public void testConvertAngles() { RArm rArm = new RArm(); rArm.angles = new Angles(); rArm.angles.currAngles = new List <float> { Angles.inRadian(90), Angles.inRadian(90), Angles.inRadian(90), Angles.inRadian(90), Angles.inRadian(90) }; float ninety = Angles.inRadian(90); float[] convertedAngles = rArm.convertAngles(new float[] { ninety, ninety, ninety, ninety }); Assert.AreEqual(convertedAngles[0], 0); Assert.AreEqual(convertedAngles[1], 0); Assert.AreEqual(convertedAngles[2], 0.9849572f); Assert.AreEqual(convertedAngles[3], 0); }
/// <summary> /// メイン /// </summary> public override void Drive() { bool finish = RArm.DriveParts(); LArm.DriveParts(); if (status == 0) { if (finish) { status = 1; RArm.myMotor1.MyMotor.CustomData = "1,90,10"; RArm.myMotor2.MyMotor.CustomData = "1,0,10"; RArm.myMotor3.MyMotor.CustomData = "1,0,10"; RArm.myMotor4.MyMotor.CustomData = "1,0,10"; } } else if (status == 1) { } }
public void BuildUnit(int headID, int bodyID, int lArmID, int weaponLID, int rArmID, int weaponRID, int legID, Transform pos) { //pos.rotation = Quaternion.Euler(0, 0, 0);//パーツ生成時に向きを合わせる GameObject leg = Instantiate(partsList.GetLegObject(legID)); leg.transform.position = pos.position; leg.transform.parent = pos; Leg = leg.GetComponent <PartsLeg>(); GameObject body = Instantiate(partsList.GetBodyObject(bodyID)); body.transform.parent = Leg.transform; Body = body.GetComponent <PartsBody>(); Body.TransFormParts(Leg.GetPartsHigh().position); GameObject head = Instantiate(partsList.GetHeadObject(headID)); head.transform.parent = Body.transform; Head = head.GetComponent <PartsHead>(); Head.TransFormParts(Body.GetHeadPos().position); GameObject lArm = Instantiate(partsList.GetLArmObject(lArmID)); lArm.transform.parent = Body.transform; LArm = lArm.GetComponent <PartsLArm>(); LArm.TransFormParts(Body.GetLArmPos().position); GameObject weaponL = Instantiate(partsList.GetWeaponObject(weaponLID)); weaponL.transform.parent = LArm.ArmParts().transform; LArmWeapon = weaponL.GetComponent <Weapon>(); LArmWeapon.TransFormParts(LArm.GetGrip().position); GameObject rArm = Instantiate(partsList.GetRArmObject(rArmID)); rArm.transform.parent = Body.transform; RArm = rArm.GetComponent <PartsRArm>(); RArm.TransFormParts(Body.GetRArmPos().position); GameObject weaponR = Instantiate(partsList.GetWeaponObject(weaponRID)); weaponR.transform.parent = RArm.ArmParts().transform; RArmWeapon = weaponR.GetComponent <Weapon>(); RArmWeapon.TransFormParts(RArm.GetGrip().position); }
public void BuildUnit(int headID, int bodyID, int lArmID, int weaponLID, int rArmID, int weaponRID, int legID) { if (!silhouetteOn) { transform.rotation = Quaternion.Euler(0, 0, 0);//パーツ生成時に向きを合わせる GameObject leg = Instantiate(partsList.GetLegObject(legID)); leg.transform.position = transform.position; leg.transform.parent = transform; Leg = leg.GetComponent <PartsLeg>(); GameObject body = Instantiate(partsList.GetBodyObject(bodyID)); body.transform.parent = Leg.transform; Body = body.GetComponent <PartsBody>(); Body.TransFormParts(Leg.GetPartsHigh().position); GameObject head = Instantiate(partsList.GetHeadObject(headID)); head.transform.parent = Body.transform; Head = head.GetComponent <PartsHead>(); Head.TransFormParts(Body.GetHeadPos().position); GameObject lArm = Instantiate(partsList.GetLArmObject(lArmID)); lArm.transform.parent = Body.transform; LArm = lArm.GetComponent <PartsLArm>(); LArm.TransFormParts(Body.GetLArmPos().position); GameObject weaponL = Instantiate(partsList.GetWeaponObject(weaponLID)); weaponL.transform.parent = LArm.ArmParts().transform; LArmWeapon = weaponL.GetComponent <Weapon>(); LArmWeapon.TransFormParts(LArm.GetGrip().position); GameObject rArm = Instantiate(partsList.GetRArmObject(rArmID)); rArm.transform.parent = Body.transform; RArm = rArm.GetComponent <PartsRArm>(); RArm.TransFormParts(Body.GetRArmPos().position); GameObject weaponR = Instantiate(partsList.GetWeaponObject(weaponRID)); weaponR.transform.parent = RArm.ArmParts().transform; RArmWeapon = weaponR.GetComponent <Weapon>(); RArmWeapon.TransFormParts(RArm.GetGrip().position); silhouetteOn = true; partsTotalPlice = Body.GetPrice() + Head.GetPrice() + LArm.GetPrice() + RArm.GetPrice() + Leg.GetPrice() + LArmWeapon.GetPrice() + RArmWeapon.GetPrice(); unitNumber.text = "機体番号:" + j + "\n価格" + partsTotalPlice; } }
public override void Drive() { RLeg.DriveParts(); RArm.DriveParts(); LLeg.DriveParts(); LArm.DriveParts(); if (ctrlStatus == Utilty.StatusEnum.Forword) { if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_forward || RLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward) { if (RLeg.myMotorKnee.finishFlg && RLeg.myMotorAnkle.finishFlg && RLeg.myMotorThigh.finishFlg) { RLeg.LegStatus = Utilty.PartsMoveEnum.Run_Backward; RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListBackward[0] + "," + "30"; RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListBackward[1] + "," + "30"; RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListBackward[2] + "," + "5"; LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle; LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListMiddleward[0] + "," + "30"; LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListMiddleward[1] + "," + "50"; LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListMiddleward[2] + "," + "10"; return; } } else if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_forward || LLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward) { if (LLeg.myMotorKnee.finishFlg && LLeg.myMotorAnkle.finishFlg && LLeg.myMotorThigh.finishFlg) { LLeg.LegStatus = Utilty.PartsMoveEnum.Run_Backward; LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListBackward[0] + "," + "30"; LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListBackward[1] + "," + "30"; LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListBackward[2] + "," + "5"; RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle; RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListMiddleward[0] + "," + "30"; RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListMiddleward[1] + "," + "50"; RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListMiddleward[2] + "," + "10"; return; } } if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle) { if (LLeg.myMotorThigh.finishFlg) { LLeg.LegStatus = Utilty.PartsMoveEnum.Run_forward; LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListForward[0] + "," + "30"; LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListForward[1] + "," + "50"; LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListForward[2] + "," + "50"; } } if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle) { if (RLeg.myMotorThigh.finishFlg) { RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListForward[0] + "," + "30"; RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListForward[1] + "," + "50"; RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListForward[2] + "," + "50"; RLeg.LegStatus = Utilty.PartsMoveEnum.Run_forward; } } } else if (ctrlStatus == Utilty.StatusEnum.Halt) { if (RLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward) { if (RLeg.myMotorKnee.finishFlg && RLeg.myMotorAnkle.finishFlg && RLeg.myMotorThigh.finishFlg) { RLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward; RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListBackward[0] + "," + "10"; RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListBackward[1] + "," + "10"; RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListBackward[2] + "," + "5"; LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle; LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListMiddleward[0] + "," + "10"; LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListMiddleward[1] + "," + "30"; LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListMiddleward[2] + "," + "10"; return; } } else if (LLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward) { if (LLeg.myMotorKnee.finishFlg && LLeg.myMotorAnkle.finishFlg && LLeg.myMotorThigh.finishFlg) { LLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward; LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListBackward[0] + "," + "10"; LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListBackward[1] + "," + "10"; LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListBackward[2] + "," + "5"; RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle; RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListMiddleward[0] + "," + "10"; RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListMiddleward[1] + "," + "30"; RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListMiddleward[2] + "," + "10"; return; } } if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle) { if (LLeg.myMotorThigh.finishFlg) { LLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward; LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListForward[0] + "," + "30"; LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListForward[1] + "," + "50"; LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListForward[2] + "," + "50"; } } if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle) { if (RLeg.myMotorThigh.finishFlg) { RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListForward[0] + "," + "30"; RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListForward[1] + "," + "50"; RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListForward[2] + "," + "50"; RLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward; } } } }
/// <summary> /// メイン /// </summary> public override void Drive() { RArm.DriveParts(); LArm.DriveParts(); }
void updateEquipmentList() { Head.disable(); LArm.disable(); RArm.disable(); Chest.disable(); Leg.disable(); Feet.disable(); Necklace.disable(); Ring.disable(); Back.disable(); //public Button Head, LArm, RArm, Chest, //Leg, Feet, Necklace, Ring, Back; foreach (Equipment equip in actor.getEquipment()) { //Debug.Log(equip.name + " BEING ADDED"); if (equip.getEquipmentPosition().Equals("Head")) { //Debug.Log ("HAT"); Head.setItem(equip); } if (equip.getEquipmentPosition().Equals("Necklace")) { Necklace.setItem(equip); } if (equip.getEquipmentPosition().Equals("LArm")) { LArm.setItem(equip); } if (equip.getEquipmentPosition().Equals("RArm")) { RArm.setItem(equip); } if (equip.getEquipmentPosition().Equals("Chest")) { Chest.setItem(equip); } if (equip.getEquipmentPosition().Equals("Leg")) { Leg.setItem(equip); } if (equip.getEquipmentPosition().Equals("Feet")) { Feet.setItem(equip); } if (equip.getEquipmentPosition().Equals("Ring")) { Ring.setItem(equip); } if (equip.getEquipmentPosition().Equals("Back")) { Back.setItem(equip); } } Head.updateIcon(); Necklace.updateIcon(); LArm.updateIcon(); RArm.updateIcon(); Chest.updateIcon(); Leg.updateIcon(); Feet.updateIcon(); Ring.updateIcon(); Back.updateIcon(); }