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Sarah Wolf
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using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public enum GripState { Fixed = 0, Opening = -1, Closing = 1 };
|
||||
|
||||
public class ArticulationFingerController : MonoBehaviour
|
||||
{
|
||||
public GameObject fingerA;
|
||||
public GameObject fingerB;
|
||||
|
||||
// Grip - the extent to which the pincher is closed. 0: fully open, 1: fully closed.
|
||||
public float grip;
|
||||
public float gripSpeed = 3.0f;
|
||||
public GripState gripState = GripState.Fixed;
|
||||
|
||||
Vector3 fingerAOpenPosition;
|
||||
Vector3 fingerBOpenPosition;
|
||||
|
||||
public float fingerAClosedZ;
|
||||
public float fingerBClosedZ;
|
||||
|
||||
|
||||
void Start()
|
||||
{
|
||||
fingerAOpenPosition = fingerA.transform.localPosition;
|
||||
fingerBOpenPosition = fingerB.transform.localPosition;
|
||||
}
|
||||
|
||||
void FixedUpdate()
|
||||
{
|
||||
UpdateGrip();
|
||||
UpdateFingersForGrip();
|
||||
}
|
||||
|
||||
|
||||
// READ
|
||||
|
||||
public float CurrentGrip()
|
||||
{
|
||||
// TODO - we can't really assume the fingers agree, need to think about that
|
||||
float fingerAGrip = Mathf.InverseLerp(fingerAOpenPosition.z, fingerAClosedZ, fingerA.transform.localPosition.z);
|
||||
float fingerBGrip = Mathf.InverseLerp(fingerBOpenPosition.z, fingerBClosedZ, fingerB.transform.localPosition.z);
|
||||
float meanGrip = (fingerAGrip + fingerBGrip) / 2.0f;
|
||||
return meanGrip;
|
||||
}
|
||||
|
||||
public Vector3 CurrentGraspCenter()
|
||||
{
|
||||
/* Gets the point directly between the middle of the pincher fingers,
|
||||
* in the global coordinate system.
|
||||
*/
|
||||
Vector3 localCenterPoint = (fingerAOpenPosition + fingerBOpenPosition) / 2.0f;
|
||||
Vector3 globalCenterPoint = transform.TransformPoint(localCenterPoint);
|
||||
return globalCenterPoint;
|
||||
}
|
||||
|
||||
|
||||
// CONTROL
|
||||
|
||||
public void ResetGripToOpen()
|
||||
{
|
||||
grip = 0.0f;
|
||||
UpdateFingersForGrip();
|
||||
fingerA.transform.localPosition = fingerAOpenPosition;
|
||||
fingerB.transform.localPosition = fingerBOpenPosition;
|
||||
|
||||
gripState = GripState.Fixed;
|
||||
}
|
||||
|
||||
// GRIP HELPERS
|
||||
|
||||
void UpdateGrip()
|
||||
{
|
||||
if (gripState != GripState.Fixed)
|
||||
{
|
||||
float gripChange = (float)gripState * gripSpeed * Time.fixedDeltaTime;
|
||||
float gripGoal = CurrentGrip() + gripChange;
|
||||
grip = Mathf.Clamp01(gripGoal);
|
||||
|
||||
//Debug.Log(CurrentGrip());
|
||||
}
|
||||
}
|
||||
|
||||
void UpdateFingersForGrip()
|
||||
{
|
||||
// fingerA
|
||||
float zPositionA = Mathf.Lerp(fingerAOpenPosition.z, fingerAClosedZ, grip);
|
||||
MoveFinger(fingerA, fingerAOpenPosition.z, zPositionA);
|
||||
|
||||
//fingerB
|
||||
float zPositionB = Mathf.Lerp(fingerBOpenPosition.z, fingerBClosedZ, grip);
|
||||
MoveFinger(fingerB, fingerBOpenPosition.z, zPositionB);
|
||||
}
|
||||
|
||||
void MoveFinger(GameObject finger, float fingerLocalOpenZ, float toLocalZ)
|
||||
{
|
||||
ArticulationBody articulation = finger.GetComponent<ArticulationBody>();
|
||||
float targetZ = (toLocalZ - fingerLocalOpenZ) * transform.localScale.z;
|
||||
|
||||
var drive = articulation.zDrive;
|
||||
drive.target = targetZ;
|
||||
articulation.zDrive = drive;
|
||||
|
||||
}
|
||||
|
||||
|
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|
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|
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}
|
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|
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userData:
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|
@ -0,0 +1,34 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class ArticulationHandManualInput : MonoBehaviour
|
||||
{
|
||||
public GameObject hand;
|
||||
|
||||
void Update()
|
||||
{
|
||||
// manual input
|
||||
float input = Input.GetAxis("Fingers");
|
||||
ArticulationFingerController fingerController = hand.GetComponent<ArticulationFingerController>();
|
||||
fingerController.gripState = GripStateForInput(input);
|
||||
}
|
||||
|
||||
// INPUT HELPERS
|
||||
|
||||
static GripState GripStateForInput(float input)
|
||||
{
|
||||
if (input > 0)
|
||||
{
|
||||
return GripState.Closing;
|
||||
}
|
||||
else if (input < 0)
|
||||
{
|
||||
return GripState.Opening;
|
||||
}
|
||||
else
|
||||
{
|
||||
return GripState.Fixed;
|
||||
}
|
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}
|
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}
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userData:
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@ -0,0 +1,56 @@
|
|||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public enum RotationDirection { None = 0, Positive = 1, Negative = -1 };
|
||||
|
||||
public class ArticulationJointController : MonoBehaviour
|
||||
{
|
||||
public RotationDirection rotationState = RotationDirection.None;
|
||||
public float speed = 300.0f;
|
||||
|
||||
private ArticulationBody articulation;
|
||||
|
||||
|
||||
// LIFE CYCLE
|
||||
|
||||
void Start()
|
||||
{
|
||||
articulation = GetComponent<ArticulationBody>();
|
||||
}
|
||||
|
||||
void FixedUpdate()
|
||||
{
|
||||
if (rotationState != RotationDirection.None) {
|
||||
float rotationChange = (float)rotationState * speed * Time.fixedDeltaTime;
|
||||
float rotationGoal = CurrentPrimaryAxisRotation() + rotationChange;
|
||||
RotateTo(rotationGoal);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
// MOVEMENT HELPERS
|
||||
|
||||
float CurrentPrimaryAxisRotation()
|
||||
{
|
||||
/*
|
||||
TODO:
|
||||
For better stability, this should read off the *actual* rotation in terms of the xDrive angles (not just the current target).
|
||||
We need an easy way to read this (not the same as the transform, although you could convert from the transform if you wanted).
|
||||
*/
|
||||
return articulation.xDrive.target;
|
||||
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|
||||
|
||||
void RotateTo(float primaryAxisRotation)
|
||||
{
|
||||
var drive = articulation.xDrive;
|
||||
drive.target = primaryAxisRotation;
|
||||
articulation.xDrive = drive;
|
||||
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|
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using System.Collections;
|
||||
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|
||||
using UnityEngine;
|
||||
|
||||
|
||||
public class RobotController : MonoBehaviour
|
||||
{
|
||||
[System.Serializable]
|
||||
public struct Joint
|
||||
{
|
||||
public string inputAxis;
|
||||
public GameObject robotPart;
|
||||
}
|
||||
public Joint[] joints;
|
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||||
|
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|
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|
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|
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{
|
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|
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{
|
||||
GameObject robotPart = joints[i].robotPart;
|
||||
UpdateRotationState(RotationDirection.None, robotPart);
|
||||
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|
||||
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|
||||
|
||||
public void RotateJoint(int jointIndex, RotationDirection direction)
|
||||
{
|
||||
StopAllJointRotations();
|
||||
Joint joint = joints[jointIndex];
|
||||
UpdateRotationState(direction, joint.robotPart);
|
||||
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|
||||
|
||||
// HELPERS
|
||||
|
||||
static void UpdateRotationState(RotationDirection direction, GameObject robotPart)
|
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{
|
||||
ArticulationJointController jointController = robotPart.GetComponent<ArticulationJointController>();
|
||||
jointController.rotationState = direction;
|
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|
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|
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using UnityEngine;
|
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public class RobotManualInput : MonoBehaviour
|
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{
|
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public GameObject robot;
|
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void Update()
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|
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if (Mathf.Abs(inputVal) > 0)
|
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{
|
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|
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robotController.RotateJoint(i, direction);
|
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return;
|
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|
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|
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robotController.StopAllJointRotations();
|
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|
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|
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// HELPERS
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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# Articulations Demo Robot
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Open the `ArmRobot` folder in Unity.
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### Manual Controls
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```
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A/D - rotate base joint
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S/W - rotate shoulder joint
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Z - open pincher
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```
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