Hand_UR5 Update

Continued development into virtual simulation of UR5 control. Added Manus hand to the UR5 Model. Leaving some reduncancy fallback scripts for later use.

Author: OvercodedStack

Box_wall_test.unity

@@ -319,6 +319,10 @@ private Vector3 process_vector(vector_t vect)
             vec_out.x = (float)vect.x;
             vec_out.y = (float)vect.y;
             vec_out.z = (float)vect.z;
+            if (vec_out.x == float.NaN)
+            {
+                vec_out = Vector3.zero;
+            }
             return vec_out;
         }
 
@@ -330,6 +334,13 @@ private Quaternion process_quat(quat_t quat)
             quat_out.y = (float)quat.y;
             quat_out.z = (float)quat.z;
             quat_out.w = (float)quat.w;
+            if (quat_out.x == float.NaN)
+            {
+                quat_out.x = 0;
+                quat_out.y = 0;
+                quat_out.z = 0;
+                quat_out.w = 0;
+            }
             return quat_out;
         }
 

Manus Interfacing/Manus_interpreter.cs

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Shadow_hand_manus.unity

@@ -0,0 +1,151 @@
+/*Code from https://forum.unity.com/threads/raycast-without-colliders.14378/ 
+ * 
+ * 
+ * 
+ *
+*/
+
+
+
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Dynamic_Mesh_Collider : MonoBehaviour {
+    class CVertexWeight
+    {
+        public int index;
+        public Vector3 localPosition;
+        public float weight;
+
+        public CVertexWeight(int i, Vector3 p, float w)
+        {
+            index = i;
+            localPosition = p;
+            weight = w;
+        }
+    }
+
+    class CWeightList
+    {
+        public Transform transform;
+        public ArrayList weights;
+        public CWeightList()
+        {
+            weights = new ArrayList();
+        }
+    }
+
+    public bool forceUpdate;
+    public bool updateOncePerFrame = true;
+
+    private CWeightList[] nodeWeights; // one per node
+
+    private SkinnedMeshRenderer skinnedMeshRenderer;
+    private MeshCollider meshCollider;
+
+
+    /// <summary>
+    ///  This basically translates the information about the skinned mesh into
+    /// data that we can internally use to quickly update the collision mesh.
+    /// </summary>
+    void Start()
+    {
+        skinnedMeshRenderer = GetComponent<SkinnedMeshRenderer>();
+        meshCollider = GetComponent<MeshCollider>();
+
+        if (meshCollider != null  && skinnedMeshRenderer != null)
+        {
+            // Cache used values rather than accessing straight from the mesh on the loop below
+            Vector3[] cachedVertices = skinnedMeshRenderer.sharedMesh.vertices;
+            Matrix4x4[] cachedBindposes = skinnedMeshRenderer.sharedMesh.bindposes;
+            BoneWeight[] cachedBoneWeights = skinnedMeshRenderer.sharedMesh.boneWeights;
+
+            // Make a CWeightList for each bone in the skinned mesh
+            nodeWeights = new CWeightList[skinnedMeshRenderer.bones.Length];
+            for (int i = 0; i < skinnedMeshRenderer.bones.Length; i++)
+            {
+                nodeWeights[i] = new CWeightList();
+                nodeWeights[i].transform = skinnedMeshRenderer.bones[i];
+            }
+
+            // Create a bone weight list for each bone, ready for quick calculation during an update...
+            for (int i = 0; i < cachedVertices.Length; i++)
+            {
+                BoneWeight bw = cachedBoneWeights[i];
+                if (bw.weight0 != 0.0f)
+                {
+                    Vector3 localPt = cachedBindposes[bw.boneIndex0].MultiplyPoint3x4(cachedVertices[i]);
+                    nodeWeights[bw.boneIndex0].weights.Add(new CVertexWeight(i, localPt, bw.weight0));
+                }
+                if (bw.weight1 != 0.0f)
+                {
+                    Vector3 localPt = cachedBindposes[bw.boneIndex1].MultiplyPoint3x4(cachedVertices[i]);
+                    nodeWeights[bw.boneIndex1].weights.Add(new CVertexWeight(i, localPt, bw.weight1));
+                }
+                if (bw.weight2 != 0.0f)
+                {
+                    Vector3 localPt = cachedBindposes[bw.boneIndex2].MultiplyPoint3x4(cachedVertices[i]);
+                    nodeWeights[bw.boneIndex2].weights.Add(new CVertexWeight(i, localPt, bw.weight2));
+                }
+                if (bw.weight3 != 0.0f)
+                {
+                    Vector3 localPt = cachedBindposes[bw.boneIndex3].MultiplyPoint3x4(cachedVertices[i]);
+                    nodeWeights[bw.boneIndex3].weights.Add(new CVertexWeight(i, localPt, bw.weight3));
+                }
+            }
+
+            UpdateCollisionMesh();
+        }
+        else
+        {
+            Debug.LogError("[SkinnedCollisionHelper] " + gameObject.name + " is missing SkinnedMeshRenderer or MeshCollider!");
+        }
+
+    }
+
+    /// <summary>
+    /// Manually recalculates the collision mesh of the skinned mesh on this object.
+    /// </summary>
+    public void UpdateCollisionMesh()
+    {
+        Mesh mesh = new Mesh();
+
+        Vector3[] newVert = new Vector3[skinnedMeshRenderer.sharedMesh.vertices.Length];
+
+        // Now get the local positions of all weighted indices...
+        foreach (CWeightList wList in nodeWeights)
+        {
+            foreach (CVertexWeight vw in wList.weights)
+            {
+                newVert[vw.index] += wList.transform.localToWorldMatrix.MultiplyPoint3x4(vw.localPosition) * vw.weight;
+            }
+        }
+
+        // Now convert each point into local coordinates of this object.
+        for (int i = 0; i < newVert.Length; i++)
+        {
+            newVert[i] = transform.InverseTransformPoint(newVert[i]);
+        }
+
+        // Update the mesh ( collider) with the updated vertices
+        mesh.vertices = newVert;
+        mesh.uv = skinnedMeshRenderer.sharedMesh.uv; // is this even needed here?
+        mesh.triangles = skinnedMeshRenderer.sharedMesh.triangles;
+        mesh.RecalculateBounds();
+        mesh.MarkDynamic(); // says it should improve performance, but I couldn't see it happening
+        meshCollider.sharedMesh = mesh;
+    }
+
+    /// <summary>
+    /// If the 'forceUpdate' flag is set, updates the collision mesh for the skinned mesh on this object
+    /// </summary>
+    void Update()
+    {
+        if (forceUpdate)
+        {
+            if (updateOncePerFrame) forceUpdate = false;
+            UpdateCollisionMesh();
+        }
+    }
+}

Utillity Scripts/Dynamic_Mesh_Collider.cs

@@ -19,6 +19,7 @@
 using manus_interface;
 
 
+
 public class Manus_hand_model_inputter : MonoBehaviour
 {
     [SerializeField]