RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Site forwarding other participants' things (but not working properly)

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This commit is contained in:
Pascal Serrarens 2025-06-11 13:52:52 +02:00
parent 88e3dfeb06
commit 765231588f
7 changed files with 76 additions and 42 deletions
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14
Unity/DifferentialDrive.cs
View File

@ -101,11 +101,11 @@ namespace RoboidControl.Unity {
motor = Motor.Create(coreMotor);
wheel.transform.SetParent(motor.transform);
}
else if (motor.core.id != coreMotor.id) {
motor = coreMotor.component as Motor;
if (motor != null)
wheel.transform.SetParent(motor.transform);
}
else if (motor.core.id != coreMotor.id) {
motor = coreMotor.component as Motor;
if (motor != null)
wheel.transform.SetParent(motor.transform);
}
}
/// <summary>
@ -126,6 +126,10 @@ namespace RoboidControl.Unity {
// Use smoothing to emulate motor inertia
rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
core.position = LinearAlgebra.Spherical.FromVector3(this.transform.localPosition);
core.orientation = LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation);
}
}
}

6
Unity/Resources/DifferentialDrive.prefab
View File

@ -205,7 +205,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
owner: {fileID: 0}
wheelRadius: 0
wheelRadius: 0.025
--- !u!135 &3720747953092717687
SphereCollider:
m_ObjectHideFlags: 0
@ -281,7 +281,7 @@ MonoBehaviour:
rightMotor: {fileID: 0}
leftWheel: {fileID: 6773972788910618332}
rightWheel: {fileID: 7425139233737877139}
casterWheel: {fileID: 0}
casterWheel: {fileID: 894333789048616995}
--- !u!54 &4118868690347991998
Rigidbody:
m_ObjectHideFlags: 0
@ -439,7 +439,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
owner: {fileID: 0}
wheelRadius: 0
wheelRadius: 0.025
--- !u!135 &8150853676422519226
SphereCollider:
m_ObjectHideFlags: 0

6
Unity/Resources/TouchSensor.prefab
View File

@ -92,7 +92,7 @@ GameObject:
serializedVersion: 6
m_Component:
- component: {fileID: 839661735326876684}
- component: {fileID: 1922171662874522792}
- component: {fileID: 4006928432304472165}
- component: {fileID: 5295705618145761524}
- component: {fileID: 5884202444353424411}
m_Layer: 0
@ -118,7 +118,7 @@ Transform:
- {fileID: 1122722937167266542}
m_Father: {fileID: 0}
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!114 &1922171662874522792
--- !u!114 &4006928432304472165
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
@ -127,7 +127,7 @@ MonoBehaviour:
m_GameObject: {fileID: 6521541507066528382}
m_Enabled: 1
m_EditorHideFlags: 0
m_Script: {fileID: 11500000, guid: 74fd22179b1a3ac4186b7dc083d24e06, type: 3}
m_Script: {fileID: 11500000, guid: ab969221c3007d441b18dd7387cf22d4, type: 3}
m_Name:
m_EditorClassIdentifier:
owner: {fileID: 0}

4
Unity/SiteServer.cs
View File

@ -54,8 +54,8 @@ namespace RoboidControl.Unity {
participant.port = participantUDP.port;
}
foreach (RoboidControl.Thing thing in this.site.things)
participant.coreParticipant.SendThingInfo(thing);
// foreach (RoboidControl.Thing thing in this.site.things)
// participant.coreParticipant.SendThingInfo(thing);
break;
case ThingMsg.id:

2
Unity/Thing.cs
View File

@ -74,11 +74,13 @@ namespace RoboidControl.Unity {
if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
this.transform.Translate(core.linearVelocity.distance * Time.deltaTime * direction, Space.Self);
// core.position = LinearAlgebra.Spherical.FromVector3(this.transform.localPosition);
}
if (core.angularVelocity != null && core.angularVelocity.distance != 0) {
Vector3 axis = core.angularVelocity.direction.ToVector3();
this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
// core.orientation = LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation);
}
}

43
src/Participants/ParticipantUDP.cs
View File

@ -228,30 +228,33 @@ namespace RoboidControl {
protected virtual void UpdateOtherThings(ulong currentTimeMS) {
for (int ownerIx = 0; ownerIx < Participant.participants.Count; ownerIx++) {
Participant participant = Participant.participants[ownerIx];
if (participant == null || participant == this)
Participant owner = Participant.participants[ownerIx];
if (owner == null || owner == this)
continue;
participant.Update();
if (this.isIsolated)
continue;
owner.Update();
// if (this.isIsolated)
// continue;
// if (currentTimeMS > this.nextSendUpdate) {
// for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
// Thing thing = participant.things[thingIx];
// if (thing == null)
// continue;
if (currentTimeMS > this.nextSendUpdate) {
for (int thingIx = 0; thingIx < owner.things.Count; thingIx++) {
Thing thing = owner.things[thingIx];
if (thing == null)
continue;
// // PoseMsg poseMsg = new(thing.owner.networkId, thing);
// // this.Send(participant, poseMsg);
// // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
// // this.Send(participant, binaryMsg);
// // participant.Send(new PoseMsg(thing.owner.networkId, thing));
// // participant.Send(new BinaryMsg(thing.owner.networkId, thing));
// }
// this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
// }
foreach (Participant participant in Participant.participants) {
if (participant == this || participant == owner)
continue;
Console.WriteLine($"[{thing.owner.networkId}/{thing.id}] Pose ---> {participant.networkId}");
PoseMsg poseMsg = new(thing.owner.networkId, thing, true);
participant.Send(poseMsg);
}
}
}
}
if (currentTimeMS > this.nextSendUpdate)
this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
}
#endregion Update
@ -533,8 +536,6 @@ namespace RoboidControl {
thing.linearVelocity = msg.linearVelocity;
if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0)
thing.angularVelocity = msg.angularVelocity;
ForwardMessage(sender, msg);
}
protected virtual void Process(Participant sender, BinaryMsg msg) {

43
src/Participants/SiteServer.cs
View File

@ -101,14 +101,41 @@ namespace RoboidControl {
protected override void Process(Participant sender, ParticipantMsg msg) {
base.Process(sender, msg);
if (msg.networkId != sender.networkId) {
//Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
sender.Send(new NetworkIdMsg(sender.networkId));
UpdateEvent e = new() {
messageId = ParticipantMsg.Id,
participant = sender
};
this.updateQueue.Enqueue(e);
if (msg.networkId == sender.networkId)
return;
if (sender.component != null) {
Console.WriteLine("Already created Unity participant");
return;
}
sender.Send(new NetworkIdMsg(sender.networkId));
UpdateEvent e = new() {
messageId = ParticipantMsg.Id,
participant = sender
};
this.updateQueue.Enqueue(e);
foreach (Thing thing in this.things)
sender.SendThingInfo(thing);
foreach (Participant owner in Participant.participants) {
if (owner == null || owner == this)
continue;
Console.WriteLine($"send thinginfo for {owner.things.Count} things");
foreach (Thing thing in owner.things) {
if (thing == null)
continue;
foreach (Participant participant in Participant.participants) {
if (participant == this || participant == owner)
continue;
Console.WriteLine($"[{thing.owner.networkId}/{thing.id}] Thing Info ---> {participant.networkId}");
participant.SendThingInfo(thing);
}
}
}
}