/**
* Copia las articulaciones y efector final del Scorbot de este modelo (toda la configuración),
* para dejarlos en las variables pasadas.
* @param art Articulationes
* @param artE Efector final
* @return void
*/
public void InitToCopy(out Articulation[] art, out Transform artE)
{
GameObject g;
art = new Articulation[articulations.Length];
for (int i = 0; i < articulations.Length; i++)
{
g = new GameObject();
g.name = "CopyArticulation" + scorbotIndex;
g.transform.position = articulations[i].transform.position;
g.AddComponent <Articulation>();
// Copy articulation config
g.GetComponent <Articulation>().SetPlane(articulations[i].GetPlane());
g.GetComponent <Articulation>().SetLimit(articulations[i].lowerLimitCount, articulations[i].upperLimitCount, articulations[i].homeCount,
articulations[i].degrees, articulations[i].offset);
g.GetComponent <Articulation>().SetCountsAreTransformed(articulations[i].CountsAreTransformed());
// Parenting
art[i] = g.GetComponent <Articulation>();
if (i >= 1)
{
art[i].transform.parent = art[i - 1].transform;
}
}
// Copy E config
g = new GameObject();
g.name = "CopyE" + scorbotIndex;
g.transform.position = E.position;
g.transform.parent = art[art.Length - 1].transform;
artE = g.transform;
}
private static int TranslateArticulation(KeySwitch keySwitch, Articulation articulation, IXLWorksheet sheet, int row)
{
// Articulation name
var column = SpreadsheetConstants.ColumnDataBegin;
sheet.Cell(row, column).Value = articulation.ArticulationName.Value;
sheet.Cell(row, column).Style.Alignment.Horizontal = XLAlignmentHorizontalValues.Center;
// MIDI data
column = SpreadsheetConstants.ColumnMidiMessageBegin;
column = TranslateMidiNoteMapping(articulation.MidiNoteOns, sheet, row, column);
column = TranslateMidiControlChangeMapping(articulation.MidiControlChanges, sheet, row, column);
column = TranslateMidiProgramChangeMapping(articulation.MidiProgramChanges, sheet, row, column);
// Extra Data
var extraDataTranslator = new ExtraDataTranslator(keySwitch);
extraDataTranslator.Translate(
sheet,
SpreadsheetConstants.RowDataHeader,
SpreadsheetConstants.RowDataBegin,
column
);
return(column);
}
private void Translate(Articulation articulation, IXLWorksheet sheet, int startRow, int startColumn)
{
var column = startColumn;
var row = startRow;
foreach (var extra in articulation.ExtraData)
{
var offset = HeaderTextList.IndexOf(extra.Key);
sheet.Cell(row, column + offset).Value = extra.Value;
}
}
public void PlaySound(Note note, Articulation articulation)
{
List <ISampleProvider> providers = new List <ISampleProvider>();
foreach (Tone tone in note.Sound.Tones())
{
ISampleProvider sineWave = new SignalGenerator()
{
Gain = 1,
Frequency = temperament.GetFrequency(tone),
Type = SignalGeneratorType.Sin
}.Take(TimeSpan.FromSeconds(tempo.MeasureLengthInSeconds * (Articulations[articulation] + note.Length)));
providers.Add(sineWave);
}
if (providers.Count > 0)
{
MixingSampleProvider mixer = new MixingSampleProvider(providers);
WaveOutEvent wo = new WaveOutEvent();
wo.PlaybackStopped += Wo_PlaybackStopped;
wo.Init(mixer);
wo.Play();
}
}
static void AddArticulation(IDictionary <string, ICollection <Articulation> > dictionary, string key, Articulation articulation)
{
if (!dictionary.ContainsKey(key))
{
dictionary[key] = new List <Articulation>();
}
dictionary[key].Add(articulation);
}
private void Awake()
{
articulation = this.GetComponent <Articulation>();
}
/**
* Aplica el algoritmo CCD para una articulación y la rota.
* @param articulations Articulaciones
* @param D Posición objetivo
* @param E Efector final
* @param R Articulación actual
* @return void
*/
private void CCD(Articulation[] articulations, Transform D, Transform E, Articulation R)
{
// Calculate angle. Radians
float beta1 = 0.0f;
float beta2 = 0.0f;
// Vertical plane
if (R.GetPlane().Equals(PlaneHelper.XY))
{
Vector3 rLocalPos = Vector3.zero;
Vector3 dLocalPos = GetLocalPosition(D, articulations[1].transform);
Vector3 eLocalPos = GetLocalPosition(E, articulations[1].transform);
if (!articulations[1].Equals(R))
{
rLocalPos = GetLocalPosition(R.transform, articulations[1].transform);
}
else
{
rLocalPos = Vector3.zero;
}
beta1 = CalculateAngle(dLocalPos, rLocalPos, R.GetPlane());
beta2 = CalculateAngle(eLocalPos, rLocalPos, R.GetPlane());
}
// Horizontal plane
else
{
beta1 = CalculateAngle(D.position, R.GetPosition(), R.GetPlane());
beta2 = CalculateAngle(E.position, R.GetPosition(), R.GetPlane());
}
float beta = 0.0f;
switch (R.GetPlane())
{
case PlaneHelper.XY:
beta = (beta1 - beta2);
break;
case PlaneHelper.XZ:
beta = (beta2 - beta1);
break;
}
// Shortest path
if (R.GetPlane().Equals(PlaneHelper.XY))
{
while (beta > Mathf.PI)
{
beta -= 2 * Mathf.PI;
}
while (beta < -Mathf.PI)
{
beta += 2 * Mathf.PI;
}
}
// Degrees
beta = beta * Mathf.Rad2Deg;
// Apply angle
R.Rotate(beta);
}
/**
* Mueve o rota un objeto dependiento del objeto seleccionado. Si es un eje se produce un movimiento
* con ayuda de los cambios del ratón, si es un eje de rotación se aplica una rotación con ayuda
* de los cambios del ratón.
* @return void
*/
private void MoveOrRotate()
{
// Parent from selected object. An object can contain axis and a selectable object,
// these components are contained in a parent object, so to move everything we just move
// the parent since its children will automatically follow.
Transform parent = selectedObject.transform.parent.transform;
// Selected object is an Axis
if (selectedObject.tag.Contains(AXIS_TAG))
{
Vector3 startPos = parent.position;
// Selected object is an Axis X
if (selectedObject.tag.Contains(X_TAG))
{
// Angle between camera and object
float angle = Vector3.Angle(cam.right, parent.right);
// Move object around axis x, angle determines forward or backward
if (angle < 90f)
{
parent.Translate(new Vector3(axisSensibityReduction * axisSensibity *
Input.GetAxis(MOUSE_X), 0f, 0f));
}
else
{
parent.Translate(new Vector3(axisSensibityReduction * -axisSensibity *
Input.GetAxis(MOUSE_X), 0f, 0f));
}
}
// Selected object is an Axis Y
if (selectedObject.tag.Contains(Y_TAG))
{
// Move object around axis y
parent.Translate(new Vector3(0f, axisSensibityReduction * axisSensibity *
Input.GetAxis(MOUSE_Y), 0f));
}
// Selected object is an Axis Z
if (selectedObject.tag.Contains(Z_TAG))
{
// Angle between camera and object
float angle = Vector3.Angle(cam.right, parent.forward);
// Move object around axis z, angle determines forward or backward
if (angle < 90f)
{
parent.Translate(new Vector3(0f, 0f, axisSensibityReduction * axisSensibity *
Input.GetAxis(MOUSE_X)));
}
else
{
parent.Translate(new Vector3(0f, 0f, axisSensibityReduction * -axisSensibity *
Input.GetAxis(MOUSE_X)));
}
}
// Target (a position) moved. Invalid angles
if (selectedObject.tag.Contains(TARGET_TAG) && (!startPos.Equals(parent.position)))
{
// If it is not a being used by another position (relative), this position not sync anymore
if (parent.GetComponent <TargetModel>().GetRelativeTo() == null)
{
Transform relativePosition = parent.GetComponent <TargetModel>().GetRelativeFrom();
parent.GetComponent <TargetModel>().SetSync(false);
// if this position is being used by another position (relative), that position is not sync anymore
;
if (parent.GetComponent <TargetModel>().GetRelativeFrom())
{
relativePosition.GetComponent <TargetModel>().SetSync(false);
// Updating relative position
relativePosition.GetComponent <TargetModel>().UpdateRelativePosition();
// Update angles data
if (robot.TargetInRange(relativePosition))
{
// Reachable. Load data to target
relativePosition.GetComponent <TargetModel>().SetAngles(robot.GetAnglesFromCopy());
relativePosition.GetComponent <TargetModel>().SetValid(true);
}
else // Unreachable
{
relativePosition.GetComponent <TargetModel>().SetValid(false);
}
}
// Check if it's an unreachable point
if (robot.TargetInRange(parent))
{
// Reachable. Load data to target
parent.GetComponent <TargetModel>().SetAngles(robot.GetAnglesFromCopy());
parent.GetComponent <TargetModel>().SetValid(true);
}
else // Unreachable
{
parent.GetComponent <TargetModel>().SetValid(false);
}
stateMessageControl.UpdatePositionLog();
}
else // Moved a relative position, revert position
{
parent.GetComponent <TargetModel>().UpdateRelativePosition();
}
}
// Update trayectory in case a position is moved
gameController.DrawTrayectory();
}
// Selected object is a rotation axis
if (selectedObject.tag.Contains(ROTATION_TAG))
{
// Scorbot articulation
Articulation art = parent.GetComponent <Articulation>();
// If selected object parent is an articulation
if (art != null)
{
// If articulation plane is xz, apply rotation
if (art.GetPlane().Equals(PlaneHelper.XZ))
{
parent.GetComponent <Articulation>().Rotate(-rotationSensibity * Input.GetAxis(MOUSE_X));
}
// If articulation plane is xy, apply rotation
if (art.GetPlane().Equals(PlaneHelper.XY))
{
// Angle between camera and object
float angle = Vector3.Angle(cam.forward, parent.forward);
// Rotate object around plane xy, angle determines forward or backward
if (angle < 90f)
{
parent.GetComponent <Articulation>().Rotate(-rotationSensibity * Input.GetAxis(MOUSE_X));
}
else
{
parent.GetComponent <Articulation>().Rotate(rotationSensibity * Input.GetAxis(MOUSE_X));
}
}
// If articulation plane is yz, apply rotation
if (art.GetPlane().Equals(PlaneHelper.YZ))
{
// Angle between camera and object
float angle = Vector3.Angle(cam.forward, parent.right);
// Rotate object around plane yz, angle determines forward or backward
if (angle < 90f)
{
parent.GetComponent <Articulation>().Rotate(-rotationSensibity * Input.GetAxis(MOUSE_X));
}
else
{
parent.GetComponent <Articulation>().Rotate(rotationSensibity * Input.GetAxis(MOUSE_X));
}
}
}
}
// If selected object is Scorbot InnerAxis (InnerTarget contains InnerAxis)
if (selectedObject.tag.Contains(INNERAXIS_TAG))
{
// Move Scorbot to InnerTarget position
robot.CCDAlg(innerTarget.transform);
}
else // Update InnerTarget position to Scorbot end effector position when is not selected
{
innerTarget.transform.parent.transform.position = robot.GetE().position;
}
}
public Note(ISingleSound sound, double length, Articulation Articulation = Articulation.Staccato)
{
this.Sound = sound;
this.Length = length;
this.Articulation = Articulation;
}
public static KeySwitch CreateKeySwitch(Articulation articulation)
{
return(CreateKeySwitch(new[] { articulation }));
}
