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Update on Friday Week 4
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9 files changed

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‎Box_wall_test.unity‎

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‎Camera_Manus_Rig.prefab‎

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‎Camera_Manus_Rig.prefab.meta‎

Lines changed: 10 additions & 0 deletions
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‎Manus Interfacing/Manus_interpreter.cs‎

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///////////////////////////////////////////////////////////////////////////////
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//
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// Original System: Manus_interpreter.h.cpp
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// Original System: Manus_interpreter.cs
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// Subsystem: Human-Robot Interaction
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// Workfile: Manus_interpreter.cs
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// Revision: 1.1 - 6/11/2018

‎Utillity Scripts/Camera_controls.cs‎

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///////////////////////////////////////////////////////////////////////////////
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//
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// Original System: Camera_controls.cs
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// Subsystem: Human-Robot Interaction
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// Workfile: Manus_Open_VR V2
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// Revision: 1.0 - 6/22/2018
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// Author: Esteban Segarra
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//
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// Description
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// ===========
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// Camera control wrapper for object in control.
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//
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///////////////////////////////////////////////////////////////////////////////
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//Some Code inherited from https://forum.unity.com/threads/moving-main-camera-with-mouse.119525/
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using UnityEngine;
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public class Camera_controls : MonoBehaviour {
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//Limits for camera
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private float x_cam_rot_up = 90;
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private float y_cam_rot_up = 90;
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private float z_cam_rot_up = 90;
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private float x_cam_rot_down = -90;
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private float y_cam_rot_down = -90;
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private float z_cam_rot_down = -90;
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//Speed Limits
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public float horizontal_speed = 40;
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public float vertical_speed = 40;
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public float foward_speed = 40;
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public float back_speed = 40;
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// Update is called once per frame
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void Update () {
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Vector3 shift;
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while (Input.GetMouseButtonDown(1))
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{
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float hor = horizontal_speed * Input.GetAxis("Mouse Y");
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float ver = vertical_speed * Input.GetAxis("Mouse X");
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transform.Translate(ver, hor, 0);
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}
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if( Input.GetKeyDown("Foward"))
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{
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shift = new Vector3(foward_speed, 0, 0);
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Debug.Log("FOWARD YO");
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this.transform.Translate(shift);
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}
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if (Input.GetKeyDown("Back"))
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{
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shift = new Vector3(back_speed, 0, 0);
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this.transform.Translate(shift);
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}
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if (Input.GetKeyDown("Left"))
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{
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shift = new Vector3(0, horizontal_speed, 0);
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this.transform.Translate( shift);
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}
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if (Input.GetKeyDown("Right"))
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{
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shift = new Vector3(0, -horizontal_speed, 0);
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this.transform.Translate(shift);
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}
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}
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}

‎Utillity Scripts/Camera_controls.cs.meta‎

Lines changed: 13 additions & 0 deletions
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‎Utillity Scripts/Modify_my_slider.cs‎

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Original file line numberDiff line numberDiff line change
@@ -37,52 +37,6 @@ void Update () {
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z4 = (float)hand_compression_ratios[0]; //Pinky
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z5 = (float)hand_compression_ratios[8]; //Thumb
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{
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/*a
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if (z1 > 1)
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{
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z1 = 1;
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}
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if (z2 > 1)
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{
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z2 = 1;
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}
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if (z3 > 1)
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{
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z3 = 1;
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}
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if (z4 > 1)
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{
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z4 = 1;
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}
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if (z5 > 1)
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{
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z5 = 1;
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}
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if (z1 < 0)
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{
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z1 = 0;
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}
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if (z2 < 0)
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{
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z2 = 0;
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}
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if (z3 < 0)
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{
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z3 = 0;
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}
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if (z4 < 0)
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{
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z4 = 0;
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}
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if (z5 < 0)
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{
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z5 = 0;
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}
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*/
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}
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//Slider Overrides
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sliders_on_gameObj[0].value = z5 * 111F - 85.0F; //Rotate the base
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sliders_on_gameObj[1].value = z1 * 350.0F - 175.0F; //Move the second arm

‎Utillity Scripts/TouchControl.cs‎

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/////////////////////////////////////////////////////////////////////////////
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//
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// Original System: TouchControl.cs
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// Subsystem: Human-Robot Interaction
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// Workfile: Manus_interpreter.cs
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// Revision: 1.1 - 6/21/2018
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// Author: Shelly Bagachi/ Edits made: Esteban Segarra
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//
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// Description
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// ===========
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// Touchscreen and mouse controls for UR5 robot control.
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//
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///////////////////////////////////////////////////////////////////////////////
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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//From http://answers.unity3d.com/questions/610440/on-touch-event-on-game-object-on-android-2d.html
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public class TouchControl : MonoBehaviour {
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//private GameObject thisObj;
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private RuntimePlatform platform = Application.platform;
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public float speed_touch = 0.01f;
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public float speed_mouse = 10f;
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Ray cursorRay;
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RaycastHit hit;
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//public bool did_get_hit;
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public bool did_feel_hit;
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bool was_prev_clicked = false;
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bool first_click = true;
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public bool newHit = false;
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public Vector2 touchPosition = Vector2.zero;
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public Vector2 touchDeltaPosition = Vector2.zero;
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public Vector2 currentMousePosition = Vector2.zero;
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public Vector2 lastMousePosition = Vector2.zero;
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public Vector2 mouseDeltaPosition = Vector2.zero;
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// Use this for initialization
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void Start () {
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cursorRay = Camera.main.ScreenPointToRay(Vector3.zero);
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}
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// Update is called once per frame
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void Update () {
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if (platform == RuntimePlatform.Android || platform == RuntimePlatform.IPhonePlayer)
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{
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if (Input.touchCount > 0 && Input.GetTouch(0).phase == TouchPhase.Moved)
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{
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touchPosition = Input.GetTouch(0).position;
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cursorRay = Camera.main.ScreenPointToRay(touchPosition);
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touchDeltaPosition = Input.GetTouch(0).deltaPosition;
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}
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}
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else if (platform == RuntimePlatform.WindowsEditor)
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{
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newHit = false;
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if (!Input.GetMouseButton(0) && was_prev_clicked)
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{
61+
currentMousePosition = Input.mousePosition;
62+
was_prev_clicked = false;
63+
first_click = true;
64+
mouseDeltaPosition = currentMousePosition - lastMousePosition;
65+
Vector3 pos_cam = new Vector3(currentMousePosition.x, currentMousePosition.y, 0);
66+
cursorRay = Camera.main.ScreenPointToRay(pos_cam);
67+
newHit = true;
68+
}
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if (Input.GetMouseButton(0) && first_click)
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{
72+
lastMousePosition = Input.mousePosition;
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was_prev_clicked = true;
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first_click = false;
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currentMousePosition = new Vector3();
76+
}
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else if (Input.GetMouseButton(0))
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{
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was_prev_clicked = true;
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}
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}
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Debug.DrawLine(currentMousePosition, lastMousePosition);
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if (Physics.Raycast(cursorRay, out hit, 1000.0f))
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{
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//Debug.DrawLine(cursorRay.origin, hit.point);
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if (hit.collider.gameObject.name == this.name)
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{
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{
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if (newHit)
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Debug.Log("Hit detected on object " + hit.collider.gameObject.name + " at point " + hit.point);
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var pos = gameObject.transform.position;
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Debug.Log(gameObject.transform.position.ToString());
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if (platform == RuntimePlatform.Android || platform == RuntimePlatform.IPhonePlayer)
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{
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//float d = Mathf.Sqrt(touchDeltaPosition.x*touchDeltaPosition.x + touchDeltaPosition.y*touchDeltaPosition.y);
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//Debug.Log(d);
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//pos.z += touchDeltaPosition.magnitude * Mathf.Sign(touchDeltaPosition.x) * speed_touch;
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pos.x += touchDeltaPosition.x * speed_touch;
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pos.y += touchDeltaPosition.y * speed_touch;
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}
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else if (platform == RuntimePlatform.WindowsEditor)
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{
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//currentRotation.z += Input.GetAxis("Mouse X") * speed_mouse * 40.0f; //got x40 factor from SE...??
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//pos.z += mouseDeltaPosition.magnitude * Mathf.Sign(mouseDeltaPosition.x) * speed_mouse;
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pos.x += mouseDeltaPosition.x * speed_mouse;
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pos.y += mouseDeltaPosition.y * speed_mouse;
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}
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Debug.Log(pos.ToString());
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gameObject.transform.position = pos;
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}
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}
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}
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}
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//Check where my camera is
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void checkTouch(Vector2 pos)
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{
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Vector3 wp = Camera.main.ScreenToWorldPoint(pos);
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Vector2 touchPos = new Vector2(wp.x, wp.y);
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Collider2D hit = Physics2D.OverlapPoint(touchPos);
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//did_get_hit = hit;
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if (hit)
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{
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if (hit.transform.gameObject.name == name)
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{
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Debug.Log(name);
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hit.transform.gameObject.SendMessage("Clicked", 0, SendMessageOptions.DontRequireReceiver);
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}
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}
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}
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}

‎Utillity Scripts/TouchControl.cs.meta‎

Lines changed: 13 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

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