Added basic robot arm controls

Added conveyor piston Fixed conveyor friction
2021-06-12 19:19:34 +02:00
parent c5c02b97c5
commit 80178a0120
32 changed files with 2010 additions and 164 deletions
--- a/Assets/DirectionPaddle.cs
+++ b/Assets/DirectionPaddle.cs
@@ -4,6 +4,8 @@ using UnityEngine;

 public class DirectionPaddle : MonoBehaviour
 {
+
+    public GameObject piston;
    public void Switch()
    {
        gameObject.SetActive(!gameObject.activeSelf);
@@ -14,5 +16,7 @@ public class DirectionPaddle : MonoBehaviour
        this.GetComponent<Collider>().enabled = !this.GetComponent<Collider>().enabled;
        this.GetComponent<MeshRenderer>().enabled = !this.GetComponent<MeshRenderer>().enabled;

+        piston.SetActive(!piston.activeSelf);
+
    }
 }
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--- a/Assets/Models/Mainzkraut.unity
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--- a/Materials.meta
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--- a/Materials/Convo.physicMaterial
+++ b/Materials/Convo.physicMaterial
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+%TAG !u! tag:unity3d.com,2011:
+--- !u!134 &13400000
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+  m_Name: Convo
+  dynamicFriction: 0.1
+  staticFriction: 0.1
+  bounciness: 1
+  frictionCombine: 0
+  bounceCombine: 0
--- a/Materials/Convo.physicMaterial.meta
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--- a/Assets/Scripts/Items/Conveyer.cs
+++ b/Assets/Scripts/Items/Conveyer.cs
@@ -1,29 +1,29 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class Conveyer : MonoBehaviour
-{
-    public int conveyerSpeed = 0;
-    public int direction = 1;
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        
-    }
-
-    private void OnCollisionStay(Collision collision)
-    {
-        // Debug-draw all contact points and normals
-        foreach (ContactPoint contact in collision.contacts)
-        {
-            //Debug.Log(string.Format("Current Collider: {0} Position {1}", contact.otherCollider.name, contact.otherCollider.transform.position.magnitude));
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Conveyer : MonoBehaviour
+{
+    public int conveyerSpeed = 0;
+    public int direction = 1;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    private void OnCollisionStay(Collision collision)
+    {
+        // Debug-draw all contact points and normals
+        foreach (ContactPoint contact in collision.contacts)
+        {
+            //Debug.Log(string.Format("Current Collider: {0} Position {1}", contact.otherCollider.name, contact.otherCollider.transform.position.magnitude));
            if(contact.otherCollider.GetComponent<Rigidbody>().velocity.magnitude < conveyerSpeed)
            {
-                contact.otherCollider.GetComponent<Rigidbody>().AddForce(transform.forward * (conveyerSpeed * direction), ForceMode.Acceleration);
+                contact.otherCollider.GetComponent<Rigidbody>().AddForce(transform.forward * (conveyerSpeed * direction), ForceMode.Acceleration);

-            }
-        }
-    }
-}
+            }
+        }
+    }
+}
--- a/Assets/Scripts/Robot
+++ b/Assets/Scripts/Robot
@@ -0,0 +1,8 @@
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--- a/Assets/Scripts/Robot
+++ b/Assets/Scripts/Robot
@@ -0,0 +1,250 @@
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+using UnityEngine;
+
+namespace DitzelGames.FastIK
+{
+    /// <summary>
+    /// Fabrik IK Solver
+    /// </summary>
+    public class FastIKFabric : MonoBehaviour
+    {
+        /// <summary>
+        /// Chain length of bones
+        /// </summary>
+        public int ChainLength = 2;
+
+        /// <summary>
+        /// Target the chain should bent to
+        /// </summary>
+        public Transform Target;
+        public Transform Pole;
+
+        /// <summary>
+        /// Solver iterations per update
+        /// </summary>
+        [Header("Solver Parameters")]
+        public int Iterations = 10;
+
+        /// <summary>
+        /// Distance when the solver stops
+        /// </summary>
+        public float Delta = 0.001f;
+
+        /// <summary>
+        /// Strength of going back to the start position.
+        /// </summary>
+        [Range(0, 1)]
+        public float SnapBackStrength = 1f;
+
+
+        protected float[] BonesLength; //Target to Origin
+        protected float CompleteLength;
+        protected Transform[] Bones;
+        protected Vector3[] Positions;
+        protected Vector3[] StartDirectionSucc;
+        protected Quaternion[] StartRotationBone;
+        protected Quaternion StartRotationTarget;
+        protected Transform Root;
+
+
+        // Start is called before the first frame update
+        void Awake()
+        {
+            Init();
+        }
+
+        void Init()
+        {
+            //initial array
+            Bones = new Transform[ChainLength + 1];
+            Positions = new Vector3[ChainLength + 1];
+            BonesLength = new float[ChainLength];
+            StartDirectionSucc = new Vector3[ChainLength + 1];
+            StartRotationBone = new Quaternion[ChainLength + 1];
+
+            //find root
+            Root = transform;
+            for (var i = 0; i <= ChainLength; i++)
+            {
+                if (Root == null)
+                    throw new UnityException("The chain value is longer than the ancestor chain!");
+                Root = Root.parent;
+            }
+
+            //init target
+            if (Target == null)
+            {
+                Target = new GameObject(gameObject.name + " Target").transform;
+                SetPositionRootSpace(Target, GetPositionRootSpace(transform));
+            }
+            StartRotationTarget = GetRotationRootSpace(Target);
+
+
+            //init data
+            var current = transform;
+            CompleteLength = 0;
+            for (var i = Bones.Length - 1; i >= 0; i--)
+            {
+                Bones[i] = current;
+                StartRotationBone[i] = GetRotationRootSpace(current);
+
+                if (i == Bones.Length - 1)
+                {
+                    //leaf
+                    StartDirectionSucc[i] = GetPositionRootSpace(Target) - GetPositionRootSpace(current);
+                }
+                else
+                {
+                    //mid bone
+                    StartDirectionSucc[i] = GetPositionRootSpace(Bones[i + 1]) - GetPositionRootSpace(current);
+                    BonesLength[i] = StartDirectionSucc[i].magnitude;
+                    CompleteLength += BonesLength[i];
+                }
+
+                current = current.parent;
+            }
+
+
+
+        }
+
+        // Update is called once per frame
+        void LateUpdate()
+        {
+            ResolveIK();
+        }
+
+        private void ResolveIK()
+        {
+            if (Target == null)
+                return;
+
+            if (BonesLength.Length != ChainLength)
+                Init();
+
+            //Fabric
+
+            //  root
+            //  (bone0) (bonelen 0) (bone1) (bonelen 1) (bone2)...
+            //   x--------------------x--------------------x---...
+
+            //get position
+            for (int i = 0; i < Bones.Length; i++)
+                Positions[i] = GetPositionRootSpace(Bones[i]);
+
+            var targetPosition = GetPositionRootSpace(Target);
+            var targetRotation = GetRotationRootSpace(Target);
+
+            //1st is possible to reach?
+            if ((targetPosition - GetPositionRootSpace(Bones[0])).sqrMagnitude >= CompleteLength * CompleteLength)
+            {
+                //just strech it
+                var direction = (targetPosition - Positions[0]).normalized;
+                //set everything after root
+                for (int i = 1; i < Positions.Length; i++)
+                    Positions[i] = Positions[i - 1] + direction * BonesLength[i - 1];
+            }
+            else
+            {
+                for (int i = 0; i < Positions.Length - 1; i++)
+                    Positions[i + 1] = Vector3.Lerp(Positions[i + 1], Positions[i] + StartDirectionSucc[i], SnapBackStrength);
+
+                for (int iteration = 0; iteration < Iterations; iteration++)
+                {
+                    //https://www.youtube.com/watch?v=UNoX65PRehA
+                    //back
+                    for (int i = Positions.Length - 1; i > 0; i--)
+                    {
+                        if (i == Positions.Length - 1)
+                            Positions[i] = targetPosition; //set it to target
+                        else
+                            Positions[i] = Positions[i + 1] + (Positions[i] - Positions[i + 1]).normalized * BonesLength[i]; //set in line on distance
+                    }
+
+                    //forward
+                    for (int i = 1; i < Positions.Length; i++)
+                        Positions[i] = Positions[i - 1] + (Positions[i] - Positions[i - 1]).normalized * BonesLength[i - 1];
+
+                    //close enough?
+                    if ((Positions[Positions.Length - 1] - targetPosition).sqrMagnitude < Delta * Delta)
+                        break;
+                }
+            }
+
+            //move towards pole
+            if (Pole != null)
+            {
+                var polePosition = GetPositionRootSpace(Pole);
+                for (int i = 1; i < Positions.Length - 1; i++)
+                {
+                    var plane = new Plane(Positions[i + 1] - Positions[i - 1], Positions[i - 1]);
+                    var projectedPole = plane.ClosestPointOnPlane(polePosition);
+                    var projectedBone = plane.ClosestPointOnPlane(Positions[i]);
+                    var angle = Vector3.SignedAngle(projectedBone - Positions[i - 1], projectedPole - Positions[i - 1], plane.normal);
+                    Positions[i] = Quaternion.AngleAxis(angle, plane.normal) * (Positions[i] - Positions[i - 1]) + Positions[i - 1];
+                }
+            }
+
+            //set position & rotation
+            for (int i = 0; i < Positions.Length; i++)
+            {
+                if (i == Positions.Length - 1)
+                    SetRotationRootSpace(Bones[i], Quaternion.Inverse(targetRotation) * StartRotationTarget * Quaternion.Inverse(StartRotationBone[i]));
+                else
+                    SetRotationRootSpace(Bones[i], Quaternion.FromToRotation(StartDirectionSucc[i], Positions[i + 1] - Positions[i]) * Quaternion.Inverse(StartRotationBone[i]));
+                SetPositionRootSpace(Bones[i], Positions[i]);
+            }
+        }
+
+        private Vector3 GetPositionRootSpace(Transform current)
+        {
+            if (Root == null)
+                return current.position;
+            else
+                return Quaternion.Inverse(Root.rotation) * (current.position - Root.position);
+        }
+
+        private void SetPositionRootSpace(Transform current, Vector3 position)
+        {
+            if (Root == null)
+                current.position = position;
+            else
+                current.position = Root.rotation * position + Root.position;
+        }
+
+        private Quaternion GetRotationRootSpace(Transform current)
+        {
+            //inverse(after) * before => rot: before -> after
+            if (Root == null)
+                return current.rotation;
+            else
+                return Quaternion.Inverse(current.rotation) * Root.rotation;
+        }
+
+        private void SetRotationRootSpace(Transform current, Quaternion rotation)
+        {
+            if (Root == null)
+                current.rotation = rotation;
+            else
+                current.rotation = Root.rotation * rotation;
+        }
+
+        void OnDrawGizmos()
+        {
+#if UNITY_EDITOR
+            var current = this.transform;
+            for (int i = 0; i < ChainLength && current != null && current.parent != null; i++)
+            {
+                var scale = Vector3.Distance(current.position, current.parent.position) * 0.1f;
+                Handles.matrix = Matrix4x4.TRS(current.position, Quaternion.FromToRotation(Vector3.up, current.parent.position - current.position), new Vector3(scale, Vector3.Distance(current.parent.position, current.position), scale));
+                Handles.color = Color.green;
+                Handles.DrawWireCube(Vector3.up * 0.5f, Vector3.one);
+                current = current.parent;
+            }
+#endif
+        }
+
+    }
+}
--- a/Arm/FastIKFabric.cs.meta
+++ b/Arm/FastIKFabric.cs.meta
@@ -0,0 +1,11 @@
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--- a/Arm/RobotArmController.cs
+++ b/Arm/RobotArmController.cs
@@ -0,0 +1,76 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.InputSystem;
+
+public class RobotArmController : MonoBehaviour
+{
+
+    public GameObject target;
+    public float armSpeed = 1;
+    public float armRotationSpeed = 10;
+    public Vector3 targetConstraints;
+    public GameObject targetMarker;
+
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    private void Update()
+    {
+        targetMarker.transform.position = new Vector3(target.transform.position.x, transform.position.y + .5f, target.transform.position.z);
+    }
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+
+        //Hoch/Runter
+        if (Keyboard.current.ctrlKey.isPressed && target.transform.position.y > transform.position.y)
+        {
+            target.transform.localPosition += Vector3.down * Time.deltaTime * armSpeed;
+        }
+
+        if (Keyboard.current.shiftKey.isPressed && target.transform.localPosition.y < targetConstraints.y)
+        {
+            target.transform.localPosition += Vector3.up * Time.deltaTime * armSpeed;
+        }
+
+        //Debug.Log(-targetConstraints.z);
+        //Left/Right
+        if (Keyboard.current.aKey.isPressed && target.transform.localPosition.z > -targetConstraints.z)
+        {
+            target.transform.localPosition += Vector3.back * Time.deltaTime * armSpeed;
+        }
+
+        if (Keyboard.current.dKey.isPressed && target.transform.localPosition.z < targetConstraints.z)
+        {
+            target.transform.localPosition += Vector3.forward * Time.deltaTime * armSpeed;
+        }
+
+        //Left/Right
+        if (Keyboard.current.qKey.isPressed)
+        {
+            transform.Rotate(0.0f, armRotationSpeed * Time.deltaTime, 0.0f, Space.Self);
+        }   
+
+        if (Keyboard.current.eKey.isPressed)
+        {
+            transform.Rotate(0.0f, -armRotationSpeed * Time.deltaTime, 0.0f, Space.Self);
+        }
+
+        //Forwards/Backwards
+        if (Keyboard.current.wKey.isPressed && target.transform.localPosition.x > -targetConstraints.x)
+        {
+            target.transform.localPosition += Vector3.left * Time.deltaTime * armSpeed;
+        }
+
+        if (Keyboard.current.sKey.isPressed && target.transform.localPosition.x < -3.5f)
+        {
+            target.transform.localPosition += Vector3.right * Time.deltaTime * armSpeed;
+        }
+    }
+}
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