public void Init(capture1 device)
{
GetComponent <Rigidbody>().mass = device.config.ClampMass / 2;
GetComponent <Rigidbody>().useGravity = device.config.UseGravity;
transform.localScale = new Vector3(device.config.ClampDiameter, device.config.ClampWidth / 2 / CylinderFullHeight, device.config.ClampDiameter);
transform.position = pivotObject.transform.rotation * Quaternion.AngleAxis(90, Vector3.back) * (Vector3.down * (device.config.ClamphingeDiameter / 2 + device.config.ClampWidth / 2 / 2)) + pivotObject.transform.position;
transform.rotation = pivotObject.transform.rotation * Quaternion.AngleAxis(90, Vector3.back);
joint.Config(pivotObject, gameObject, device.config.ClampConnectorKinematic, JointPhysics.Fixed);
}
public void Init(capture1 device)
{
GetComponent <Rigidbody>().mass = device.config.ArmMass;
GetComponent <Rigidbody>().useGravity = device.config.UseGravity;
transform.localScale = new Vector3(device.config.ArmDiameter, device.config.ArmLength / CylinderFullHeight, device.config.ArmDiameter);
transform.position = pivotObject.transform.rotation * (Vector3.down * (device.config.ConnectorWidth / 4 + device.config.ArmLength / 2)) + pivotObject.transform.position;
transform.rotation = pivotObject.transform.rotation;
joint.Config(pivotObject, gameObject, device.config.ArmKinematic, JointPhysics.Fixed);
}
public void Init(capture1 device)
{
GetComponent <Rigidbody>().mass = device.config.ConnectorMass / 2;
GetComponent <Rigidbody>().useGravity = device.config.UseGravity;
transform.localScale = new Vector3(device.config.ConnectorDiameter, device.config.ConnectorWidth / 2 / CylinderFullHeight, device.config.ConnectorDiameter);
Vector3 ofs = device.pivot.rotation * Vector3.down * device.config.ConnectorWidth / 4;
transform.position = device.pivot.Object.transform.rotation * (device.pivot.position + ofs) + device.pivot.Object.transform.position;
transform.rotation = device.pivot.Object.transform.rotation * device.pivot.rotation;
joint.Config(device.pivot.Object, gameObject, device.config.ArmKinematic, JointPhysics.Fixed);
}
public override void Remove()
{
MonoBehaviour.Destroy(chassis);
MonoBehaviour.Destroy(rotatingplatform);
MonoBehaviour.Destroy(leverhinge);
MonoBehaviour.Destroy(lever);
MonoBehaviour.Destroy(armhinge);
MonoBehaviour.Destroy(arm);
MonoBehaviour.Destroy(holder1);
MonoBehaviour.Destroy(wheelhinge1);
MonoBehaviour.Destroy(wheel1);
MonoBehaviour.Destroy(leverhinge1);
MonoBehaviour.Destroy(lever1);
MonoBehaviour.Destroy(armhinge1);
MonoBehaviour.Destroy(holder2);
MonoBehaviour.Destroy(wheelhinge2);
MonoBehaviour.Destroy(wheel2);
capture.Remove();
for (int i = 0; i < fingers.Count; i++)
{
fingers[i].Remove();
}
isinited = false;
chassis = null;
rotatingplatform = null;
leverhinge = null;
lever = null;
armhinge = null;
arm = null;
holder1 = null;
wheelhinge1 = null;
wheel1 = null;
leverhinge1 = null;
lever1 = null;
armhinge1 = null;
holder2 = null;
wheelhinge2 = null;
wheel2 = null;
capture = null;
fingers.Clear();
}
public void Init(capture1 device)
{
GetComponent <Rigidbody>().mass = device.config.ClampMass / 2;
GetComponent <Rigidbody>().useGravity = device.config.UseGravity;
transform.localScale = new Vector3(device.config.ClampDiameter, device.config.ClampWidth / 2 / CylinderFullHeight, device.config.ClampDiameter);
transform.position = pivotObject.transform.rotation * (Vector3.down * device.config.ClampWidth / 2) + pivotObject.transform.position;
transform.rotation = pivotObject.transform.rotation;
joint.Config(pivotObject, gameObject, device.config.ClampConnectorKinematic, JointPhysics.Hinge);
drive.KinematicAngularVelocity = device.config.ClampConnectorKinematicAngularVelocity;
drive.Proportional = device.config.ClampConnectorACSProportional;
drive.Integral = device.config.ClampConnectorACSIntegral;
drive.Differential = device.config.ClampConnectorACSDifferential;
drive.Attach(joint);
drive.AngleRange.SetLimits(device.config.ClampConnectorAngle0, device.config.ClampConnectorAngle1);
drive.AngleRange.SetTarget(device.config.ClampConnectorAngle0);
}
public override void Place()
{
if (!isinited)
{
chassis = GameObject.Instantiate(Resources.Load("manipulator2/chassis", typeof(GameObject)) as GameObject);
rotatingplatform = GameObject.Instantiate(Resources.Load("manipulator2/rotatingplatform", typeof(GameObject)) as GameObject);
leverhinge = GameObject.Instantiate(Resources.Load("manipulator2/leverhinge", typeof(GameObject)) as GameObject);
lever = GameObject.Instantiate(Resources.Load("manipulator2/lever", typeof(GameObject)) as GameObject);
armhinge = GameObject.Instantiate(Resources.Load("manipulator2/armhinge", typeof(GameObject)) as GameObject);
arm = GameObject.Instantiate(Resources.Load("manipulator2/arm", typeof(GameObject)) as GameObject);
holder1 = GameObject.Instantiate(Resources.Load("manipulator2/holder1", typeof(GameObject)) as GameObject);
wheelhinge1 = GameObject.Instantiate(Resources.Load("manipulator2/wheelhinge1", typeof(GameObject)) as GameObject);
wheel1 = GameObject.Instantiate(Resources.Load("manipulator2/wheel1", typeof(GameObject)) as GameObject);
leverhinge1 = GameObject.Instantiate(Resources.Load("manipulator2/leverhinge1", typeof(GameObject)) as GameObject);
lever1 = GameObject.Instantiate(Resources.Load("manipulator2/lever1", typeof(GameObject)) as GameObject);
armhinge1 = GameObject.Instantiate(Resources.Load("manipulator2/armhinge1", typeof(GameObject)) as GameObject);
holder2 = GameObject.Instantiate(Resources.Load("manipulator2/holder2", typeof(GameObject)) as GameObject);
wheelhinge2 = GameObject.Instantiate(Resources.Load("manipulator2/wheelhinge2", typeof(GameObject)) as GameObject);
wheel2 = GameObject.Instantiate(Resources.Load("manipulator2/wheel2", typeof(GameObject)) as GameObject);
chassis.GetComponent <HingeJoint>().connectedBody = rotatingplatform.GetComponent <Rigidbody>();
rotatingplatform.GetComponents <FixedJoint>()[0].connectedBody = holder1.GetComponent <Rigidbody>();
rotatingplatform.GetComponents <FixedJoint>()[1].connectedBody = holder2.GetComponent <Rigidbody>();
leverhinge.GetComponent <FixedJoint>().connectedBody = lever.GetComponent <Rigidbody>();
lever.GetComponent <HingeJoint>().connectedBody = armhinge.GetComponent <Rigidbody>();
armhinge.GetComponent <FixedJoint>().connectedBody = arm.GetComponent <Rigidbody>();
arm.GetComponent <HingeJoint>().connectedBody = armhinge1.GetComponent <Rigidbody>();
holder1.GetComponent <HingeJoint>().connectedBody = wheelhinge1.GetComponent <Rigidbody>();
wheelhinge1.GetComponent <FixedJoint>().connectedBody = wheel1.GetComponent <Rigidbody>();
wheel1.GetComponent <FixedJoint>().connectedBody = leverhinge1.GetComponent <Rigidbody>();
lever1.GetComponents <HingeJoint>()[0].connectedBody = leverhinge1.GetComponent <Rigidbody>();
lever1.GetComponents <HingeJoint>()[1].connectedBody = armhinge1.GetComponent <Rigidbody>();
holder2.GetComponent <HingeJoint>().connectedBody = wheelhinge2.GetComponent <Rigidbody>();
wheelhinge2.GetComponent <FixedJoint>().connectedBody = wheel2.GetComponent <Rigidbody>();
wheel2.GetComponent <FixedJoint>().connectedBody = leverhinge.GetComponent <Rigidbody>();
armhinge.GetComponent <armhingemanipulator2>().wheel1object = wheel1;
armhinge.GetComponent <armhingemanipulator2>().armhinge1object = armhinge1;
leverhinge1.GetComponent <leverhinge1manipulator2>().lever1object = lever1;
wheel1.GetComponent <wheel1manipulator2>().lever1object = lever1;
wheel1.GetComponent <wheel1manipulator2>().rotatingplatformobject = rotatingplatform;
wheel2.GetComponent <wheel2manipulator2>().leverobject = lever;
wheel2.GetComponent <wheel2manipulator2>().rotatingplatformobject = rotatingplatform;
capture = new capture1();
for (int i = 0; i < 4; i++)
{
fingers.Add(new finger1());
}
isinited = true;
}
{
var b = chassis.GetComponent <chassismanipulator2>();
b.capture = capture;
b.fingers = fingers;
b.drive.Proportional = config.RotatingplatformACSProportional;
b.drive.Integral = config.RotatingplatformACSIntegral;
b.drive.Differential = config.RotatingplatformACSDifferential;
b.x = config.x;
b.y = config.y;
b.z = config.z;
b.angle = config.angle;
b.height = config.ChassisHeight;
b.width = config.ChassisWidth;
b.angle0 = config.RotatingplatformAngle0;
b.angle1 = config.RotatingplatformAngle1;
}
{
rotatingplatform.GetComponent <Rigidbody>().mass = config.RotatingplatformMass;
var b = rotatingplatform.GetComponent <rotatingplatformmanipulator2>();
b.diameter = config.RotatingplatformDiameter;
b.width = config.RotatingplatformWidth / 2;/*div 2 for cylinder*/
}
{
leverhinge.GetComponent <Rigidbody>().mass = config.LeverhingeMass;
var b = leverhinge.GetComponent <leverhingemanipulator2>();
b.diameter = config.LeverhingeDiameter;
}
{
lever.GetComponent <Rigidbody>().mass = config.LeverMass;
var b = lever.GetComponent <levermanipulator2>();
b.drive.Proportional = config.ArmACSProportional;
b.drive.Integral = config.ArmACSIntegral;
b.drive.Differential = config.ArmACSDifferential;
b.width = config.LeverWidth;
b.length = config.LeverLength;
b.angle0 = config.ArmAngle0;
b.angle1 = config.ArmAngle1;
}
{
armhinge.GetComponent <Rigidbody>().mass = config.ArmhingeMass;
var b = armhinge.GetComponent <armhingemanipulator2>();
b.diameter = config.ArmhingeDiameter;
b.width = config.ArmhingeWidth / 2;/*div 2 for cylinder*/
}
{
arm.GetComponent <Rigidbody>().mass = config.ArmMass;
var b = arm.GetComponent <armmanipulator2>();
b.width = config.ArmWidth;
b.length = config.ArmLength;
}
{
holder1.GetComponent <Rigidbody>().mass = config.HolderMass;
var b = holder1.GetComponent <holder1manipulator2>();
b.drive.Proportional = config.ArmACSProportional;
b.drive.Integral = config.ArmACSIntegral;
b.drive.Differential = config.ArmACSDifferential;
b.width = config.HolderWidth;
b.length = config.HolderLength;
b.offset = config.HoldersDistance / 2;
b.angle0 = config.ArmAngle0 + config.LeverAngle0;
b.angle1 = config.ArmAngle1 + config.LeverAngle1;
}
{
wheelhinge1.GetComponent <Rigidbody>().mass = config.WheelhingeMass;
var b = wheelhinge1.GetComponent <wheelhinge1manipulator2>();
b.diameter = config.LeverhingeDiameter;
b.width = config.WheelhingeWidth / 2;/*div 2 for cylinder*/
}
{
wheel1.GetComponent <Rigidbody>().mass = config.WheelMass;
var b = wheel1.GetComponent <wheel1manipulator2>();
b.diameter = config.WheelDiameter;
b.width = config.WheelWidth / 2;/*div 2 for cylinder*/
b.lever = config.WheelLever;
}
{
leverhinge1.GetComponent <Rigidbody>().mass = config.LeverhingeMass;
var b = leverhinge1.GetComponent <leverhinge1manipulator2>();
b.diameter = config.LeverhingeDiameter;
}
{
lever1.GetComponent <Rigidbody>().mass = config.LeverMass;
var b = lever1.GetComponent <lever1manipulator2>();
b.width = config.LeverWidth;
b.length = config.LeverLength;
}
{
armhinge1.GetComponent <Rigidbody>().mass = config.ArmhingeMass;
var b = armhinge1.GetComponent <armhinge1manipulator2>();
b.diameter = config.ArmhingeDiameter;
b.width = config.ArmhingeWidth / 2;/*div 2 for cylinder*/
}
{
holder2.GetComponent <Rigidbody>().mass = config.HolderMass;
var b = holder2.GetComponent <holder2manipulator2>();
b.drive.Proportional = config.LeverACSProportional;
b.drive.Integral = config.LeverACSIntegral;
b.drive.Differential = config.LeverACSDifferential;
b.width = config.HolderWidth;
b.length = config.HolderLength;
b.offset = config.HoldersDistance / 2;
b.angle0 = config.LeverAngle0;
b.angle1 = config.LeverAngle1;
}
{
wheelhinge2.GetComponent <Rigidbody>().mass = config.WheelhingeMass;
var b = wheelhinge2.GetComponent <wheelhinge2manipulator2>();
b.diameter = config.LeverhingeDiameter;
b.width = config.WheelhingeWidth / 2;/*div 2 for cylinder*/
}
{
wheel2.GetComponent <Rigidbody>().mass = config.WheelMass;
var b = wheel2.GetComponent <wheel2manipulator2>();
b.diameter = config.WheelDiameter;
b.width = config.WheelWidth / 2;/*div 2 for cylinder*/
}
chassis.GetComponent <Rigidbody>().useGravity = false;
rotatingplatform.GetComponent <Rigidbody>().useGravity = config.UseGravity;
leverhinge.GetComponent <Rigidbody>().useGravity = config.UseGravity;
lever.GetComponent <Rigidbody>().useGravity = config.UseGravity;
armhinge.GetComponent <Rigidbody>().useGravity = config.UseGravity;
arm.GetComponent <Rigidbody>().useGravity = config.UseGravity;
holder1.GetComponent <Rigidbody>().useGravity = config.UseGravity;
wheelhinge1.GetComponent <Rigidbody>().useGravity = config.UseGravity;
wheel1.GetComponent <Rigidbody>().useGravity = config.UseGravity;
leverhinge1.GetComponent <Rigidbody>().useGravity = config.UseGravity;
lever1.GetComponent <Rigidbody>().useGravity = config.UseGravity;
holder2.GetComponent <Rigidbody>().useGravity = config.UseGravity;
wheelhinge2.GetComponent <Rigidbody>().useGravity = config.UseGravity;
wheel2.GetComponent <Rigidbody>().useGravity = config.UseGravity;
chassis.GetComponent <Rigidbody>().isKinematic = true;
rotatingplatform.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
leverhinge.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
lever.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
armhinge.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
arm.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
holder1.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
wheelhinge1.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
wheel1.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
leverhinge1.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
lever1.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
holder2.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
wheelhinge2.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
wheel2.GetComponent <Rigidbody>().isKinematic = config.Kinematic;
chassis.GetComponent <chassismanipulator2>().Init();
{
capture.config.UseGravity = config.UseGravity;
capture.config.ConnectorMass = config.CaptureConnectorMass;
capture.config.ConnectorDiameter = config.CaptureConnectorDiameter;
capture.config.ConnectorWidth = config.CaptureConnectorWidth;
capture.config.ArmKinematic = config.Kinematic;
capture.config.ArmMass = config.CaptureArmMass;
capture.config.ArmKinematicAngularVelocity = config.CaptureArmKinematicAngularVelocity;
capture.config.ArmACSProportional = config.CaptureArmACSProportional;
capture.config.ArmACSIntegral = config.CaptureArmACSIntegral;
capture.config.ArmACSDifferential = config.CaptureArmACSDifferential;
capture.config.ArmAngle0 = config.CaptureArmAngle0;
capture.config.ArmAngle1 = config.CaptureArmAngle1;
capture.config.ArmDiameter = config.CaptureArmDiameter;
capture.config.ArmLength = config.CaptureArmLength;
capture.config.ClamphingeMass = config.CaptureClamphingeMass;
capture.config.ClamphingeDiameter = config.CaptureClamphingeDiameter;
capture.config.ClamphingeWidth = config.CaptureClamphingeWidth;
capture.config.ClampKinematic = config.Kinematic;
capture.config.ClampMass = config.CaptureClampMass;
capture.config.ClampKinematicAngularVelocity = config.CaptureClampKinematicAngularVelocity;
capture.config.ClampACSProportional = config.CaptureClampACSProportional;
capture.config.ClampACSIntegral = config.CaptureClampACSIntegral;
capture.config.ClampACSDifferential = config.CaptureClampACSDifferential;
capture.config.ClampAngle0 = config.CaptureClampAngle0;
capture.config.ClampAngle1 = config.CaptureClampAngle1;
capture.config.ClampDiameter = config.CaptureClampDiameter;
capture.config.ClampWidth = config.CaptureClampWidth;
capture.config.ClampConnectorKinematicAngularVelocity = config.CaptureClampConnectorKinematicAngularVelocity;
capture.config.ClampConnectorACSProportional = config.CaptureClampConnectorACSProportional;
capture.config.ClampConnectorACSIntegral = config.CaptureClampConnectorACSIntegral;
capture.config.ClampConnectorACSDifferential = config.CaptureClampConnectorACSDifferential;
capture.config.ClampConnectorAngle0 = config.CaptureClampConnectorAngle0;
capture.config.ClampConnectorAngle1 = config.CaptureClampConnectorAngle1;
capture.pivot.Object = arm;
capture.pivot.position = Vector3.up * arm.transform.localScale.y / 2;
capture.pivot.rotation = Quaternion.AngleAxis(180, Vector3.forward) * Quaternion.AngleAxis(90, Vector3.down);
capture.Place();
}
{
for (int i = 0; i < fingers.Count; i++)
{
fingers[i].config.Kinematic = config.FingerKinematic;
fingers[i].config.ConnectorMass = config.FingerConnectorMass;
fingers[i].config.ConnectorHeight = config.FingerConnectorHeight;
fingers[i].config.RibHeight = config.FingerRibHeight;
fingers[i].config.SectionMass = config.FingerSectionMass;
fingers[i].config.SectionHeight = config.FingerSectionHeight;
fingers[i].config.SectionWidth = config.FingerSectionWidth;
fingers[i].config.SectionThick = config.FingerSectionThick;
fingers[i].config.SectionKinematicAngularVelocity = config.FingerSectionKinematicAngularVelocity;
fingers[i].config.SectionACSProportional = config.FingerSectionACSProportional;
fingers[i].config.SectionACSIntegral = config.FingerSectionACSIntegral;
fingers[i].config.SectionACSDifferential = config.FingerSectionACSDifferential;
fingers[i].config.SectionAngle0 = config.FingerSectionAngle0;
fingers[i].config.SectionAngle1 = config.FingerSectionAngle1;
fingers[i].config.SectionCount = config.FingerSectionCount;
GameObject clamp = capture.GetClamp();
fingers[i].pivot.Object = clamp;
switch (i)
{
case 0:
fingers[i].pivot.position = Vector3.down * clamp.transform.localScale.y / 2 * clampcapture1.CylinderFullHeight +
Vector3.left * (config.CaptureClampDiameter / 2 - fingers[i].config.SectionThick / 2);
fingers[i].pivot.rotation = Quaternion.identity;
break;
case 1:
fingers[i].pivot.position = Vector3.down * clamp.transform.localScale.y / 2 * clampcapture1.CylinderFullHeight +
Vector3.right * (config.CaptureClampDiameter / 2 - fingers[i].config.SectionThick / 2);
fingers[i].pivot.rotation = Quaternion.AngleAxis(180, Vector3.up);
break;
case 2:
fingers[i].pivot.position = Vector3.down * clamp.transform.localScale.y / 2 * clampcapture1.CylinderFullHeight +
Vector3.forward * (config.CaptureClampDiameter / 2 - fingers[i].config.SectionThick / 2);
fingers[i].pivot.rotation = Quaternion.AngleAxis(90, Vector3.up);
break;
case 3:
fingers[i].pivot.position = Vector3.down * clamp.transform.localScale.y / 2 * clampcapture1.CylinderFullHeight +
Vector3.back * (config.CaptureClampDiameter / 2 - fingers[i].config.SectionThick / 2);
fingers[i].pivot.rotation = Quaternion.AngleAxis(-90, Vector3.up);
break;
}
fingers[i].oncaught = OnCaught;
fingers[i].Place();
}
}
if (config.Kinematic)
{
kinematicanglerange0.SetLimits(config.RotatingplatformAngle0, config.RotatingplatformAngle1);
kinematicanglerange1.SetLimits(config.LeverAngle0, config.LeverAngle1);
kinematicanglerange2.SetLimits(-90 + config.ArmAngle0, -90 + config.ArmAngle1);
kinematicanglerange0.SetTarget(config.RotatingplatformAngle0);
kinematicanglerange1.SetTarget(config.LeverAngle0);
kinematicanglerange2.SetTarget(-90 + config.ArmAngle0);
chassis.GetComponent <chassismanipulator2>().rotatingplatformkinematicangularvelocity = config.KinematicAngularVelocity != 0 ? config.KinematicAngularVelocity : config.RotatingplatformKinematicAngularVelocity;
chassis.GetComponent <chassismanipulator2>().leverkinematicangularvelocity = config.KinematicAngularVelocity != 0 ? config.KinematicAngularVelocity : config.LeverKinematicAngularVelocity;
chassis.GetComponent <chassismanipulator2>().armkinematicangularvelocity = config.KinematicAngularVelocity != 0 ? config.KinematicAngularVelocity : config.ArmKinematicAngularVelocity;
chassis.GetComponent <chassismanipulator2>().Kinematic(kinematicanglerange0.GetTarget(), kinematicanglerange1.GetTarget(), kinematicanglerange2.GetTarget());
}
capture.SetPos(0, GetPos1() + GetPos2() - 180, GetPos5());//схват вниз
}
