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71939b9aa5
| Author | SHA1 | Date | |
|---|---|---|---|
| 71939b9aa5 | |||
| e7bef66b8e | |||
| fba72b37f2 |
@ -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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@ -13,64 +16,82 @@ 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 = 0.1f;
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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 Start() {
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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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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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}
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if (leftWheel == null)
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leftWheel = Wheel.Create(this.transform, coreDrive.leftWheel.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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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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if (rightWheel == null)
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rightWheel = Wheel.Create(this.transform, coreDrive.rightWheel.id);
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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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if (casterWheel == null) {
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GameObject gameObj = new("Caster wheel");
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gameObj.transform.parent = this.transform;
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casterWheel = gameObj.AddComponent<SphereCollider>();
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casterWheel.material = Wheel.slidingWheel;
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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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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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protected override void FixedUpdate() {
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base.FixedUpdate();
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if (rb != null && leftWheel != null && rightWheel != null) {
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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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}
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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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@ -41,7 +41,7 @@ namespace RoboidControl.Unity {
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// // before we can create the wheel reliably
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// break;
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case RoboidControl.Thing coreThing:
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if (coreThing.component != null) {
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if (coreThing.component == null) {
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Thing thing = Thing.Create(coreThing);
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coreThing.component = thing;
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}
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@ -1,315 +0,0 @@
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14
Unity/Resources/SlidingWheel.physicMaterial
Normal file
14
Unity/Resources/SlidingWheel.physicMaterial
Normal file
@ -0,0 +1,14 @@
|
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%YAML 1.1
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%TAG !u! tag:unity3d.com,2011:
|
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--- !u!134 &13400000
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PhysicMaterial:
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m_PrefabAsset: {fileID: 0}
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m_Name: SlidingWheel
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dynamicFriction: 0.02
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staticFriction: 0.01
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bounciness: 0
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frictionCombine: 1
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bounceCombine: 0
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@ -13,7 +13,7 @@ namespace RoboidControl.Unity {
|
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/// <summary>
|
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/// The core C# thing
|
||||
/// </summary>
|
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[field: SerializeField]
|
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//[field: SerializeField]
|
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public RoboidControl.Thing core { get; set; }
|
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|
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public SiteServer participant;
|
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@ -65,7 +65,8 @@ namespace RoboidControl.Unity {
|
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/// Update the Unity representation
|
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/// </summary>
|
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protected virtual void Update() {
|
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UpdateThing();
|
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if (core == null)
|
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return;
|
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|
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if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
|
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Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
|
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@ -78,9 +79,13 @@ namespace RoboidControl.Unity {
|
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}
|
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}
|
||||
|
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protected virtual void FixedUpdate() {
|
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UpdateThing();
|
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}
|
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|
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public void UpdateThing() {
|
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if (core == null) {
|
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// 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);
|
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return;
|
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}
|
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|
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@ -23,19 +23,19 @@ namespace RoboidControl.Unity {
|
||||
GameObject gameObj = new(core.name);
|
||||
Wheel component = gameObj.AddComponent<Wheel>();
|
||||
component.Init(core);
|
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component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
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component.wheelCollider.mass = 0.1f;
|
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component.wheelCollider.suspensionDistance = 0.01f;
|
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component.wheelCollider.suspensionSpring = new JointSpring {
|
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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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// component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
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// component.wheelCollider.mass = 0.1f;
|
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// component.wheelCollider.suspensionDistance = 0.01f;
|
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// component.wheelCollider.suspensionSpring = new JointSpring {
|
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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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Debug.Log("Create " + core.name);
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return component;
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}
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}
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public static Wheel Create(Rigidbody rb, byte thingId) {
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public static Wheel Create(Transform parent, byte thingId) {
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GameObject prefab = (GameObject)Resources.Load("Wheel");
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if (prefab != null) {
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// Use resource prefab when available
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@ -48,49 +48,50 @@ namespace RoboidControl.Unity {
|
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else {
|
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// Fallback implementation
|
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GameObject gameObj = new("Wheel");
|
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gameObj.transform.parent = rb.transform;
|
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gameObj.transform.parent = parent;
|
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Wheel component = gameObj.AddComponent<Wheel>();
|
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SiteServer participant = FindAnyObjectByType<SiteServer>();
|
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RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
|
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if (core == null)
|
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core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
|
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else {
|
||||
;
|
||||
;
|
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}
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component.Init(core);
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component.wheelCollider = gameObj.AddComponent<WheelCollider>();
|
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component.wheelCollider.mass = 0.1f;
|
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component.wheelCollider.suspensionDistance = 0.01f;
|
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component.wheelCollider.suspensionSpring = new JointSpring {
|
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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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SphereCollider collider = gameObj.AddComponent<SphereCollider>();
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collider.radius = 0.00001f;
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collider.material = slidingWheel;
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// component.wheelCollider = gameObj.AddComponent<WheelCollider>();
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// component.wheelCollider.mass = 0.1f;
|
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// component.wheelCollider.suspensionDistance = 0.01f;
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// component.wheelCollider.suspensionSpring = new JointSpring {
|
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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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Debug.Log("Create placeholder Wheel ");
|
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return component;
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}
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}
|
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|
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public WheelCollider wheelCollider;
|
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private static PhysicMaterial _slidingWheel;
|
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public static PhysicMaterial slidingWheel {
|
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get {
|
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if (_slidingWheel == null) {
|
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_slidingWheel = new() {
|
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dynamicFriction = 0.02f, // Dynamic friction
|
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staticFriction = 0.01f, // Static friction
|
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bounciness = 0f, // Bounciness (bounciness value between 0 and 1)
|
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|
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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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}
|
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|
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protected override void Update() {
|
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UpdateThing();
|
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|
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if (wheelCollider.radius > 0) {
|
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float targetRotationSpeed = this.rotationSpeed * 2 * Mathf.PI; // 1 rotation per second in radians
|
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|
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// Calculate the required motor torque
|
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float requiredTorque = (targetRotationSpeed * wheelCollider.mass) / wheelCollider.radius;
|
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|
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// Set the motor torque
|
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wheelCollider.motorTorque = requiredTorque;
|
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// Set the friction combine and bounce combine methods
|
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frictionCombine = PhysicMaterialCombine.Minimum, // How to combine friction
|
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bounceCombine = PhysicMaterialCombine.Average // How to combine bounciness
|
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};
|
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}
|
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return _slidingWheel;
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}
|
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}
|
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}
|
||||
}
|
||||
#endif
|
||||
Loading…
x
Reference in New Issue
Block a user