// Returns a new JointStorage
public static JointStorage MakeJoint(Vector3 Position, Quaternion Rotation, Vector3 Axis, float RotationAmount, bool isRoot = false, JointStorage ParentJoint = null, List <int> Children = null, int child = 0, int parent = 0)
{
JointStorage newJointStorage = new JointStorage();
// Question is... Do we need to store this information? For now... but I'll ask about it
newJointStorage.xLoc = Position.x;
newJointStorage.yLoc = Position.y;
newJointStorage.zLoc = Position.z;
newJointStorage.xRot = Rotation.x;
newJointStorage.yRot = Rotation.y;
newJointStorage.zRot = Rotation.z;
newJointStorage.wRot = Rotation.w;
newJointStorage.xAxisPos = Axis.x;
newJointStorage.yAxisPos = Axis.y;
newJointStorage.zAxisPos = Axis.z;
newJointStorage.RotatePosition = RotationAmount;
newJointStorage.Parent = ParentJoint;
if (Children != null)
{
newJointStorage.ChildrenJoints = Children;
}
else
{
newJointStorage.ChildrenJoints = new List <int>();
}
newJointStorage.ChildrenLink = child;
newJointStorage.ParentLink = parent;
if (isRoot)
{
// Store the 6 DOF
}
return(newJointStorage);
}
// Returns a new JointStorage
public static JointStorage MakeJoint(Vector3 Position, Quaternion Rotation, Vector3 Axis, float RotationAmount, bool isRoot = false, JointStorage ParentJoint = null, List <int> Children = null, int child = 0, int parent = 0)
{
JointStorage newJointStorage = new JointStorage();
// Question is... Do we need to store this information? For now... but I'll ask about it
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
};
List <float> axis = new List <float> {
Axis.x, Axis.y, Axis.z, RotationAmount
};
newJointStorage.PositionParams.AddRange(positions);
newJointStorage.RotationParams.AddRange(rotations);
newJointStorage.AxisParams.AddRange(axis);
newJointStorage.Parent = ParentJoint;
// Hm.. But what if we have no children? What happens? (aka no list bug)
if (Children != null)
{
newJointStorage.ChildrenJoints.AddRange(Children);
}
newJointStorage.ChildrenLink = child;
newJointStorage.ParentLink = parent;
if (isRoot)
{
// Store the 6 DOF
}
return(newJointStorage);
}
/// <summary>
/// MakeJoint: Creates a new JointStorage object.
///
/// <param name="Position"> A vector representing the global position of the joint. </param>
/// <param name="Rotation"> A quaternion representing the global rotation of the joint. </param>
/// <param name="Axis"> A vector representing the axis that the joint is rotating around. </param>
/// <param name="RotationAmount"> A float representing the amount that the joint is rotated around the axis. </param>
/// <param name="isRoot"> An optional boolean indicating whether this joint is the root joint. </param>
/// <param name="ParentJoint"> An optional JointStorage object referring to a parent joint. </param>
/// <param name="Children"> An optional list of children jointIDs. </param>
/// <param name="child"> An optional linkID indicating the child link. </param>
/// <param name = "parent"> An optional linkID indicating the parent link. </param>
///
/// <returns> The newly generated JointStorage object. </returns>
/// </summary>
public static JointStorage MakeJoint(Vector3 Position, Quaternion Rotation, Vector3 Axis, float RotationAmount, bool isRoot = false, JointStorage ParentJoint = null, List <int> Children = null, int child = 0, int parent = 0)
{
JointStorage newJointStorage = new JointStorage();
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
};
List <float> axis = new List <float> {
Axis.x, Axis.y, Axis.z, RotationAmount
};
newJointStorage.PositionParams.AddRange(positions);
newJointStorage.RotationParams.AddRange(rotations);
newJointStorage.AxisParams.AddRange(axis);
newJointStorage.Parent = ParentJoint;
// TOTO: What if there's no children?
if (Children != null)
{
newJointStorage.ChildrenJoints.AddRange(Children);
}
newJointStorage.ChildrenLink = child;
newJointStorage.ParentLink = parent;
if (isRoot)
{
// TODO: Store 6 DOF.
}
return(newJointStorage);
}
/// <summary>
/// GenerateJoint: Helper method to recreate joints by:
/// 1. Creating the appropriate GameObject
/// 2. Setting its position properties.
/// 3. Setting misc. properties as well as removing the collider.
///
/// <param name="jointConfig"> A protobuf object holding all of the necessary information to recreate a joint. </param>
///
/// <returns> A GameObject representing a joint on a robot. </returns>
/// </summary>
public static GameObject GenerateJoint(JointStorage jointConfig)
{
// Creating actual joint
GameObject newJoint = GameObject.CreatePrimitive(PrimitiveType.Sphere);
ObjectJoint newObjectJoint = newJoint.AddComponent <ObjectJoint>();
// Putting into right position
newJoint.transform.position = new Vector3(jointConfig.PositionParams[0], jointConfig.PositionParams[1], jointConfig.PositionParams[2]);
newJoint.transform.rotation = new Quaternion(jointConfig.RotationParams[0], jointConfig.RotationParams[1], jointConfig.RotationParams[2], jointConfig.RotationParams[3]);
// Setting ObjectJoint Configs
newObjectJoint.RotateAxis = new Vector3(jointConfig.AxisParams[0], jointConfig.AxisParams[1], jointConfig.AxisParams[2]);
newObjectJoint.AxisRotation = jointConfig.AxisParams[3];
newObjectJoint.ChildJointIDs = jointConfig.ChildrenJoints;
newObjectJoint.ChildLinkID = jointConfig.ChildrenLink;
newObjectJoint.ParentLinkID = jointConfig.ParentLink;
newObjectJoint.ChildJoints = new List <GameObject>();
Rigidbody newRigid = newJoint.AddComponent <Rigidbody>();
newRigid.isKinematic = true;
newRigid.useGravity = false;
Destroy(newJoint.GetComponent <Collider>());
return(newJoint);
}
// 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);
}
