diff --git a/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRHead.cs b/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRHead.cs index 84b224e..e2d50f7 100644 --- a/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRHead.cs +++ b/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRHead.cs @@ -58,7 +58,6 @@ namespace Passer.Humanoid { public override void Start(HumanoidControl _humanoid, Transform targetTransform) { base.Start(_humanoid, targetTransform); - Debug.Log("start unityxr head"); tracker = headTarget.humanoid.unityXR; if (tracker == null || !tracker.enabled || !enabled) return; diff --git a/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRTracker.cs b/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRTracker.cs index fbc27c0..a0761e1 100644 --- a/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRTracker.cs +++ b/Runtime/HumanoidFree/Scripts/Extensions/UnityXR/UnityXRTracker.cs @@ -140,7 +140,6 @@ namespace Passer.Humanoid { public override void StartTracker(HumanoidControl humanoid) { this.humanoid = humanoid; - Debug.Log("start unityXR"); UnityXRDevice.Start(); diff --git a/Runtime/HumanoidFree/Scripts/HumanoidControl.cs b/Runtime/HumanoidFree/Scripts/HumanoidControl.cs index 5de0025..0a28488 100644 --- a/Runtime/HumanoidFree/Scripts/HumanoidControl.cs +++ b/Runtime/HumanoidFree/Scripts/HumanoidControl.cs @@ -1732,13 +1732,13 @@ namespace Passer.Humanoid { // Don't rotate when you're close to the target position if (distance > 0.2F) transform.LookAt(targetPosition); + transform.rotation = Quaternion.AngleAxis(transform.eulerAngles.y, Vector3.up); if (distance > 0.5F) // make dependent on maxAcceleration? MoveForward(1); else { float f = 1 - (distance / 0.5F); Vector3 worldVector = (targetPosition - transform.position).normalized * (1 - (f * f * f)); - //Debug.Log("M " + worldVector.magnitude); //if (worldVector.magnitude < 0.15F) // worldVector = worldVector.normalized * 0.15F; // * Time.fixedDeltaTime ; MoveWorldVector(worldVector); @@ -1746,7 +1746,6 @@ namespace Passer.Humanoid { Vector3 direction = targetPosition - transform.position; direction.y = 0; distance = direction.magnitude; - //yield return new WaitForEndOfFrame(); yield return new WaitForSeconds(0.01F); } while (distance > 0.01F); Stop(); diff --git a/Samples~/Demo/Environments/ObjectTable.prefab b/Samples~/Demo/Environments/ObjectTable.prefab deleted file mode 100644 index b9831fa..0000000 --- a/Samples~/Demo/Environments/ObjectTable.prefab +++ /dev/null @@ -1,5088 +0,0 @@ -%YAML 1.1 -%TAG !u! tag:unity3d.com,2011: ---- !u!1 &5393387224788114952 -GameObject: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - 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basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - nose: - top: - name: - boneId: 0 - target: - length: 0 - transform: {fileID: 2034846473} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - maxAngles: {x: 0, y: 0, z: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - tip: - name: - boneId: 0 - target: - length: 0 - transform: {fileID: 738373374} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - 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boneId: 0 - target: - length: 0 - transform: {fileID: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - maxAngles: {x: 0, y: 0, z: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - upperLipRight: - name: - boneId: 0 - target: - length: 0 - transform: {fileID: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - maxAngles: {x: 0, y: 0, z: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - lipLeft: - name: - boneId: 0 - target: - length: 0 - transform: {fileID: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - maxAngles: {x: 0, y: 0, z: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - lipRight: - name: - boneId: 0 - target: - length: 0 - transform: {fileID: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - 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toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - maxAngles: {x: 0, y: 0, z: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - lowerLipRight: - name: - boneId: 0 - target: - length: 0 - transform: {fileID: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toBoneRotation: {x: 0, y: 0, z: 0, w: 1} - bone: - transform: {fileID: 0} - length: 0.02 - jointLimitations: 0 - maxAngle: 0 - minAngles: {x: 0, y: 0, z: 0} - maxAngles: {x: 0, y: 0, z: 0} - baseRotation: {x: 0, y: 0, z: 0, w: 1} - basePosition: {x: 0, y: 0, z: 0} - toTargetRotation: {x: 0, y: 0, z: 0, w: 0} - rotationVelocity: {x: 0, y: 0, z: 0, w: 0} - velocity: {x: 0, y: 0, z: 0} - startPosition: {x: 0, y: 0, z: 0} - 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if (translationZ) - position = startPosition + new Vector3(0, 0, value); - - rb.MovePosition(position); - } -} diff --git a/Samples~/Demo/Scripts/KinematicMovements.cs.meta b/Samples~/Demo/Scripts/KinematicMovements.cs.meta deleted file mode 100644 index e3e2eee..0000000 --- a/Samples~/Demo/Scripts/KinematicMovements.cs.meta +++ /dev/null @@ -1,12 +0,0 @@ -fileFormatVersion: 2 -guid: a478226c2a904dd40bfe5d50d2789fb8 -timeCreated: 1555080135 -licenseType: Free -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Tests/Runtime/Grabbing/GrabbingHumanoidTest.cs b/Tests/Runtime/Grabbing/GrabbingHumanoidTest.cs index cb71ef2..a90504f 100644 --- a/Tests/Runtime/Grabbing/GrabbingHumanoidTest.cs +++ b/Tests/Runtime/Grabbing/GrabbingHumanoidTest.cs @@ -181,6 +181,7 @@ namespace Passer.Humanoid { #region Walk + Debug.Log("Walk to " + location); yield return humanoid.WalkTo(location.transform.position, location.transform.rotation); #endregion Walk diff --git a/Tests/Runtime/Grabbing/GrabbingPawnTest.cs b/Tests/Runtime/Grabbing/GrabbingPawnTest.cs deleted file mode 100644 index 5678664..0000000 --- a/Tests/Runtime/Grabbing/GrabbingPawnTest.cs +++ /dev/null @@ -1,349 +0,0 @@ -/* -#if UNITY_EDITOR -using UnityEngine; -using UnityEngine.SceneManagement; -using UnityEngine.TestTools; -using NUnit.Framework; -using System.Collections; - -namespace Passer.Pawn { - public class GrabbingTest { - - //static GrabbingTest() { - // EditorSceneManager.sceneOpened += SceneOpened; - //} - - //private static void SceneOpened(Scene scene, OpenSceneMode mode) { - // if ((scene.name == "ObjectTable Pawn" || - // scene.name == "ObjectTable Pawn VR" || - // scene.name == "ObjectTable Humanoid") && - // EditorSceneManager.loadedSceneCount == 1) { - - // Debug.Log("Additive opening ObjectTable scene"); - // EditorSceneManager.OpenScene("Assets/PawnControl/Demo/Environments/ObjectTable.unity", OpenSceneMode.Additive); - // } - //} - - public void Setup() { - UnityEngine.SceneManagement.SceneManager.LoadSceneAsync("_TestCases/Grabbing/[Test]GrabbingPawn"); - UnityEngine.SceneManagement.SceneManager.LoadSceneAsync("Passer/PawnControl/Demo/Environments/ObjectTable", LoadSceneMode.Additive); - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabStaticObject() { - Debug.Log("[GrabbingPawnTest] GrabStaticObject"); - //System.Console.WriteLine("[GrabbingPawnTest] GrabStaticObject"); - Setup(); - Debug.Log("[GrabbingPawnTest] GrabStaticObject - loading scene"); - yield return new WaitForSeconds(1); - Debug.Log("[GrabbingPawnTest] GrabStaticObject - loaded scene"); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - GameObject obj = GameObject.Find("StaticCube"); - Assert.IsFalse(obj == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - Debug.Log("[GrabbingPawnTest] GrabStaticObject - start walking"); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - Debug.Log("[GrabbingPawnTest] GrabStaticObject - end walking, grabbing"); - - #region Grab - - GameObject grabbedObject = Grab(pawn, obj); - Assert.IsTrue(grabbedObject == null); - - #endregion Grab - Debug.Log("[GrabbingPawnTest] GrabStaticObject - grabbed, let go"); - - #region LetGo - - grabbedObject = LetGo(pawn); - - #endregion Let Go - - Debug.Log("[GrabbingPawnTest] GrabStaticObject - let go complete"); - - yield return new WaitForSeconds(1); - System.Console.WriteLine("[GrabbingPawnTest] GrabStaticObject SUCCESS"); - - yield return null; - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabStaticObjectHandle() { - Setup(); - yield return new WaitForSeconds(1); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - GameObject obj = GameObject.Find("StaticCubeWithHandle"); - Assert.IsFalse(obj == null); - - Handle handle = obj.GetComponentInChildren(); - Assert.IsFalse(handle == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - - #region Grab - - GameObject grabbedObject = Grab(pawn, obj); - Assert.AreEqual(handle.gameObject, grabbedObject); - - #endregion Grab - - #region LetGo - - grabbedObject = LetGo(pawn); - - #endregion Let Go - - yield return new WaitForSeconds(1); - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabHeavyObjectHandle() { - Setup(); - yield return new WaitForSeconds(1); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - GameObject obj = GameObject.Find("HeavyCube"); - Assert.IsFalse(obj == null); - - Handle handle = obj.GetComponentInChildren(); - Assert.IsFalse(handle == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - - #region Grab - - GameObject grabbedObject = Grab(pawn, obj); - Assert.AreEqual(obj, grabbedObject); - - #endregion Grab - - #region LetGo - - grabbedObject = LetGo(pawn); - - #endregion Let Go - - yield return new WaitForSeconds(1); - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabRigidbody() { - Setup(); - yield return new WaitForSeconds(1); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - GameObject obj = GameObject.Find("CubeRigidbody"); - Assert.IsFalse(obj == null); - - Handle handle = obj.GetComponentInChildren(); - Assert.IsTrue(handle == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - - #region Grab - - GameObject grabbedObject = Grab(pawn, obj); - Assert.AreEqual(obj, grabbedObject); - - #endregion Grab - - #region LetGo - - grabbedObject = LetGo(pawn); - - #endregion Let Go - - yield return new WaitForSeconds(1); - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabRigidbodyHandle() { - Setup(); - yield return new WaitForSeconds(1); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - PawnHand hand = pawn.rightHandTarget; - - GameObject obj = GameObject.Find("CubeWithHandle"); - Assert.IsFalse(obj == null); - - Handle handle = obj.GetComponentInChildren(); - Assert.IsFalse(handle == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - - #region Grab - - hand.Grab(obj, false); - Assert.AreEqual(obj, hand.grabbedObject); - Assert.AreEqual(obj, hand.grabSocket.attachedTransform.gameObject); - Assert.AreEqual(handle, hand.grabbedHandle); - Assert.AreEqual(handle, hand.grabSocket.attachedHandle); - Assert.AreEqual(obj.transform.parent, hand.grabSocket.transform); - - #endregion Grab - - #region LetGo - - hand.LetGo(); - Assert.AreEqual(null, hand.grabbedObject); - Assert.AreEqual(null, hand.grabSocket.attachedTransform); - Assert.AreEqual(null, hand.grabbedHandle); - Assert.AreEqual(null, hand.grabSocket.attachedHandle); - - #endregion Let Go - - yield return new WaitForSeconds(1); - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabKinematicRigidbodyWithPhysics() { - Setup(); - yield return new WaitForSeconds(1); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - GameObject obj = GameObject.Find("KinematicCube"); - Assert.IsFalse(obj == null); - - Handle handle = obj.GetComponentInChildren(); - Assert.IsFalse(handle == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - - #region Grab - - GameObject grabbedObject = Grab(pawn, obj); - Assert.AreEqual(obj, grabbedObject); - - #endregion Grab - - #region LetGo - - grabbedObject = LetGo(pawn); - - #endregion Let Go - - yield return new WaitForSeconds(1); - } - - [UnityTest] - [Category("Grabbing")] - public IEnumerator GrabMechanicalJoint() { - Setup(); - yield return new WaitForSeconds(1); - - PawnControl pawn = Object.FindObjectOfType(); - Assert.IsFalse(pawn == null); - - GameObject obj = GameObject.Find("MechanicalJointCube"); - Assert.IsFalse(obj == null); - - Handle handle = obj.GetComponentInChildren(); - Assert.IsFalse(handle == null); - - SpawnPoint location = obj.transform.parent.GetComponentInChildren(); - Assert.IsFalse(location == null); - - #region Walk - - yield return pawn.WalkTo(location.transform.position, location.transform.rotation); - - #endregion Walk - - #region Grab - - GameObject grabbedObject = Grab(pawn, obj); - Assert.AreEqual(obj, grabbedObject); - - #endregion Grab - - #region LetGo - - grabbedObject = LetGo(pawn); - - #endregion Let Go - - yield return new WaitForSeconds(1); - } - - - #region Tools - - protected GameObject Grab(PawnControl pawn, GameObject obj) { - pawn.rightHandTarget.Grab(obj, false); - return pawn.rightHandTarget.grabbedObject; - } - - protected GameObject LetGo(PawnControl pawn) { - pawn.rightHandTarget.LetGo(); - return pawn.rightHandTarget.grabbedObject; - 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