Diff Drive works with prefab
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@ -7,6 +7,7 @@ namespace RoboidControl {
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readonly DifferentialDrive drive;
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readonly TouchSensor touchLeft;
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readonly TouchSensor touchRight;
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const float speed = 0.5f;
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public BB2B(Participant owner) : base(owner) {
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this.name = "BB2B";
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@ -29,11 +30,11 @@ namespace RoboidControl {
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// The left wheel turns forward when nothing is touched on the right side
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// and turn backward when the roboid hits something on the right
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float leftWheelSpeed = touchRight.touchedSomething ? -0.1f : 0.1f;
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float leftWheelSpeed = touchRight.touchedSomething ? -speed : speed;
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// The right wheel does the same, but instead is controlled by
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// touches on the left side
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float rightWheelSpeed = touchLeft.touchedSomething ? -0.1f : 0.1f;
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float rightWheelSpeed = touchLeft.touchedSomething ? -speed : speed;
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// When both sides are touching something, both wheels will turn backward
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// and the roboid will move backwards
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@ -6,6 +6,9 @@ namespace RoboidControl.Unity {
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public Wheel leftWheel;
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public Wheel rightWheel;
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public SphereCollider casterWheel;
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protected RoboidControl.DifferentialDrive coreDrive => core as RoboidControl.DifferentialDrive;
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/// <summary>
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/// Create the Unity representation
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@ -13,65 +16,99 @@ 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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DifferentialDrive component = null;
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Rigidbody rb = null;
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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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if (prefab != null) {
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// Use resource prefab when available
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GameObject gameObj = Instantiate(prefab);
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component = gameObj.GetComponent<DifferentialDrive>();
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if (component != null)
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component.core = 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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rb = component.GetComponent<Rigidbody>();
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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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component = gameObj.AddComponent<DifferentialDrive>();
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component.Init(core);
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rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = false;
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rb.mass = 0.5f;
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}
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return component;
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// }
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}
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private Rigidbody rb = null;
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protected virtual void Awake() {
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rb = GetComponent<Rigidbody>();
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}
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protected override void HandleBinary() {
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Debug.Log("Diff drive handle Binary");
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RoboidControl.DifferentialDrive coreDrive = core as RoboidControl.DifferentialDrive;
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RoboidControl.Unity.Wheel[] motors = null;
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if (coreDrive.wheelRadius <= 0 || coreDrive.wheelSeparation <= 0)
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return;
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if (leftWheel == null) {
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motors = GetComponentsInChildren<Wheel>();
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foreach (var motor in motors) {
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if (motor.core.id == coreDrive.leftWheel.id)
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leftWheel = motor;
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}
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if (leftWheel == null)
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leftWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.leftWheel.id);
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}
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// if (leftWheel == null) {
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// motors = GetComponentsInChildren<Wheel>();
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// foreach (var motor in motors) {
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// if (motor.core.id == coreDrive.leftWheel.id)
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// leftWheel = motor;
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// }
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// if (leftWheel == null)
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// // Create placeholder wheel
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// leftWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.leftWheel.id);
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// }
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if (leftWheel != null) {
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leftWheel.wheelCollider.radius = coreDrive.wheelRadius;
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leftWheel.wheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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leftWheel.transform.position = Vector3.zero; // position is done with the center, but only X direction is supported right now...
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leftWheel.core ??= coreDrive.leftWheel;
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SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
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leftWheelCollider.radius = coreDrive.wheelRadius;
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// leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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}
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if (rightWheel == null) {
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if (motors == null)
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motors = GetComponentsInChildren<Wheel>();
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foreach (var motor in motors) {
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if (motor.core.id == coreDrive.rightWheel.id)
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rightWheel = motor;
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}
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if (rightWheel == null)
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rightWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.rightWheel.id);
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// if (rightWheel == null) {
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// if (motors == null)
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// motors = GetComponentsInChildren<Wheel>();
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// foreach (var motor in motors) {
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// if (motor.core.id == coreDrive.rightWheel.id)
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// rightWheel = motor;
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// }
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// if (rightWheel == null)
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// rightWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.rightWheel.id);
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// }
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if (rightWheel != null) {
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rightWheel.core ??= coreDrive.rightWheel;
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SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
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rightWheelCollider.radius = coreDrive.wheelRadius;
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// rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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}
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if (rightWheel != null && coreDrive.wheelRadius > 0 && coreDrive.wheelSeparation > 0) {
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rightWheel.wheelCollider.radius = coreDrive.wheelRadius;
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rightWheel.wheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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rightWheel.transform.position = Vector3.zero; // position is done with the center, but only X direction is supported right now...
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if (casterWheel == null) {
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// Create it
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}
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if (casterWheel != null) {
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casterWheel.radius = coreDrive.wheelRadius;
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// Put it in the middle of the back
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casterWheel.center = new Vector3(0, 0, -coreDrive.wheelSeparation);
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}
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}
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protected override void FixedUpdate() {
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base.FixedUpdate();
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float leftWheelVelocity = leftWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
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float rightWheelVelocity = rightWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
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float forwardSpeed = (leftWheelVelocity + rightWheelVelocity) / 2f;
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float turningSpeed = (leftWheelVelocity - rightWheelVelocity) / coreDrive.wheelSeparation;
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// Use smoothing to emulate motor inertia
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rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
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rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
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}
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}
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@ -3,6 +3,8 @@ using UnityEngine;
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namespace RoboidControl.Unity {
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public class Motor : Thing {
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public float maxSpeed = 5;
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/// <summary>
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/// Create the Unity representation
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/// </summary>
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@ -34,15 +36,15 @@ namespace RoboidControl.Unity {
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protected override void HandleBinary() {
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RoboidControl.Motor coreMotor = core as RoboidControl.Motor;
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this.rotationSpeed = coreMotor.targetSpeed;
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this.rotationSpeed = coreMotor.targetSpeed * maxSpeed;
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}
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protected override void Update() {
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base.Update();
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// We rotate the first child of the motor, which should be the axle.
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if (this.transform.childCount > 0) {
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this.transform.GetChild(0).Rotate(360 * this.rotationSpeed, 0, 0);
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}
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float rotation = 360 * this.rotationSpeed * Time.deltaTime;
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if (this.transform.childCount > 0)
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this.transform.GetChild(0).Rotate(rotation, 0, 0);
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}
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}
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}
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744
Unity/Resources/DifferentialDrive 1.prefab
Normal file
744
Unity/Resources/DifferentialDrive 1.prefab
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@ -0,0 +1,744 @@
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serializedVersion: 2
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m_Center: {x: 0.1, y: 0, z: 0}
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m_Radius: 0.1
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m_SuspensionSpring:
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spring: 100
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damper: 10
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targetPosition: 0.5
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m_SuspensionDistance: 0.01
|
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m_ForceAppPointDistance: 0
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m_Mass: 0.1
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m_WheelDampingRate: 0.25
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m_ForwardFriction:
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m_ExtremumSlip: 0.4
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m_ExtremumValue: 1
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m_AsymptoteSlip: 0.8
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m_AsymptoteValue: 0.5
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m_Stiffness: 1
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m_SidewaysFriction:
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m_ExtremumSlip: 0.2
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m_ExtremumValue: 1
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m_AsymptoteSlip: 0.5
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m_AsymptoteValue: 0.75
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m_Stiffness: 1
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m_Enabled: 1
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: ddd5065d5e866894cbcb569c3a898ccb, type: 3}
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m_Name:
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m_EditorClassIdentifier:
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participant: {fileID: 0}
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maxSpeed: 5
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rotationSpeed: 0
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--- !u!135 &8150853676422519226
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SphereCollider:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 5122915782100933114}
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m_Material: {fileID: 13400000, guid: 6311a2373d42743449d6eb1130ee618a, type: 2}
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m_IncludeLayers:
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serializedVersion: 2
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m_Bits: 0
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@ -311,5 +455,92 @@ WheelCollider:
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serializedVersion: 2
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m_Bits: 0
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m_LayerOverridePriority: 0
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m_Enabled: 1
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m_IsTrigger: 0
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m_ProvidesContacts: 0
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m_Enabled: 1
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serializedVersion: 3
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m_Radius: 0.00001
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m_Center: {x: 0, y: 0, z: 0}
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GameObject:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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serializedVersion: 6
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m_Component:
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m_IsActive: 1
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 5663058822615269368}
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serializedVersion: 2
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m_LocalRotation: {x: -0, y: -0, z: 7e-45, w: 1}
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m_LocalPosition: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 0.01, y: 0.049999997, z: 0.049999997}
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m_ConstrainProportionsScale: 0
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m_Children: []
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m_Father: {fileID: 2660791421672615984}
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_PrefabInstance: {fileID: 0}
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m_GameObject: {fileID: 5663058822615269368}
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m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 5663058822615269368}
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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m_StaticShadowCaster: 0
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m_MotionVectors: 1
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m_LightProbeUsage: 1
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m_ReflectionProbeUsage: 1
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m_RayTracingMode: 2
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m_RayTraceProcedural: 0
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m_RenderingLayerMask: 1
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m_RendererPriority: 0
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m_Materials:
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- {fileID: 2100000, guid: c83c86eecb501964d9e4fd4074683016, type: 2}
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m_StaticBatchInfo:
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firstSubMesh: 0
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subMeshCount: 0
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m_StaticBatchRoot: {fileID: 0}
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m_ProbeAnchor: {fileID: 0}
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m_LightProbeVolumeOverride: {fileID: 0}
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m_ScaleInLightmap: 1
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m_ReceiveGI: 1
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m_PreserveUVs: 0
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m_IgnoreNormalsForChartDetection: 0
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m_ImportantGI: 0
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m_StitchLightmapSeams: 1
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m_SelectedEditorRenderState: 3
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m_MinimumChartSize: 4
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m_AutoUVMaxDistance: 0.5
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m_AutoUVMaxAngle: 89
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m_LightmapParameters: {fileID: 0}
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m_SortingLayerID: 0
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m_SortingLayer: 0
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m_AdditionalVertexStreams: {fileID: 0}
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@ -13,7 +13,7 @@ namespace RoboidControl.Unity {
|
||||
/// <summary>
|
||||
/// The core C# thing
|
||||
/// </summary>
|
||||
[field: SerializeField]
|
||||
//[field: SerializeField]
|
||||
public RoboidControl.Thing core { get; set; }
|
||||
|
||||
public SiteServer participant;
|
||||
@ -65,7 +65,8 @@ namespace RoboidControl.Unity {
|
||||
/// Update the Unity representation
|
||||
/// </summary>
|
||||
protected virtual void Update() {
|
||||
UpdateThing();
|
||||
if (core == null)
|
||||
return;
|
||||
|
||||
if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
|
||||
Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
|
||||
@ -78,9 +79,13 @@ namespace RoboidControl.Unity {
|
||||
}
|
||||
}
|
||||
|
||||
protected virtual void FixedUpdate() {
|
||||
UpdateThing();
|
||||
}
|
||||
|
||||
public void UpdateThing() {
|
||||
if (core == null) {
|
||||
// Debug.Log("Core thing is gone, self destruct in 0 seconds...");
|
||||
Debug.Log($"{this} core thing is gone, self destruct in 0 seconds...");
|
||||
Destroy(this);
|
||||
return;
|
||||
}
|
||||
|
||||
@ -23,14 +23,14 @@ namespace RoboidControl.Unity {
|
||||
GameObject gameObj = new(core.name);
|
||||
Wheel component = gameObj.AddComponent<Wheel>();
|
||||
component.Init(core);
|
||||
component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
||||
component.wheelCollider.mass = 0.1f;
|
||||
component.wheelCollider.suspensionDistance = 0.01f;
|
||||
component.wheelCollider.suspensionSpring = new JointSpring {
|
||||
spring = 100f, // Very high spring value to make it rigid
|
||||
damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
|
||||
targetPosition = 0.5f // Neutral position (middle of the suspension travel)
|
||||
};
|
||||
// component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
||||
// component.wheelCollider.mass = 0.1f;
|
||||
// component.wheelCollider.suspensionDistance = 0.01f;
|
||||
// component.wheelCollider.suspensionSpring = new JointSpring {
|
||||
// spring = 100f, // Very high spring value to make it rigid
|
||||
// damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
|
||||
// targetPosition = 0.5f // Neutral position (middle of the suspension travel)
|
||||
// };
|
||||
Debug.Log("Create " + core.name);
|
||||
return component;
|
||||
}
|
||||
@ -58,39 +58,19 @@ namespace RoboidControl.Unity {
|
||||
;
|
||||
}
|
||||
component.Init(core);
|
||||
component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
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component.wheelCollider.mass = 0.1f;
|
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component.wheelCollider.suspensionDistance = 0.01f;
|
||||
component.wheelCollider.suspensionSpring = new JointSpring {
|
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spring = 100f, // Very high spring value to make it rigid
|
||||
damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
|
||||
targetPosition = 0.5f // Neutral position (middle of the suspension travel)
|
||||
};
|
||||
// component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
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// component.wheelCollider.mass = 0.1f;
|
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// component.wheelCollider.suspensionDistance = 0.01f;
|
||||
// component.wheelCollider.suspensionSpring = new JointSpring {
|
||||
// spring = 100f, // Very high spring value to make it rigid
|
||||
// damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
|
||||
// targetPosition = 0.5f // Neutral position (middle of the suspension travel)
|
||||
// };
|
||||
Debug.Log("Create placeholder Wheel ");
|
||||
return component;
|
||||
}
|
||||
}
|
||||
|
||||
public WheelCollider wheelCollider;
|
||||
|
||||
protected override void HandlePose() {
|
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this.wheelCollider.center = core.position.ToVector3();
|
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this.transform.position = Vector3.zero; // position is done with the center
|
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}
|
||||
|
||||
protected override void Update() {
|
||||
UpdateThing();
|
||||
|
||||
if (wheelCollider.radius > 0) {
|
||||
float targetRotationSpeed = this.rotationSpeed * 2 * Mathf.PI; // 1 rotation per second in radians
|
||||
|
||||
// Calculate the required motor torque
|
||||
float requiredTorque = (targetRotationSpeed * wheelCollider.mass) / wheelCollider.radius;
|
||||
|
||||
// Set the motor torque
|
||||
wheelCollider.motorTorque = requiredTorque;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
Loading…
x
Reference in New Issue
Block a user