protected void Awake()
{
this.collisionEffect = (GameObject)Resources.Load(SIGVerseUtils.CollisionEffectPath);
this.exclusionColliderList = new List <Collider>();
foreach (string exclusionColliderTag in exclusionColliderTags)
{
List <GameObject> exclusionColliderObjects = GameObject.FindGameObjectsWithTag(exclusionColliderTag).ToList <GameObject>();
foreach (GameObject exclusionColliderObject in exclusionColliderObjects)
{
List <Collider> colliders = exclusionColliderObject.GetComponentsInChildren <Collider>().ToList <Collider>();
this.exclusionColliderList.AddRange(colliders);
}
}
this.colliders = this.GetComponentsInChildren <Collider>();
this.colliderVelocities = new float[this.colliders.Length];
this.prePoss = new Vector3[this.colliders.Length];
this.collisionAudioSource = this.transform.root.gameObject.GetComponent <AudioSource>();
this.collisionClip = (AudioClip)Resources.Load(SIGVerseUtils.CollisionAudioClip2Path);
SIGVerseLogger.Info("CollisionDetector collider count=" + this.colliders.Length);
}
private void ExecCollisionProcess(Collision collision)
{
float collisionVelocity = this.colliderVelocities[Array.IndexOf(this.colliders, collision.contacts[0].thisCollider)];
SIGVerseLogger.Info("CollisionDetector Collision Detection! Time=" + Time.time + ", Collision Velocity=" + collisionVelocity +
", Part=" + collision.contacts[0].thisCollider.name + ", Collided object=" + SIGVerseUtils.GetHierarchyPath(collision.collider.transform));
// Effect
GameObject effect = MonoBehaviour.Instantiate(this.collisionEffect);
Vector3 contactPoint = SIGVerseUtils.CalcContactAveragePoint(collision);
effect.transform.position = contactPoint;
effect.transform.localScale = new Vector3(0.5f, 0.5f, 0.5f);
Destroy(effect, 1.0f);
// Sound
this.collisionAudioSource.PlayOneShot(this.collisionClip);
// Send the collision notification
foreach (GameObject destination in this.collisionNotificationDestinations)
{
ExecuteEvents.Execute <IRobotCollisionHandler>
(
target: destination,
eventData: null,
functor: (reciever, eventData) => reciever.OnRobotCollisionEnter(collision, collisionVelocity, 0.5f)
);
}
this.collidedTime = Time.time;
}
private void StartRecording()
{
// DateTime dateTime = DateTime.Now;
//this.outputFilePath = outputFolderPath.TrimEnd(' ', '\\') + "\\Motions_" + dateTime.ToString("yyyyMMddHHmmsss") + ".dat";
this.outputFilePath = outputFolderPath.text.TrimEnd(' ', '\\') + "\\Motions.dat";
SIGVerseLogger.Info("StartRecording outputFilePath=" + this.outputFilePath);
// File open
this.swMotionsDataWriter = new StreamWriter(this.outputFilePath, false);
this.targetTransformInstances = new List <Transform>();
// Write header line and get transform instances
string definitionLine = string.Empty;
definitionLine += "0.0," + DataType1Motion + "," + DataType2MotionDefinition; // Elapsed time is dummy.
foreach (GameObject targetObj in targetObjects)
{
foreach (Transform transform in targetObj.transform.GetComponentsInChildren <Transform>())
{
// Save Transform instance list
this.targetTransformInstances.Add(transform);
// Make a header line
definitionLine += "\t" + GetLinkPath(transform);
}
}
this.swMotionsDataWriter.WriteLine(definitionLine);
this.savedMotionStrings = new List <string>();
// Change Buttons
this.recordButtonText.text = ButtonTextStop;
this.playButton.interactable = false;
// Reset elapsed time
this.elapsedTime = 0.0f;
this.previousRecordedTime = 0.0f;
this.isRecording = true;
}
protected virtual void Grasp(Rigidbody collidedRigidbody)
{
this.savedParentObj = collidedRigidbody.gameObject.transform.parent;
collidedRigidbody.gameObject.transform.parent = this.handPalm.transform;
collidedRigidbody.useGravity = false;
// collidedRigidbody.isKinematic = true;
collidedRigidbody.constraints = RigidbodyConstraints.FreezeAll;
collidedRigidbody.gameObject.AddComponent <GraspedObjectFixer>();
this.graspedRigidbody = collidedRigidbody;
this.SendGraspedObjectInfo(this.graspedRigidbody.gameObject);
SIGVerseLogger.Info("Grasped: " + this.graspedRigidbody.gameObject.name);
this.latestReleaseTime = 0.0f;
}
private static void Init()
{
if (GameObject.FindObjectOfType <SIGVerseMenu>() != null)
{
return;
}
;
if (!ConfigManager.Instance.configInfo.useSigverseMenu)
{
return;
}
GameObject sigverseMenuObjPrefab = (GameObject)Resources.Load(SIGVerseCommon.SIGVerseMenuResourcePath);
GameObject sigverseMenuObj = Instantiate(sigverseMenuObjPrefab);
sigverseMenuObj.name = SIGVerseMenuName;
SIGVerseLogger.Info("SIGVerseMenu Start");
}
protected virtual void Release()
{
this.graspedRigidbody.transform.parent = this.savedParentObj;
this.graspedRigidbody.useGravity = true;
// this.graspedRigidbody.isKinematic = false;
GraspedObjectFixer graspedObjectFixer = this.graspedRigidbody.gameObject.GetComponent <GraspedObjectFixer>();
graspedObjectFixer.enabled = false;
Destroy(graspedObjectFixer);
this.graspedRigidbody.constraints = RigidbodyConstraints.None;
this.graspedRigidbody = null;
this.savedParentObj = null;
this.SendGraspedObjectInfo(null);
SIGVerseLogger.Info("Released the object");
this.latestReleaseTime = Time.time;
}
private void StartPlaying()
{
if (!File.Exists(inputFilePath.text))
{
SIGVerseLogger.Info("Input File NOT found.");
return;
}
// File open
StreamReader srMotionsDataReader = new StreamReader(inputFilePath.text);
this.timeSeriesMotionsQue = new Queue <TimeSeriesMotionsData>();
List <Transform> transformOrder = new List <Transform>();
while (srMotionsDataReader.Peek() >= 0)
{
string lineStr = srMotionsDataReader.ReadLine();
string[] columnArray = lineStr.Split(new char[] { '\t' }, 2);
if (columnArray.Length < 2)
{
continue;
}
string headerStr = columnArray[0];
string dataStr = columnArray[1];
string[] headerArray = headerStr.Split(',');
// Motion data
if (headerArray[1] == DataType1Motion)
{
string[] dataArray = dataStr.Split('\t');
// Definition
if (headerArray[2] == DataType2MotionDefinition)
{
transformOrder.Clear();
Debug.Log("data num=" + dataArray.Length);
foreach (string transformPath in dataArray)
{
transformOrder.Add(GameObject.Find(transformPath).transform);
}
}
// Value
else if (headerArray[2] == DataType2MotionValue)
{
if (transformOrder.Count == 0)
{
continue;
}
TimeSeriesMotionsData timeSeriesMotionsData = new TimeSeriesMotionsData();
timeSeriesMotionsData.ElapsedTime = float.Parse(headerArray[0]);
for (int i = 0; i < dataArray.Length; i++)
{
string[] transformValues = dataArray[i].Split(',');
GameObjUpdateData transform = new GameObjUpdateData();
transform.SetUpdatingTargetTransform(transformOrder[i]);
transform.SetPostion(new Vector3(float.Parse(transformValues[0]), float.Parse(transformValues[1]), float.Parse(transformValues[2])));
transform.SetRotation(new Vector3(float.Parse(transformValues[3]), float.Parse(transformValues[4]), float.Parse(transformValues[5])));
if (transformValues.Length == 6)
{
transform.SetScale(Vector3.one);
}
else if (transformValues.Length == 9)
{
transform.SetScale(new Vector3(float.Parse(transformValues[6]), float.Parse(transformValues[7]), float.Parse(transformValues[8])));
}
timeSeriesMotionsData.AddGameObjUpdateData(transform);
}
this.timeSeriesMotionsQue.Enqueue(timeSeriesMotionsData);
}
}
}
srMotionsDataReader.Close();
// Change Buttons
this.playButtonText.text = ButtonTextStop;
this.recordButton.interactable = false;
// Disable Animator
foreach (GameObject targetObj in targetObjects)
{
// Disable only one animator component
targetObj.transform.GetComponent <Animator>().enabled = false;
}
// Reset elapsed time
this.elapsedTime = 0.0f;
this.previousRecordedTime = 0.0f;
this.isPlaying = true;
}
