// Setup the Bicycle Configuration
void Start()
{
// Set component sizes
const float wheelWidth = 0.01f;
const float frameWidth = 0.05f;
Vector3 v = new Vector3(2 * rR, wheelWidth, 2 * rR);
rearWheel.transform.localScale = v;
v = new Vector3(2 * rF, wheelWidth, 2 * rF);
frontWheel.transform.localScale = v;
// set camera offset from bicycle origin
camera.transform.localPosition = new Vector3(0.162f, 0.0f, -1.38f);
cameraRoll = true;
q = new VizState();
SetBicycleTransform(q);
countdownInfo.text = "";
if (GamePrefs.device != null)
{
serial = new SerialThread(GamePrefs.device, 115200);
}
else
{
serial = new SerialThread("/dev/tty.usbmodem311", 115200);
}
stopwatch = new System.Diagnostics.Stopwatch();
pose = new BicyclePose();
serial.Start();
timestamp = 0;
stopwatch.Start();
}
void SetBicycleTransform(VizState q)
{
// Update x and y positions of the rear wheel contact, yaw and lean of
// the rear frame by modifying the transform of robot bicycle game
// object.
// Explicitly apply the yaw and lean rotations.
// y and z axes are switched
transform.localPosition = new Vector3(q.x, 0.0f, -q.y);
transform.localRotation = Quaternion.Euler(90.0f, 0, 0) *
Quaternion.Euler(0.0f, 0.0f, -Mathf.Rad2Deg * q.yaw) *
Quaternion.Euler(-Mathf.Rad2Deg * q.lean, 0.0f, 0.0f);
// camera roll
float roll = 270;
if (!cameraRoll)
{
roll = (roll + Mathf.Rad2Deg * q.lean) % 360.0f; // fails for angles > 360
}
camera.transform.localRotation = Quaternion.Euler(
camera.transform.localEulerAngles.x,
camera.transform.localEulerAngles.y,
roll);
// All wheel and frame local transforms are with respect to the
// container game or lean frame
// Update rear wheel angle
rearWheel.transform.localRotation =
Quaternion.Euler(0.0f, Mathf.Rad2Deg * q.wheelAngle, 0.0f);
rearWheel.transform.localPosition = new Vector3(0.0f, 0.0f, -rR);
// Update pitch of the rear frame
rearFrame.transform.localRotation =
Quaternion.Euler(0.0f, Mathf.Rad2Deg * q.pitch, 0.0f);
// Set rear frame origin at rear wheel position, then translate alone
// the frame axis
rearFrame.transform.localPosition = rearWheel.transform.localPosition;
rearFrame.transform.Translate(new Vector3(cR / 2, 0.0f, 0.0f),
rearFrame.transform);
// Update pitch and steer of the front frame
frontFrame.transform.localRotation =
Quaternion.Euler(0.0f, Mathf.Rad2Deg * q.pitch,
-Mathf.Rad2Deg * q.steer);
// Set front frame origin at rear frame position, then translate
// alone the frame axes
frontFrame.transform.localPosition = rearFrame.transform.localPosition;
frontFrame.transform.Translate(
new Vector3(cR / 2, 0.0f, ls / 2), rearFrame.transform);
// Update front wheel angle
frontWheel.transform.localRotation =
frontFrame.transform.localRotation *
Quaternion.Euler(0.0f, Mathf.Rad2Deg * q.wheelAngle, 0.0f);
frontWheel.transform.localPosition =
frontFrame.transform.localPosition;
frontWheel.transform.Translate(
new Vector3(cF, 0.0f, ls / 2), frontFrame.transform);
}
