// Referring to the children of the link.
private void DeleteObject()
{
GameObject selected = GameObject.Find("Plane").GetComponent <ButtonStateManager>().SelectedObject;
if (selected.GetComponent <RobotLink>() != null)
{
List <Transform> childrenTransforms = new List <Transform>();
foreach (Transform child in selected.transform)
{
childrenTransforms.Add(child);
}
// If it's a leaf and no children
if (childrenTransforms.Count == 0)
{
selected.GetComponent <RobotLink>().ParentJoint.GetComponent <ObjectJoint>().ChildLink = null;
Destroy(selected);
}
// If it has children
else
{
ObjectJoint parentJoint = selected.GetComponent <RobotLink>().ParentJoint.GetComponent <ObjectJoint>();
parentJoint.ChildLink = null;
parentJoint.ChildJoints = null;
Destroy(selected);
}
}
// If it's a joint.
// Technically, it's just detaching, but atm I don't know how to or where to place the new "joint" so I'm just going to leave as is.
else
{
selected.transform.parent = null;
selected.GetComponent <ObjectJoint>().ParentJoint = null;
}
}
/// <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);
}
/// <summary>
/// Attach: Attaches the currently selected objet to the nearest available link/joint depending on what is selected.
/// </summary>
private void Attach()
{
GameObject selected = GameObject.Find("Plane").GetComponent <SelectorManagerScript>().selected;
// Checking if object is selected
if (selected != null)
{
// If selected object is a link
if (selected.GetComponent <RobotLink>() != null && !selected.GetComponent <ClickerTest>().IsLocked)
{
GameObject closestJoint = GetClosestJoint(selected);
// If there a joint exists, link it to the closest one.
if (closestJoint != null)
{
// ObjectJoint/RobotLink procedures
closestJoint.GetComponent <ObjectJoint>().ChildLink = selected;
selected.GetComponent <RobotLink>().ParentJoint = closestJoint;
selected.transform.parent = closestJoint.transform;
// "Locking" the object
selected.GetComponent <ClickerTest>().IsLocked = true;
closestJoint.GetComponent <ClickerTest>().IsLocked = true;
}
else
{
Debug.Log("You need a Joint to attach the Link to!");
}
}
// If selected object is a joint
else if (selected.GetComponent <ObjectJoint>() != null)
{
GameObject closestLink = GetClosestLink(selected);
// If there is a link, attach it to the closest one.
if (closestLink != null)
{
ObjectJoint thisJoint = selected.GetComponent <ObjectJoint>();
// Doing ObjectJoint/RobotLink stuff
thisJoint.ParentJoint = closestLink.GetComponent <RobotLink>().ParentJoint;
thisJoint.ParentJoint.GetComponent <ObjectJoint>().ChildJoints.Add(selected);
thisJoint.ParentLink = closestLink;
selected.transform.parent = closestLink.transform;
// "Locking" the object
selected.GetComponent <ClickerTest>().IsRotationLocked = true;
}
else
{
Debug.Log("You need a Link to attach the Joint to!");
}
}
}
}
/// <summary>
/// SetJoints: Sets the new positions for all joints of the robot.
///
/// <param name="newJoints"> A PositionList holding all of the new positions of the joints. </param>
/// <param name="rootObject"> The root joint GameObject. </param>
/// </summary>
public static void SetJoints(PositionList newJoints, GameObject rootObject)
{
foreach (KeyValuePair <int, PositionStorage> pair in newJoints.PList)
{
GameObject joint = rootObject.GetComponent <ObjectJoint>().ReferenceDict[pair.Key];
ObjectJoint jointComponent = joint.GetComponent <ObjectJoint>();
jointComponent.transform.Rotate(jointComponent.RotateAxis, pair.Value.Rotation);
jointComponent.AxisRotation = pair.Value.Rotation;
jointComponent.AxisRotation = pair.Value.Velocity;
}
}
/// <summary>
/// CreateDict: Given the root joint, assigns all of the positions of the joints in the joint's dictionary.
///
/// <param name="rootJoint"> The joint to store the dictioary in. </param>
/// <param name="defaultDict"> The dictionary to store the PositionStorages in. </param>
///
/// <returns> The newly generated ObjectSpecs object. </returns>
/// </summary>
public static void CreateDict(GameObject rootJoint, IDictionary <int, PositionStorage> defaultDict)
{
ObjectJoint JointObject = rootJoint.GetComponent <ObjectJoint>();
foreach (KeyValuePair <int, GameObject> pair in JointObject.ReferenceDict)
{
PositionStorage newStorage = new PositionStorage();
newStorage.Rotation = pair.Value.GetComponent <ObjectJoint>().AxisRotation;
newStorage.Velocity = pair.Value.GetComponent <ObjectJoint>().LocalVelocity;
defaultDict[pair.Key] = newStorage;
}
}
private void Update()
{
//For testing purposes-- > sends joint information then gets updated joint information, updates the information.
if (Input.GetKeyDown(KeyCode.Space))
{
testList.PList[0].Rotation = 30;
testList.PList[1].Rotation = 60;
ObjectJoint.GetJoints(rootObject.GetComponent <ObjectJoint>().ChildObjectJoints, rootObject);
ObjectJoint.SetJoints(testList, rootObject);
Debug.Log("Complete!");
}
}
private void AttachObjects()
{
GameObject selected = GameObject.Find("Plane").GetComponent <ButtonStateManager>().SelectedObject;
if (selected != null)
{
if (selected.GetComponent <RobotLink>() != null)
{
GameObject closestJoint = GetClosestJoint(selected);
if (closestJoint != null)
{
closestJoint.GetComponent <ObjectJoint>().ChildLink = selected;
selected.GetComponent <RobotLink>().ParentJoint = closestJoint;
selected.transform.parent = closestJoint.transform;
foreach (Transform child in selected.transform)
{
if (child.name == "Transform Tool(Clone)")
{
child.GetComponent <TransformTool>().ObjectConnected = true;
}
}
}
else
{
Debug.Log("You need a Joint to attach the Link to!");
}
}
else if (selected.GetComponent <ObjectJoint>() != null)
{
GameObject closestLink = GetClosestLink(selected);
if (closestLink != null)
{
ObjectJoint thisJoint = selected.GetComponent <ObjectJoint>();
thisJoint.ParentJoint = closestLink.GetComponent <RobotLink>().ParentJoint;
thisJoint.ParentJoint.GetComponent <ObjectJoint>().ChildJoints.Add(selected);
thisJoint.ParentLink = closestLink;
selected.transform.parent = closestLink.transform;
}
else
{
Debug.Log("You need a Link to attach the Joint to!");
}
}
}
}
/// <summary>
/// SpawnJoint: Spawns a new joint object.
/// </summary>
public static GameObject SpawnJoint()
{
Vector3 SpawnPosition = new Vector3(0.05f, 0f, -5.8f);
GameObject newJoint = GameObject.CreatePrimitive(PrimitiveType.Sphere);
newJoint.transform.position = SpawnPosition;
ObjectJoint JointComponent = newJoint.AddComponent <ObjectJoint>();
JointComponent.IsRoot = true;
return(newJoint);
// Also need to set the rotation axis somehow?
}
// Given the root joint, creates a position list to be sent over via protobuf.
public void CreateList(GameObject rootJoint, List <PositionStorage> defaultList = null, bool isRoot = true)
{
List <GameObject> children = rootJoint.GetComponent <ObjectJoint>().ChildJoints;
ObjectJoint thisJoint = rootJoint.GetComponent <ObjectJoint>();
PositionStorage newStorage = new PositionStorage();
newStorage.Rotation = thisJoint.AxisRotation;
defaultList.Add(newStorage);
foreach (GameObject joint in children)
{
CreateList(joint, defaultList, false);
}
}
/// <summary>
/// GenerateRobot: Recursively sets transform parent/child properties.
///
/// <param name="root"> A protobuf object holding all of the necessary information to recreate a robot. </param>
/// <param name="jointDict"> A dictionary mapping jointIDs to their joint GameObjects</param>
/// <param name="linkDict"> A dictionary mapping linkIDs to their link GameObjects</param>
/// <param name="_isRoot"> An optional boolean indicating whether an object is the root joint or not</param>
/// </summary>
public static void SetTransforms(GameObject root, Dictionary <int, GameObject> jointDict, Dictionary <int, GameObject> linkDict, bool _isRoot = false)
{
// Setting up the reference dict here, should only be run in the beginning.
if (_isRoot)
{
foreach (KeyValuePair <int, GameObject> pair in jointDict)
{
root.GetComponent <ObjectJoint>().ReferenceDict.Add(pair.Key, pair.Value);
}
}
ObjectJoint rootJoint = root.GetComponent <ObjectJoint>();
if (rootJoint.ChildLinkID != 0)
{
rootJoint.ChildLink = linkDict[rootJoint.ChildLinkID];
rootJoint.ChildLink.transform.parent = rootJoint.transform;
}
foreach (int ID in rootJoint.ChildJointIDs)
{
if (ID != 0)
{
rootJoint.ChildJoints.Add(jointDict[ID]);
jointDict[ID].transform.parent = rootJoint.transform;
}
}
if (rootJoint.ParentLinkID != 0)
{
GameObject ScaleProtection = new GameObject();
ScaleProtection.name = "ScaleProtection";
rootJoint.ParentLink = linkDict[rootJoint.ParentLinkID];
ScaleProtection.transform.parent = rootJoint.ParentLink.transform;
rootJoint.transform.parent = ScaleProtection.transform;
}
foreach (int ID in rootJoint.ChildJointIDs)
{
if (ID != 0)
{
SetTransforms(jointDict[ID], jointDict, linkDict);
}
}
}
private void Update()
{
// This is for first movement in the sequence
if (Input.GetKeyDown(KeyCode.A))
{
testList.PList[4].Rotation = -45;
testList.PList[5].Rotation = -45;
testList.PList[8].Rotation = 90;
testList.PList[9].Rotation = 90;
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
// This is for the second movement in the sequence (repeate this and 3)
if (Input.GetKeyDown(KeyCode.S))
{
testList.PList[4].Rotation = 45;
testList.PList[5].Rotation = 45;
testList.PList[8].Rotation = -90;
testList.PList[9].Rotation = -90;
testList.PList[2].Rotation = -45;
testList.PList[3].Rotation = -45;
testList.PList[6].Rotation = 90;
testList.PList[7].Rotation = 90;
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
// Third movement in the sequence
if (Input.GetKeyDown(KeyCode.D))
{
testList.PList[4].Rotation = -45;
testList.PList[5].Rotation = -45;
testList.PList[8].Rotation = 90;
testList.PList[9].Rotation = 90;
testList.PList[2].Rotation = 45;
testList.PList[3].Rotation = 45;
testList.PList[6].Rotation = -90;
testList.PList[7].Rotation = -90;
GameObject root = GameObject.Find("Sphere");
root.transform.Translate(Vector3.left * Time.deltaTime * 100);
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
#if ServerTesting
// Configuring the robot with server test
if (Input.GetKeyDown(KeyCode.A))
{
RobotStructure test = ClientUDP <RobotStructure> .UDPSend(8888, testStructure);
ConstructionManager.GenerateRobot(test);
ObjectJoint.GetJoints(GameObject.Find("Sphere").GetComponent <ObjectJoint>().ChildObjectJoints, GameObject.Find("Sphere"));
}
// Moving the thing
if (Input.GetKeyDown(KeyCode.Space))
{
PositionListCreator.CreateList(GameObject.Find("Sphere"), testList.PList);
PositionList newList = ClientUDP <PositionList> .UDPSend(7777, testList);
ObjectJoint.SetJoints(newList, GameObject.Find("Sphere"));
}
#endif
}
void Update()
{
if (_material != null)
{
// The target color for the Interaction object will be determined by various simple state checks.
Color targetColor = defaultColor;
if (_intObj.isHovered && useHover)
{
float glow = _intObj.closestHoveringControllerDistance.Map(0F, 0.2F, 1F, 0.0F);
targetColor = Color.Lerp(defaultColor, hoverColor, glow);
}
// On press
if (_intObj is InteractionButton && (_intObj as InteractionButton).isPressed)
{
if (!_isPushed)
{
_isPushed = true;
switch (ButtonChoice)
{
case ButtonType.SpawnLink:
GameObject newLink = RobotLink.SpawnLink();
GameObject Linktool = SpawnTransformTool(newLink);
LinkIDCount += 1;
newLink.GetComponent <RobotLink>().SelfID = LinkIDCount;
newLink.transform.localScale = spawnScale;
newLink.transform.position = spawnLocation;
break;
case ButtonType.SpawnJoint:
GameObject newJoint = ObjectJoint.SpawnJoint();
GameObject Jointtool = SpawnTransformTool(newJoint);
JointIDCount += 1;
newJoint.GetComponent <ObjectJoint>().SelfID = JointIDCount;
newJoint.transform.localScale = spawnScale;
newJoint.transform.position = spawnLocation;
break;
case ButtonType.Attach:
AttachObjects();
break;
case ButtonType.Delete:
DeleteObject();
break;
}
targetColor = pressedColor;
}
}
// For the button cooldown
if (_intObj is InteractionButton && !(_intObj as InteractionButton).isPressed)
{
_isPushed = false;
}
// Lerp actual material color to the target color.
_material.color = Color.Lerp(_material.color, targetColor, 30F * Time.deltaTime);
}
}
private void SpawnJoint()
{
GameObject newJoint = ObjectJoint.SpawnJoint();
newJoint.AddComponent <ClickerTest>();
}
