static GameObject createStrutIfNotExisting(RFrame_Object frameObject, GameObject strutInstantiator, List <GameObject> strutsCheck, int v1, int v2)
{
RFrame_Strut strutToCheck;
bool foundExistingStrut = false;
//if (strutsCheck.Count==0) return false;
foreach (GameObject strutToCheckGameObject in strutsCheck)
{
strutToCheck = strutToCheckGameObject.GetComponent <RFrame_Strut>();
if (strutToCheck.v1 == v1 && strutToCheck.v2 == v2)
{
foundExistingStrut = true;
}
if (strutToCheck.v1 == v2 && strutToCheck.v2 == v1)
{
foundExistingStrut = true;
}
}
if (!foundExistingStrut)
{
GameObject strutGameObject = Instantiate(strutInstantiator, frameObject.transform);
RFrame_Strut newStrut = strutGameObject.GetComponent <RFrame_Strut>();
newStrut.v1 = v1;
newStrut.v2 = v2;
strutsCheck.Add(strutGameObject);
return(strutGameObject);
}
return(null); //foundExistingStrut;
}
// Update is called once per frame
void Update()
{
// Update this game objects position to be by the angle joint.
RFrame_Object parentFrame = transform.parent.gameObject.GetComponent <RFrame_Object>();
GameObject centerObj = parentFrame.allVertices[this.centerVertex];
transform.localPosition = centerObj.transform.localPosition;
// Call the angle measuring function.
measureAngle();
}
public void measureAngle(bool measuringInitialAngle = false)
{
RFrame_Object parentFrame = transform.parent.gameObject.GetComponent <RFrame_Object>();
GameObject centerObj = parentFrame.allVertices[this.centerVertex];
GameObject upObj = parentFrame.allVertices[this.upVertex];
GameObject measure1Obj = parentFrame.allVertices[this.measure1];
GameObject measure2Obj = parentFrame.allVertices[this.measure2];
Vector3 measure1Vertex = measure1Obj.transform.localPosition - centerObj.transform.localPosition;
Vector3 measure2Vertex = measure2Obj.transform.localPosition - centerObj.transform.localPosition;
// Measure the angle based on the measuring angle type.
switch (angleMeasureType)
{
case AngleMeasureTypeEnum.quaternionBased: {
Vector3 upVertex = upObj.transform.localPosition - centerObj.transform.localPosition;
Quaternion orientation1 = Quaternion.LookRotation(measure1Vertex, upVertex);
Quaternion orientation2 = Quaternion.LookRotation(measure2Vertex, upVertex);
angleBetween = Quaternion.Angle(orientation1, orientation2);
break;
}
case AngleMeasureTypeEnum.lineBased: {
// Use the dot product method of finding the angle
float dotProduct = Vector3.Dot(measure1Vertex, measure2Vertex);
float magMult = measure1Vertex.magnitude * measure2Vertex.magnitude;
if (magMult > 0.0f)
{
// Converted to degrees.
angleBetween = Mathf.Acos(dotProduct / magMult) * Mathf.Rad2Deg;
}
break;
}
}
// Record the initial angle
if (measuringInitialAngle)
{
initialAngle = angleBetween;
}
// Calculate the change in angle and apply that to the bias angle to be sent to the channel
float diff = (angleBetween - initialAngle);
float scaledDiff = diff * angleChangeScaling;
channelSendAngle = biasAngle + (invertedSendAngle ? -scaledDiff : scaledDiff);
// Check if channel angle is within limits.
if (channelSendAngle < minimumAngle)
{
channelSendAngle = minimumAngle;
}
if (channelSendAngle > maximumAngle)
{
channelSendAngle = maximumAngle;
}
}
// Update is called once per frame
void Update()
{
// Position the attached mesh to the centre vertex
RFrame_Object parentFrame = transform.parent.gameObject.GetComponent <RFrame_Object>();
GameObject centerObj = parentFrame.allVertices[this.centerVertex];
GameObject upObj = parentFrame.allVertices[this.upVertex];
GameObject forwardObj = parentFrame.allVertices[this.forwardVertex];
Vector3 upVertex = upObj.transform.localPosition - centerObj.transform.localPosition;
Vector3 forwardVertex = forwardObj.transform.localPosition - centerObj.transform.localPosition;
Quaternion orientation = Quaternion.LookRotation(forwardVertex, upVertex);
transform.localPosition = centerObj.transform.localPosition;
transform.rotation = orientation;
}
// Update is called once per frame
void Update()
{
// Update the transform of this object so that it starts at v1 and points
// towards v2.
// Only update the struts line renderer if its enabled.
if (GetComponent <LineRenderer>().enabled)
{
RFrame_Object parentFrame = transform.parent.gameObject.GetComponent <RFrame_Object>();
GameObject v1Obj = parentFrame.allVertices[this.v1];
GameObject v2Obj = parentFrame.allVertices[this.v2];
Vector3[] positions = { v1Obj.transform.localPosition, v2Obj.transform.localPosition };
this.updateLineRenderPositions(positions);
}
}
/**
* Test method for creating a Frame_Object from an OBJ file
* 23 Jan 2019 - Updated to read from modified OBJ files.
* @param objFile The filename of the OBJ file
* @return A Frame_Object file
* @throws FileNotFoundException
*/
void createFromOBJ(TextAsset objFile)
{
//System.out.println("Loading OBJ file : " + objFile.toString());
string[] inFile = objFile.text.Split('\n');
List <GameObject> verticesBuild = new List <GameObject>();
List <GameObject> strutBuild = new List <GameObject>();
List <GameObject> angleViewBuild = new List <GameObject>();
List <GameObject> compRepBuild = new List <GameObject>();
List <GameObject> balPosBuild = new List <GameObject>();
List <GameObject> disHolBuild = new List <GameObject>();
List <GameObject> ancPoiBuild = new List <GameObject>();
int vertexIndex = 0;
foreach (string objLine in inFile)
{
//System.out.println(objLine); // Debug print to console the current line.
// Reading in a vertex line
if (objLine.StartsWith("v") && !objLine.StartsWith("vn") && !objLine.StartsWith("vt") && !objLine.StartsWith("vp"))
{
// Split the string using space. e.g. v 3.00 2.00 -2.00
//System.out.println("Vertex : " + objLine);
string[] splits = objLine.Split(' ');
float x = float.Parse(splits[1]);
float y = float.Parse(splits[2]);
float z = float.Parse(splits[3]);
GameObject vertexGameObject = Instantiate(VertexInstantiator, this.transform);
vertexGameObject.name = vertexGameObject.name + "_" + vertexIndex;
vertexGameObject.transform.localPosition = new Vector3(x, y, z);
RFrame_Vertex vertexScript = vertexGameObject.GetComponent <RFrame_Vertex>();
vertexScript.x = x;
vertexScript.y = y;
vertexScript.z = z;
// Check for lock character
if (splits.Length > 4)
{
if (splits[4] == "l")
{
vertexScript.lockedInPlace = true;
}
}
verticesBuild.Add(vertexGameObject);
vertexIndex++;
}
else if (objLine.StartsWith("l"))
{
// This is for any standalone lines, which will be turned into struts.
// Modified to only work with the first two vertice indexes
string[] splits = objLine.Split(' ');
// Remember that indexes start at 1 in the obj/txt file and need converting to zero-indexed.
int v1 = int.Parse(splits[1]) - 1;
int v2 = int.Parse(splits[2]) - 1;
GameObject strutGameObject = RFrame_Object.createStrutIfNotExisting(this, StrutInstantiator, strutBuild, v1, v2);
// Check if strut is displayed. This is determined by having more than three entries in splits.
// Basically any character entered after the 2 indexes will trigger this.
//if(strutGameObject!=null && splits.Length > 3) {
if (splits.Length == 5)
{
RFrame_Strut strutScript = strutGameObject.GetComponent <RFrame_Strut>();
strutScript.minLength = float.Parse(splits[3]);
strutScript.maxLength = float.Parse(splits[4]);
}
// All line renderers will be switched off.
LineRenderer lineRenderer = strutGameObject.GetComponent <LineRenderer>();
// Used when debugging the a fresh OBJ frame.
lineRenderer.enabled = transform.GetComponentInParent <RFrame_Bridge>().displayStrutsOnLoad;
//}
}
else if (objLine.StartsWith("anglink"))
{
// Angle link entry.
// Requires 4 vertex indexes and a link channel number which will represent the angle measurer struts.
// and the actuator/motor/servo this is linked too.
// Centering and angle limits should be entered.
string[] splits = objLine.Split(' ');
int centerVertex = int.Parse(splits[1]);
int upVertex = int.Parse(splits[2]);
int measure1 = int.Parse(splits[3]);
int measure2 = int.Parse(splits[4]);
int channel = int.Parse(splits[5]); // Channel number should already be zero-indexed.
bool invertChannel = bool.Parse(splits[6]); // Should be 0, 1, true or false
float minChannelAngle = float.Parse(splits[7]); // Channel won't be sent any number smaller than this.
float maxChannelAngle = float.Parse(splits[8]); // Channel won't be sent any number larger than this.
float biasAngle = float.Parse(splits[9]); // The bias to apply. Indicates that a servo may need recentering
int angleMeasureType = int.Parse(splits[10]); // Quaternion or dot product angle
float scaleChangedAngled = float.Parse(splits[11]); // How much to scale the change in angle from initial. Increases range of movement.
GameObject angleViewerObj = Instantiate(AngleViewerInstantiator, this.transform);
RFrame_AngleLink angleLinker = angleViewerObj.GetComponent <RFrame_AngleLink>();
angleLinker.centerVertex = centerVertex;
angleLinker.upVertex = upVertex;
angleLinker.measure1 = measure1;
angleLinker.measure2 = measure2;
angleLinker.linkChannel = channel;
angleLinker.invertedSendAngle = invertChannel;
angleLinker.minimumAngle = minChannelAngle;
angleLinker.maximumAngle = maxChannelAngle;
angleLinker.biasAngle = biasAngle;
angleLinker.angleChangeScaling = scaleChangedAngled;
switch (angleMeasureType)
{
case 0: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.quaternionBased;
break;
}
case 1: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.lineBased;
break;
}
default: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.quaternionBased;
break;
}
}
angleViewBuild.Add(angleViewerObj);
}
else if (objLine.StartsWith("comprep") && transform.GetComponentInParent <RFrame_Bridge>().displayComponentRepsOnLoad)
{
// Component representation
string[] splits = objLine.Split(' ');
int centerVertex = int.Parse(splits[1]);
int upVertex = int.Parse(splits[2]);
int forwardVertex = int.Parse(splits[3]);
string meshName = splits[4];
float xRot = float.Parse(splits[5]);
float yRot = float.Parse(splits[6]);
float zRot = float.Parse(splits[7]);
float xTran = float.Parse(splits[8]);
float yTran = float.Parse(splits[9]);
float zTran = float.Parse(splits[10]);
GameObject compRepObj = Instantiate(ComponentRepresentorInstantiator, this.transform);
RFrame_Component componentRep = compRepObj.GetComponent <RFrame_Component>();
componentRep.centerVertex = centerVertex;
componentRep.forwardVertex = forwardVertex;
componentRep.upVertex = upVertex;
GameObject meshObject = Instantiate(Resources.Load <GameObject>(meshName), compRepObj.transform);
meshObject.transform.localPosition = new Vector3(xTran, yTran, zTran);
meshObject.transform.localRotation = Quaternion.Euler(xRot, yRot, zRot);
}
else if (objLine.StartsWith("balpos"))
{
// Balance position behaviour module building here
string[] splits = objLine.Split(' ');
int vertexAttachIndex = int.Parse(splits[1]);
float reduceRatio = float.Parse(splits[2]);
GameObject balPolObj = Instantiate(BalancePositionInstantiator, this.transform);
BMod_BalancePosition balPosMod = balPolObj.GetComponent <BMod_BalancePosition>();
balPosMod.restrictionAreaShrinkRatio = reduceRatio;
balPosMod.controlVertex = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
//balPosMod.controlVertex.lockedInPlace = true;
balPosBuild.Add(balPolObj);
}
else if (objLine.StartsWith("dishol"))
{
// Distance holder behaviour module building here
string[] splits = objLine.Split(' ');
int balPosIndex = int.Parse(splits[1]);
int vertexAttachIndex = int.Parse(splits[2]);
float distanceToHold = float.Parse(splits[3]);
int typeOfDisHol = int.Parse(splits[4]);
GameObject disHolObj = Instantiate(DistanceHolderInstantiator, balPosBuild[balPosIndex].transform);
BMod_DistanceHolder disHolMod = disHolObj.GetComponent <BMod_DistanceHolder>();
disHolMod.vertexPoint = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
// Experimenting with not locking the vertex in place.
// Need to make sure frame doesn't move out of place.
disHolMod.vertexPoint.lockedInPlace = true;
disHolMod.distanceToHold = distanceToHold;
switch (typeOfDisHol)
{
case 0: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.groundDistance; break;
case 1: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.allRoundDistance; break;
default: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.groundDistance; break;
}
disHolBuild.Add(disHolObj);
}
else if (objLine.StartsWith("ancpoi"))
{
// Anchor Point behaviour module building here
string[] splits = objLine.Split(' ');
int disHolIndex = int.Parse(splits[1]);
int vertexAttachIndex = int.Parse(splits[2]);
int priorityValue = int.Parse(splits[3]);
int typeOfAnchor = int.Parse(splits[4]);
GameObject anchorObj = Instantiate(AnchorPointInstantiator, disHolBuild[disHolIndex].transform);
BMod_AnchorPoint anchorMod = anchorObj.GetComponent <BMod_AnchorPoint>();
anchorMod.anchorVertex = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
anchorMod.anchorVertex.lockedInPlace = true;
anchorMod.priorityIndex = priorityValue;
switch (typeOfAnchor)
{
case 0: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.primaryAnchor; break;
case 1: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.secondaryAnchor; break;
case 2: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.tertiaryAnchor; break;
default: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.primaryAnchor; break;
}
ancPoiBuild.Add(anchorObj);
}
}
// Set the parents of the objects instatiated to this object and
// call the function for calculating all the distances between
// struts.
if (verticesBuild.Count != 0 && strutBuild.Count != 0)
{
// Apply the created vertices and struts to this object.
// Set the parent of the vertices and struts to the transform of this frame object.
// foreach (GameObject vertex in verticesBuild) {
// vertex.transform.SetParent(this.transform);
// }
// foreach (GameObject strut in strutBuild) {
// strut.transform.SetParent(this.transform);
// }
allVertices = verticesBuild;
struts = strutBuild;
angleLinks = angleViewBuild;
compReps = compRepBuild;
this.calculateDistancesThenOrientate();
// Get the initial measured angles for each angle link.
foreach (GameObject angleLinkObj in angleViewBuild)
{
angleLinkObj.GetComponent <RFrame_AngleLink>().measureAngle(true);
}
//frame.gatherBounds();
}
}
