Use resources for DiffDrive and TouchSensor in Unity
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@ -1,4 +1,5 @@
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using LinearAlgebra;
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namespace RoboidControl {
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// The robot is based on a differential drive
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@ -13,9 +14,14 @@ namespace RoboidControl {
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this.wheelSeparation = 0.128f;
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// Is has a touch sensor at the front left of the roboid
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touchLeft = new(this);
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// and other one on the right
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touchRight = new(this);
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touchLeft = new(this) {
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position = Spherical.Degrees(0.12f, -30, 0),
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orientation = new SwingTwist(-30, 0, 0)
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};
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touchRight = new(this) {
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position = Spherical.Degrees(0.12f, 30, 0),
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orientation = new SwingTwist(30, 0, 0)
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};
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}
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public override void Update(ulong currentTimeMs, bool recurse = true) {
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@ -14,19 +14,30 @@ namespace RoboidControl.Unity {
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/// <param name="core">The core touch sensor</param>
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/// <returns>The Unity representation of the touch sensor</returns>
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public static DifferentialDrive Create(RoboidControl.DifferentialDrive core) {
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GameObject gameObj = new(core.name);
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DifferentialDrive component = gameObj.AddComponent<DifferentialDrive>();
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component.Init(core);
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GameObject prefab = (GameObject)Resources.Load("DifferentialDrive");
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if (prefab != null) {
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// Use resource prefab when available
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GameObject gameObj = Instantiate(prefab);
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DifferentialDrive component = gameObj.GetComponent<DifferentialDrive>();
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if (component != null)
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component.core = core;
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return component;
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}
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else {
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// Fallback implementation
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GameObject gameObj = new(core.name);
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DifferentialDrive component = gameObj.AddComponent<DifferentialDrive>();
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component.Init(core);
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Rigidbody rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = false;
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rb.mass = 0.5f;
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return component;
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Rigidbody rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = false;
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rb.mass = 0.5f;
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return component;
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}
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}
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protected override void HandleBinary() {
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RoboidControl.DifferentialDrive drive = core as RoboidControl.DifferentialDrive;
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RoboidControl.DifferentialDrive coreDrive = core as RoboidControl.DifferentialDrive;
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if (leftWheel == null) {
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GameObject leftWheelObj = new GameObject("Left wheel");
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leftWheelObj.transform.SetParent(this.transform);
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@ -34,73 +45,27 @@ namespace RoboidControl.Unity {
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leftWheel.mass = 0.1f;
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leftWheel.suspensionDistance = 0.01f;
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leftWheel.suspensionSpring = new JointSpring {
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spring = 1000f, // Very high spring value to make it rigid
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damper = 100f, // Low damping (could be adjusted for slight 'bounciness')
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spring = 100f, // Very high spring value to make it rigid
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damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
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targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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};
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leftWheel.radius = drive.wheelRadius;
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leftWheel.center = new Vector3(-drive.wheelSeparation / 2, 0, 0);
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}
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leftWheel.radius = coreDrive.wheelRadius;
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leftWheel.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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if (rightWheel == null) {
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GameObject rightWheelObj = new GameObject("Left wheel");
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GameObject rightWheelObj = new GameObject("Right wheel");
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rightWheelObj.transform.SetParent(this.transform);
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rightWheel = rightWheelObj.AddComponent<WheelCollider>();
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rightWheel.mass = 0.1f;
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rightWheel.suspensionDistance = 0.01f;
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rightWheel.suspensionSpring = new JointSpring {
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spring = 1000f, // Very high spring value to make it rigid
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damper = 100f, // Low damping (could be adjusted for slight 'bounciness')
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spring = 100f, // Very high spring value to make it rigid
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damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
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targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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};
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rightWheel.radius = drive.wheelRadius;
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rightWheel.center = new Vector3(drive.wheelSeparation / 2, 0, 0);
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}
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// Thing[] children = this.GetComponentsInChildren<Thing>();
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// if (leftWheel == null) {
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// leftWheel = children.FirstOrDefault(child => child.core.id == drive.leftWheel.id);
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// if (leftWheel == null) {
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// RoboidControl.Thing coreThing = new(drive.owner, 0, drive.leftWheel.id, false) {
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// name = "Left Wheel"
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// };
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// leftWheel = Thing.Create(coreThing);
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// leftWheel.transform.SetParent(this.transform);
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// }
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// WheelCollider wheel = this.GetComponent<WheelCollider>();
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// if (wheel == null)
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// wheel = this.gameObject.AddComponent<WheelCollider>();
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// wheel.mass = 0.1f;
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// wheel.suspensionDistance = 0.01f;
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// wheel.suspensionSpring = new JointSpring {
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// spring = 1000f, // Very high spring value to make it rigid
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// damper = 100f, // Low damping (could be adjusted for slight 'bounciness')
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// targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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// };
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// wheel.radius = drive.wheelRadius;
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// wheel.center = new Vector3(-drive.wheelSeparation / 2, 0, 0);
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// }
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// if (rightWheel == null) {
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// this.rightWheel = children.FirstOrDefault(child => child.core.id == drive.rightWheel.id);
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// if (this.rightWheel == null) {
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// RoboidControl.Thing coreThing = new(drive.owner, 0, drive.rightWheel.id, false) {
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// name = "Right Wheel"
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// };
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// this.rightWheel = Thing.Create(coreThing);
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// this.rightWheel.transform.SetParent(this.transform);
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// }
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// WheelCollider wheel = this.GetComponent<WheelCollider>();
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// if (wheel == null)
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// wheel = this.gameObject.AddComponent<WheelCollider>();
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// wheel.mass = 0.1f;
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// wheel.suspensionDistance = 0.01f;
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// wheel.suspensionSpring = new JointSpring {
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// spring = 1000f, // Very high spring value to make it rigid
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// damper = 100f, // Low damping (could be adjusted for slight 'bounciness')
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// targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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// };
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// wheel.radius = drive.wheelRadius;
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// wheel.center = new Vector3(drive.wheelSeparation / 2, 0, 0);
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// }
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rightWheel.radius = coreDrive.wheelRadius;
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rightWheel.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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}
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}
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315
Unity/Resources/DifferentialDrive.prefab
Normal file
315
Unity/Resources/DifferentialDrive.prefab
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@ -0,0 +1,315 @@
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@ -36,32 +36,28 @@ namespace RoboidControl.Unity {
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/// <param name="core">The core touch sensor</param>
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/// <returns>The Unity representation of the touch sensor</returns>
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public static TouchSensor Create(RoboidControl.TouchSensor core) {
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GameObject gameObj = new(core.name);
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GameObject prefab = (GameObject)Resources.Load("TouchSensor");
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// Use resource prefab when available
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if (component != null)
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return component;
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}
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// Fallback implementation
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}
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}
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||||
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||||
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||||
Loading…
x
Reference in New Issue
Block a user