
jointStorage1.ChildrenJoints.Add(2);
jointStorage1.ChildrenJoints.Add(3);
jointStorage1.ChildrenJoints.Add(4);
jointStorage1.ChildrenJoints.Add(5);
jointStorage2.ChildrenLink = 2;
jointStorage2.ChildrenJoints.Add(6);
jointStorage3.ChildrenLink = 3;
jointStorage3.ChildrenJoints.Add(7);
jointStorage4.ChildrenLink = 4;
jointStorage4.ChildrenJoints.Add(8);
jointStorage5.ChildrenLink = 5;
jointStorage5.ChildrenJoints.Add(9);
kneeOneStorage.ChildrenLink = 6;
kneeTwoStorage.ChildrenLink = 7;
kneeThreeStorage.ChildrenLink = 8;
kneeFourStorage.ChildrenLink = 9;
// Childrening to the main body
jointStorage2.ParentLink = 1;
jointStorage3.ParentLink = 1;
jointStorage4.ParentLink = 1;
jointStorage5.ParentLink = 1;
kneeOneStorage.ParentLink = 2;
kneeTwoStorage.ParentLink = 3;
kneeThreeStorage.ParentLink = 4;
kneeFourStorage.ParentLink = 5;
ConstructionManager.GenerateRobot(testStructure); // creates the robot from local data
// Moving robot a little up just for presentation
GameObject root = GameObject.Find("Sphere");
PositionListCreator.CreateDict(root, testList.PList);
root.transform.Translate(Vector3.up);
}
