From ca0dfcf923226d235d84b9d209d465f29feb0497 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sat, 10 Nov 2018 20:44:12 +0100 Subject: [PATCH 01/18] Initial commit --- .gitattributes | 37 +++++++++++++++++++++++++++++++++++++ 2018-unity-sim/.gitignore | 21 +++++++++++++++++++++ 2018-unity-sim/README.md | 1 + 3 files changed, 59 insertions(+) create mode 100644 .gitattributes create mode 100644 2018-unity-sim/.gitignore create mode 100644 2018-unity-sim/README.md diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..533fe76 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,37 @@ +*.wmv filter=lfs diff=lfs merge=lfs -text +*.WMV filter=lfs diff=lfs merge=lfs -text +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.MP4 filter=lfs diff=lfs merge=lfs -text +*.MPG filter=lfs diff=lfs merge=lfs -text +*.mpg filter=lfs diff=lfs merge=lfs -text +*.jpg filter=lfs diff=lfs merge=lfs -text +*.JPG filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.PNG filter=lfs diff=lfs merge=lfs -text +*.bmp filter=lfs diff=lfs merge=lfs -text +*.exr filter=lfs diff=lfs merge=lfs -text +*.pdf filter=lfs diff=lfs merge=lfs -text +*.docx filter=lfs diff=lfs merge=lfs -text +*.vsdx filter=lfs diff=lfs merge=lfs -text +*.dwg filter=lfs diff=lfs merge=lfs -text +*.f3d filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zi filter=lfs diff=lfs merge=lfs -text +*.stl filter=lfs diff=lfs merge=lfs -text +*.STL filter=lfs diff=lfs merge=lfs -text +*.HMI filter=lfs diff=lfs merge=lfs -text +*.exe filter=lfs diff=lfs merge=lfs -text +*.dll filter=lfs diff=lfs merge=lfs -text +*.pdb filter=lfs diff=lfs merge=lfs -text +*.idb filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text +*.ipch filter=lfs diff=lfs merge=lfs -text +*.sdf filter=lfs diff=lfs merge=lfs -text +*.suo filter=lfs diff=lfs merge=lfs -text +*.db filter=lfs diff=lfs merge=lfs -text +*.lnk filter=lfs diff=lfs merge=lfs -text +*.ide filter=lfs diff=lfs merge=lfs -text +*.ide-wal filter=lfs diff=lfs merge=lfs -text +*.ide-shm filter=lfs diff=lfs merge=lfs -text +2018-unity-sim/**/*.unity filter=lfs diff=lfs merge=lfs -text diff --git a/2018-unity-sim/.gitignore b/2018-unity-sim/.gitignore new file mode 100644 index 0000000..9de9409 --- /dev/null +++ b/2018-unity-sim/.gitignore @@ -0,0 +1,21 @@ +/[Ll]ibrary/ +/[Tt]emp/ +/[Oo]bj/ +/[Bb]uild/ + +# Autogenerated VS/MD solution and project files +*.csproj +*.unityproj +*.sln +*.suo +*.tmp +*.user +*.userprefs +*.pidb +*.booproj + +# Unity3D generated meta files +*.pidb.meta + +# Unity3D Generated File On Crash Reports +sysinfo.txt diff --git a/2018-unity-sim/README.md b/2018-unity-sim/README.md new file mode 100644 index 0000000..1043e02 --- /dev/null +++ b/2018-unity-sim/README.md @@ -0,0 +1 @@ +Hexapod From 5acd47f2efc9823646dc013f36e17cac1ab117ea Mon Sep 17 00:00:00 2001 From: Unknown Date: Sat, 10 Nov 2018 20:44:41 +0100 Subject: [PATCH 02/18] v1 --- 2018-unity-sim/.gitignore | 2 + .../.vs/Hexapod/DesignTimeBuild/.dtbcache | Bin 0 -> 160 bytes 2018-unity-sim/.vs/Hexapod/v15/Browse.VC.db | 3 + .../Hexapod/v15/Server/sqlite3/storage.ide | 3 + .../v15/Server/sqlite3/storage.ide-shm | 3 + .../v15/Server/sqlite3/storage.ide-wal | 3 + 2018-unity-sim/Assets/Foot.cs | 162 + 2018-unity-sim/Assets/Foot.cs.meta | 13 + 2018-unity-sim/Assets/Leg.cs | 74 + 2018-unity-sim/Assets/Leg.cs.meta | 13 + 2018-unity-sim/Assets/Leg.prefab | 3508 +++++++++++++++++ 2018-unity-sim/Assets/Leg.prefab.meta | 10 + 2018-unity-sim/Assets/Main.unity | 3 + 2018-unity-sim/Assets/Main.unity.meta | 9 + 2018-unity-sim/Assets/RotationControl.cs | 62 + 2018-unity-sim/Assets/RotationControl.cs.meta | 13 + .../ProjectSettings/AudioManager.asset | 17 + .../ProjectSettings/ClusterInputManager.asset | 6 + .../ProjectSettings/DynamicsManager.asset | 29 + .../ProjectSettings/EditorBuildSettings.asset | 7 + .../ProjectSettings/EditorSettings.asset | 21 + 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2018-unity-sim/Assets/Foot.cs create mode 100644 2018-unity-sim/Assets/Foot.cs.meta create mode 100644 2018-unity-sim/Assets/Leg.cs create mode 100644 2018-unity-sim/Assets/Leg.cs.meta create mode 100644 2018-unity-sim/Assets/Leg.prefab create mode 100644 2018-unity-sim/Assets/Leg.prefab.meta create mode 100644 2018-unity-sim/Assets/Main.unity create mode 100644 2018-unity-sim/Assets/Main.unity.meta create mode 100644 2018-unity-sim/Assets/RotationControl.cs create mode 100644 2018-unity-sim/Assets/RotationControl.cs.meta create mode 100644 2018-unity-sim/ProjectSettings/AudioManager.asset create mode 100644 2018-unity-sim/ProjectSettings/ClusterInputManager.asset create mode 100644 2018-unity-sim/ProjectSettings/DynamicsManager.asset create mode 100644 2018-unity-sim/ProjectSettings/EditorBuildSettings.asset create mode 100644 2018-unity-sim/ProjectSettings/EditorSettings.asset create mode 100644 2018-unity-sim/ProjectSettings/GraphicsSettings.asset create mode 100644 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+\.vs/Hexapod/v15/Server/sqlite3/db\.lock diff --git a/2018-unity-sim/.vs/Hexapod/DesignTimeBuild/.dtbcache b/2018-unity-sim/.vs/Hexapod/DesignTimeBuild/.dtbcache new file mode 100644 index 0000000000000000000000000000000000000000..307202365d2aca50baa038d05319397a2b81c838 GIT binary patch literal 160 zcmZQ)U|=w0FlEqVFb852hVqwZlO2I#&J0!zF$|#$#SEzoML;r!A%r0V$aZGP2l7*a zd>0@qnW2;+7s$(FC;_W+XUGJyJb rotation2 = new List(); + public GameObject body; + + public double min = -15; + public double max = 15; + public float speed = 0.3f; + public float speed2 = 0.3f; + public float speed3 = 0.3f; + bool dir = false; + bool dir2 = false; + bool dir3 = false; + + // Use this for initialization + void Start () + { + } + + // Update is called once per frame + void Update() + { + /*if (!dir2 && rotation.x < max) + rotation.x += speed2; + else if (!dir2) + dir2 = !dir2; + else if (dir2 && rotation.x > min) + rotation.x -= speed2; + else if (dir2) + dir2 = !dir2;*/ + + /*if (!dir3 && rotation.y < max) + 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- + - + - + - + - + - + - + - + - + - + - + - + m_SortingLayers: + - name: Default + uniqueID: 0 + locked: 0 diff --git a/2018-unity-sim/ProjectSettings/TimeManager.asset b/2018-unity-sim/ProjectSettings/TimeManager.asset new file mode 100644 index 0000000..558a017 --- /dev/null +++ b/2018-unity-sim/ProjectSettings/TimeManager.asset @@ -0,0 +1,9 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!5 &1 +TimeManager: + m_ObjectHideFlags: 0 + Fixed Timestep: 0.02 + Maximum Allowed Timestep: 0.33333334 + m_TimeScale: 1 + Maximum Particle Timestep: 0.03 diff --git a/2018-unity-sim/ProjectSettings/UnityConnectSettings.asset b/2018-unity-sim/ProjectSettings/UnityConnectSettings.asset new file mode 100644 index 0000000..3c9c09b --- /dev/null +++ b/2018-unity-sim/ProjectSettings/UnityConnectSettings.asset @@ -0,0 +1,34 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!310 &1 +UnityConnectSettings: + m_ObjectHideFlags: 0 + m_Enabled: 0 + m_TestMode: 0 + m_TestEventUrl: + m_TestConfigUrl: + m_TestInitMode: 0 + CrashReportingSettings: + m_EventUrl: https://perf-events.cloud.unity3d.com/api/events/crashes + m_NativeEventUrl: https://perf-events.cloud.unity3d.com/symbolicate + m_Enabled: 1 + m_CaptureEditorExceptions: 1 + UnityPurchasingSettings: + m_Enabled: 0 + m_TestMode: 0 + UnityAnalyticsSettings: + m_Enabled: 1 + m_InitializeOnStartup: 1 + m_TestMode: 0 + m_TestEventUrl: + m_TestConfigUrl: + UnityAdsSettings: + m_Enabled: 0 + m_InitializeOnStartup: 1 + m_TestMode: 0 + m_IosGameId: + m_AndroidGameId: + m_GameIds: {} + m_GameId: + PerformanceReportingSettings: + m_Enabled: 0 diff --git a/2018-unity-sim/UnityPackageManager/manifest.json b/2018-unity-sim/UnityPackageManager/manifest.json new file mode 100644 index 0000000..526aca6 --- /dev/null +++ b/2018-unity-sim/UnityPackageManager/manifest.json @@ -0,0 +1,4 @@ +{ + "dependencies": { + } +} From 67eb222ced9607219c33e31b6fc8ea4523d93fb2 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sat, 10 Nov 2018 23:23:03 +0100 Subject: [PATCH 03/18] v2 WORKING ROTATIONS --- .../Hexapod/v15/Server/sqlite3/storage.ide | 2 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Foot.cs | 41 +++++++++++-------- 2018-unity-sim/Assets/Leg.cs | 13 +++--- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/RotationControl.cs | 14 +++---- 7 files changed, 40 insertions(+), 38 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index e04b087..b9471d5 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9eee43514d1020ba2627eb6f457f0988d344f1e03ae4f6b56f3b9f74b0f11c9a +oid sha256:d61c4d70456f0abfd29aecca2ed8d20f6777e4f66d293946712d789e4d52661d size 704512 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 932885a..e98703c 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:85af3a56d42078a28e2a5b9648318d5d4366c3b8f2619964af930a619d4d9c61 +oid sha256:1789ed53dec422b13077d32aaf6316b27ffaeb93028b2a0e350bca958d62772d size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index f35783d..401006c 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5740adf887e1bd00e25894ebdddd61c5db4544f5da22d6cd989a2bb35d6e7f6a +oid sha256:4863417bbcb00c136855aab9c10306c8a494aa756b537506fcaa6f3089a243fc size 4140632 diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index 4f1375f..ca37191 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -127,36 +127,41 @@ public class Foot : Component Y += translateY; Z += translateZ; - Y = Y * (invert ? -1 : 1); - X = X * (invert ? -1 : -1); - Z = Z * (invert ? -1 : -1); - /*RotateX(); RotateY(); RotateZ();*/ - - rotationY = rotationY * (invert ? 1 : 1); - + // Z and X is working. Y has problems when combined with others. - Vector3 v = new Vector3((float)Z, (float)Y, (float)X); - v = Quaternion.Euler((float)rotationX, (float)rotationY, (float)rotationZ) * v; - Z = v.x; + Vector3 v = new Vector3((float)X, (float)Y, (float)Z); + v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v; + v = Quaternion.Euler((float)rotationX, (float)0, (float)0) * v; + v = Quaternion.Euler((float)0, (float)0, (float)rotationZ) * v; + X = v.x; Y = v.y; - X = v.z; - - Y = Y * (invert ? -1 : 1); - X = X * (invert ? -1 : -1); - Z = Z * (invert ? -1 : -1); - + Z = v.z; + X -= translateX; Y -= translateY; Z -= translateZ; + // translate to my stupid formula coordinates. + double tx = X; + double ty = Y; + double tz = Z; + X = tz * (invert ? -1 : 1); + Y = ty * -1; + Z = tx * -1; + + // run IK O1 = (90 - FO1()); O2 = T1(); O3 = 180 - T3(); - Y = Y * -1; - pos = new Vector3((float)Z, (float)Y, (float)X); + // translate to my stupid formula coordinates. + X = tx; + Y = ty; + Z = tz; + + pos = new Vector3((float)X * (invert ? -1 : 1), (float)Y, (float)Z * (invert ? -1 : 1)); } } diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index 031c82f..58393b3 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -34,13 +34,12 @@ public class Leg : MonoBehaviour { void Update() { foot.X = point.x; - foot.Y = point.y * -1; - //foot.Z = point.z * (invert ? -1 : 1); - foot.Z = point.z * (invert ? 1 : -1); + foot.Y = point.y; + foot.Z = point.z; foot.rotationX = rotation.x; - foot.rotationY = rotation.y * (invert ? -1 : 1); - foot.rotationZ = rotation.z * (invert ? -1 : 1); + foot.rotationY = rotation.y; + foot.rotationZ = rotation.z; foot.translateX = translateX; foot.translateY = translateY; @@ -67,8 +66,6 @@ public class Leg : MonoBehaviour { Hip2.transform.localRotation = Quaternion.Euler((float)a2, 0, 0); Knie.transform.localRotation = Quaternion.Euler((float)a3, 0, 0); - pos = foot.pos; - pos.x = pos.x * (invert ? 1 : -1); - pointShouldBe.transform.localPosition = pos; + pointShouldBe.transform.localPosition = foot.pos; } } diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index bfc5163..98cf40c 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4e1d1aabe8ab67ceea93b385482c976ce33c87bf3b13ada9201ea7deebd226bd -size 33557 +oid sha256:8a2be3952982ba00b2a7e7dbe0048ab7b2ee517dc1d3ec8c10a0011141abb118 +size 36028 diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs index 1e7a1b3..928f774 100644 --- a/2018-unity-sim/Assets/RotationControl.cs +++ b/2018-unity-sim/Assets/RotationControl.cs @@ -25,34 +25,34 @@ public class RotationControl : MonoBehaviour // Update is called once per frame void Update() { - /*if (!dir2 && rotation.x < max) + if (!dir2 && rotation.x < max) rotation.x += speed2; else if (!dir2) dir2 = !dir2; else if (dir2 && rotation.x > min) rotation.x -= speed2; else if (dir2) - dir2 = !dir2;*/ + dir2 = !dir2; - /*if (!dir3 && rotation.y < max) + if (!dir3 && rotation.y < max) rotation.y += speed3; else if (!dir3) dir3 = !dir3; else if (dir3 && rotation.y > min) rotation.y -= speed3; else if (dir3) - dir3 = !dir3;*/ + dir3 = !dir3; - /*if (!dir && rotation.z < max) + if (!dir && rotation.z < max) rotation.z += speed; else if (!dir) dir = !dir; else if (dir && rotation.z > min) rotation.z -= speed; else if (dir) - dir = !dir;*/ + dir = !dir; - body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y, rotation.z); + body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1); for (int index = 0; index < rotation2.Count; ++index) { From e6697e9980c232ef8323bf13246dc474abb8cf78 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sat, 10 Nov 2018 23:54:58 +0100 Subject: [PATCH 04/18] beautify --- 2018-unity-sim/Assets/Foot.cs | 2 +- 2018-unity-sim/Assets/Leg.cs | 4 +- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/RotationControl.cs | 90 ++++++++++++++++-------- 4 files changed, 65 insertions(+), 35 deletions(-) diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index ca37191..19607e5 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -131,7 +131,7 @@ public class Foot : Component RotateY(); RotateZ();*/ - // Z and X is working. Y has problems when combined with others. + // the order of these rotation transformations is important!!! Vector3 v = new Vector3((float)X, (float)Y, (float)Z); v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v; v = Quaternion.Euler((float)rotationX, (float)0, (float)0) * v; diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index 58393b3..d30967f 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -16,7 +16,7 @@ public class Leg : MonoBehaviour { public bool invert = false; - public double translateX = 5; + public double translateX = 0; public double translateY = 0; public double translateZ = 0; @@ -31,7 +31,7 @@ public class Leg : MonoBehaviour { } // Update is called once per frame - void Update() + public void FixedUpdate() { foot.X = point.x; foot.Y = point.y; diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 98cf40c..981e277 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8a2be3952982ba00b2a7e7dbe0048ab7b2ee517dc1d3ec8c10a0011141abb118 -size 36028 +oid sha256:0b7396bf84046e0454ff9b50e8a912c5a16957bc69b409f12860d5f4f9254c73 +size 9964272 diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs index 928f774..8797aa0 100644 --- a/2018-unity-sim/Assets/RotationControl.cs +++ b/2018-unity-sim/Assets/RotationControl.cs @@ -8,14 +8,16 @@ public class RotationControl : MonoBehaviour public List rotation2 = new List(); public GameObject body; - public double min = -15; - public double max = 15; + public float min = -15; + public float max = 15; public float speed = 0.3f; public float speed2 = 0.3f; public float speed3 = 0.3f; - bool dir = false; - bool dir2 = false; - bool dir3 = false; + public bool dir = false; + public bool dir2 = false; + public bool dir3 = false; + + public bool p = false, r = false, y = false; // Use this for initialization void Start () @@ -23,40 +25,68 @@ public class RotationControl : MonoBehaviour } // Update is called once per frame - void Update() + void FixedUpdate() { - if (!dir2 && rotation.x < max) - rotation.x += speed2; - else if (!dir2) - dir2 = !dir2; - else if (dir2 && rotation.x > min) - rotation.x -= speed2; - else if (dir2) - dir2 = !dir2; + if (p) + { + if (!dir2 && rotation.x < max) + rotation.x += speed2; + else if (!dir2) + { + dir2 = !dir2; + rotation.x = (float)max; + } + else if (dir2 && rotation.x > min) + rotation.x -= speed2; + else if (dir2) + { + dir2 = !dir2; + rotation.x = (float)min; + } + } - if (!dir3 && rotation.y < max) - rotation.y += speed3; - else if (!dir3) - dir3 = !dir3; - else if (dir3 && rotation.y > min) - rotation.y -= speed3; - else if (dir3) - dir3 = !dir3; + if (r) + { + if (!dir3 && rotation.y < max) + rotation.y += speed3; + else if (!dir3) + { + dir3 = !dir3; + rotation.y = (float)max; + } + else if (dir3 && rotation.y > min) + rotation.y -= speed3; + else if (dir3) + { + dir3 = !dir3; + rotation.y = (float)min; + } + } - if (!dir && rotation.z < max) - rotation.z += speed; - else if (!dir) - dir = !dir; - else if (dir && rotation.z > min) - rotation.z -= speed; - else if (dir) - dir = !dir; + if (y) + { + if (!dir && rotation.z < max) + rotation.z += speed; + else if (!dir) + { + dir = !dir; + rotation.z = (float)max; + } + else if (dir && rotation.z > min) + rotation.z -= speed; + else if (dir) + { + dir = !dir; + rotation.z = (float)min; + } + } body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1); for (int index = 0; index < rotation2.Count; ++index) { rotation2[index].GetComponent().rotation = rotation; + rotation2[index].GetComponent().FixedUpdate(); } } } From 21da5d3a8b0ac03c635c32d0db87ef9900bc8dfb Mon Sep 17 00:00:00 2001 From: Unknown Date: Sun, 11 Nov 2018 18:11:13 +0100 Subject: [PATCH 05/18] v3 working transformations and working knie offset :D --- 2018-unity-sim/Assets/Foot.cs | 26 +++++++++++++++++++++++--- 2018-unity-sim/Assets/Leg.cs | 4 ++++ 2018-unity-sim/Assets/Leg.prefab | 3 ++- 2018-unity-sim/Assets/Main.unity | 4 ++-- 4 files changed, 31 insertions(+), 6 deletions(-) diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index 19607e5..db17b44 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -25,6 +25,10 @@ public class Foot : Component public double rotationX=0, rotationY=0, rotationZ=0; public double O1, O2, O3; + public Vector3 transformation = new Vector3(0, 0, 0); + + static float temp = 2; + void RL3() { if ((X == 0) && (Z == 0)) @@ -34,6 +38,9 @@ public class Foot : Component if (X < 0) l3 = l3 * -1; + + //todo + l3 -= temp; } double FO1() @@ -55,7 +62,12 @@ public class Foot : Component double y2 = Y * Y; double z2 = Z * Z; - s = Math.Sqrt(x2 + y2 + z2); + double t = Math.Sqrt(x2 + z2); + t -= temp; + t = t * t; + //todo: X,Z remove distance temp. + s = Math.Sqrt(y2 + t); + //s = Math.Sqrt(x2 + y2 + z2); double t1 = 0; double s2 = s * s; @@ -127,10 +139,14 @@ public class Foot : Component Y += translateY; Z += translateZ; + X -= transformation.x; + Y -= transformation.y; + Z -= transformation.z; + /*RotateX(); RotateY(); RotateZ();*/ - + // the order of these rotation transformations is important!!! Vector3 v = new Vector3((float)X, (float)Y, (float)Z); v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v; @@ -139,7 +155,7 @@ public class Foot : Component X = v.x; Y = v.y; Z = v.z; - + X -= translateX; Y -= translateY; Z -= translateZ; @@ -153,7 +169,11 @@ public class Foot : Component Z = tx * -1; // run IK + // add adjustment from knie + O1 = (90 - FO1()); + // remove adjustment from knie + O2 = T1(); O3 = 180 - T3(); diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index d30967f..50cb6be 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -14,6 +14,8 @@ public class Leg : MonoBehaviour { public Vector3 point = new Vector3(10, 10, 0); public Quaternion rotation = new Quaternion(0, 0, 0, 0); + public Vector3 transformation = new Vector3(0, 0, 0); + public bool invert = false; public double translateX = 0; @@ -45,6 +47,8 @@ public class Leg : MonoBehaviour { foot.translateY = translateY; foot.translateZ = translateZ; + foot.transformation = transformation; + foot.invert = invert; foot.setleg(); diff --git a/2018-unity-sim/Assets/Leg.prefab b/2018-unity-sim/Assets/Leg.prefab index 19039e7..e597d20 100644 --- a/2018-unity-sim/Assets/Leg.prefab +++ b/2018-unity-sim/Assets/Leg.prefab @@ -1834,7 +1834,7 @@ MeshRenderer: m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 m_Materials: - - {fileID: 10756, guid: 0000000000000000e000000000000000, type: 0} + - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0} m_StaticBatchInfo: firstSubMesh: 0 subMeshCount: 0 @@ -3050,6 +3050,7 @@ MonoBehaviour: a3: 0 point: {x: 10, y: 10, z: 0} rotation: {x: 0, y: 0, z: 0, w: 0} + transformation: {x: 0, y: 0, z: 0} invert: 0 translateX: 5 translateY: 0 diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 981e277..e09c1fa 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0b7396bf84046e0454ff9b50e8a912c5a16957bc69b409f12860d5f4f9254c73 -size 9964272 +oid sha256:e246558765b9012632b9fd65fba8186ffdfe19b1e96581c9f671176030e8e2d6 +size 9964531 From 235a81c2809507f5309bf31a965fec6c2265deb1 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sun, 11 Nov 2018 22:26:43 +0100 Subject: [PATCH 06/18] v4 transformation after rotation added. --- .../Hexapod/v15/Server/sqlite3/storage.ide | 2 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Foot.cs | 11 +- 2018-unity-sim/Assets/Leg.cs | 5 + 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/RotationControl.cs | 134 ++++++++++-------- 7 files changed, 91 insertions(+), 69 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index b9471d5..1772fc1 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d61c4d70456f0abfd29aecca2ed8d20f6777e4f66d293946712d789e4d52661d +oid sha256:a112b1a23f82fb2ee5a227783908ee15220ae6538d132124814dbe046b8e7456 size 704512 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index e98703c..14821ca 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1789ed53dec422b13077d32aaf6316b27ffaeb93028b2a0e350bca958d62772d +oid sha256:96725131fe70ef3e5f0c802dfedf2c719ad4b2b18f84abe4342371cb742a04fc size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 401006c..1a46983 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4863417bbcb00c136855aab9c10306c8a494aa756b537506fcaa6f3089a243fc +oid sha256:3e4665df57796556f6e9f3b54e1d87794d3e61d4637e00c94f699696e3016e1a size 4140632 diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index db17b44..7e4cb66 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -26,8 +26,9 @@ public class Foot : Component public double O1, O2, O3; public Vector3 transformation = new Vector3(0, 0, 0); + public Vector3 transformation2 = new Vector3(0, 0, 0); - static float temp = 2; + static float knie_offset = 2; void RL3() { @@ -40,7 +41,7 @@ public class Foot : Component l3 = l3 * -1; //todo - l3 -= temp; + l3 -= knie_offset; } double FO1() @@ -63,7 +64,7 @@ public class Foot : Component double z2 = Z * Z; double t = Math.Sqrt(x2 + z2); - t -= temp; + t -= knie_offset; t = t * t; //todo: X,Z remove distance temp. s = Math.Sqrt(y2 + t); @@ -156,6 +157,10 @@ public class Foot : Component Y = v.y; Z = v.z; + X -= transformation2.x; + Y -= transformation2.y; + Z -= transformation2.z; + X -= translateX; Y -= translateY; Z -= translateZ; diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index 50cb6be..eead909 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -15,6 +15,7 @@ public class Leg : MonoBehaviour { public Quaternion rotation = new Quaternion(0, 0, 0, 0); public Vector3 transformation = new Vector3(0, 0, 0); + public Vector3 transformation2 = new Vector3(0, 0, 0); public bool invert = false; @@ -47,8 +48,12 @@ public class Leg : MonoBehaviour { foot.translateY = translateY; foot.translateZ = translateZ; + // transform before rotation. foot.transformation = transformation; + // transform after rotation. + foot.transformation2 = transformation2; + foot.invert = invert; foot.setleg(); diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index e09c1fa..50665ef 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e246558765b9012632b9fd65fba8186ffdfe19b1e96581c9f671176030e8e2d6 -size 9964531 +oid sha256:95a2ba9a07a7566824cb024cd928f08c80c2820fdcd86abfc6642b43253d0ab4 +size 9965616 diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs index 8797aa0..0652173 100644 --- a/2018-unity-sim/Assets/RotationControl.cs +++ b/2018-unity-sim/Assets/RotationControl.cs @@ -2,22 +2,72 @@ using System.Collections.Generic; using UnityEngine; -public class RotationControl : MonoBehaviour +public class rotation { - public Quaternion rotation = new Quaternion(0, 0, 0, 0); - public List rotation2 = new List(); - public GameObject body; - public float min = -15; public float max = 15; public float speed = 0.3f; - public float speed2 = 0.3f; - public float speed3 = 0.3f; public bool dir = false; - public bool dir2 = false; - public bool dir3 = false; + public bool enabled = true; - public bool p = false, r = false, y = false; + public float i = 0; + + public rotation(float speed, float min, float max) + { + this.speed = speed; + this.min = min; + this.max = max; + } + + public float update() + { + if (enabled) + { + if (!dir && i < max) + { + i += speed; + } + else if (!dir) + { + dir = !dir; + i = (float)max; + } + else if (dir && i > min) + { + i -= speed; + } + else if (dir) + { + dir = !dir; + i = (float)min; + } + } + + return i; + } +} + +public class RotationControl : MonoBehaviour +{ + public Vector3 transformation = new Vector3(0, 0, 0); + public Vector3 transformation2 = new Vector3(0, 0, 0); + + public Quaternion rotation = new Quaternion(0, 0, 0, 0); + public List rotation2 = new List(); + public GameObject body; + public GameObject body2; + + public rotation r1 = new rotation(0.1f, -15, 15); + public rotation r2 = new rotation(0.2f, -15, 15); + public rotation r3 = new rotation(0.3f, -15, 15); + + public rotation r4 = new rotation(0.01f, -3, 3); + public rotation r5 = new rotation(0.02f, -3, 3); + public rotation r6 = new rotation(0.03f, -3, 3); + + public rotation r7 = new rotation(0.001f, -3, 3); + public rotation r8 = new rotation(0.002f, -3, 3); + public rotation r9 = new rotation(0.003f, -3, 3); // Use this for initialization void Start () @@ -27,65 +77,27 @@ public class RotationControl : MonoBehaviour // Update is called once per frame void FixedUpdate() { - if (p) - { - if (!dir2 && rotation.x < max) - rotation.x += speed2; - else if (!dir2) - { - dir2 = !dir2; - rotation.x = (float)max; - } - else if (dir2 && rotation.x > min) - rotation.x -= speed2; - else if (dir2) - { - dir2 = !dir2; - rotation.x = (float)min; - } - } + rotation.x = r1.update(); + rotation.y = r2.update(); + rotation.z = r3.update(); - if (r) - { - if (!dir3 && rotation.y < max) - rotation.y += speed3; - else if (!dir3) - { - dir3 = !dir3; - rotation.y = (float)max; - } - else if (dir3 && rotation.y > min) - rotation.y -= speed3; - else if (dir3) - { - dir3 = !dir3; - rotation.y = (float)min; - } - } + transformation.x = r4.update(); + transformation.y = r5.update(); + transformation.z = r6.update(); - if (y) - { - if (!dir && rotation.z < max) - rotation.z += speed; - else if (!dir) - { - dir = !dir; - rotation.z = (float)max; - } - else if (dir && rotation.z > min) - rotation.z -= speed; - else if (dir) - { - dir = !dir; - rotation.z = (float)min; - } - } + transformation2.x = r7.update(); + transformation2.y = r8.update(); + transformation2.z = r9.update(); body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1); + body.transform.position = transformation; + body2.transform.localPosition = transformation2; for (int index = 0; index < rotation2.Count; ++index) { rotation2[index].GetComponent().rotation = rotation; + rotation2[index].GetComponent().transformation = transformation; + rotation2[index].GetComponent().transformation2 = transformation2; rotation2[index].GetComponent().FixedUpdate(); } } From 9dcf9a61904a002e1840613fb9d8db932eefaafa Mon Sep 17 00:00:00 2001 From: Unknown Date: Mon, 12 Nov 2018 23:57:23 +0100 Subject: [PATCH 07/18] Added serial link to SSC32 --- .../Hexapod/v15/Server/sqlite3/storage.ide | 4 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Foot.cs | 2 +- 2018-unity-sim/Assets/Leg.cs | 26 ++++++++ 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/RotationControl.cs | 30 ++++----- 2018-unity-sim/Assets/Serial.cs | 65 +++++++++++++++++++ 2018-unity-sim/Assets/Serial.cs.meta | 13 ++++ .../ProjectSettings/ProjectSettings.asset | 3 +- 10 files changed, 128 insertions(+), 23 deletions(-) create mode 100644 2018-unity-sim/Assets/Serial.cs create mode 100644 2018-unity-sim/Assets/Serial.cs.meta diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index 1772fc1..a0e099f 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a112b1a23f82fb2ee5a227783908ee15220ae6538d132124814dbe046b8e7456 -size 704512 +oid sha256:c4c3f4544eb43253b4b9ad94cc8291363a6ce0f6df51feaa403bbfb95295079c +size 1015808 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 14821ca..c93e578 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:96725131fe70ef3e5f0c802dfedf2c719ad4b2b18f84abe4342371cb742a04fc +oid sha256:67e4d109d215f82a493b4ce51e540c4865a5526df7a00a03c03ef61814f85448 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 1a46983..a5e2164 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3e4665df57796556f6e9f3b54e1d87794d3e61d4637e00c94f699696e3016e1a +oid sha256:2ccfe5eac771e341c240adcad75bc3967f5421a290d5ce27c7a49eb7a82aacfb size 4140632 diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index 7e4cb66..ddac315 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -28,7 +28,7 @@ public class Foot : Component public Vector3 transformation = new Vector3(0, 0, 0); public Vector3 transformation2 = new Vector3(0, 0, 0); - static float knie_offset = 2; + static float knie_offset = 3; void RL3() { diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index eead909..b38c499 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -26,6 +26,8 @@ public class Leg : MonoBehaviour { public GameObject pointShouldBe; public Vector3 pos = new Vector3(0, 0, 0); + public int startServo = -1; + private Foot foot = new Foot(); // Use this for initialization @@ -71,10 +73,34 @@ public class Leg : MonoBehaviour { a3 = foot.O3 - 90; } + if (!invert && startServo != -1) + { + Serial.Instance.send(startServo, + (int)Remap((float)a1, -90, 90, 2500, 500), + (int)Remap((float)a2, -90, 90, 2500, 500), // 0 is middel + (int)Remap((float)a3, 90, -90, 2500, 500)); // 0 is middel + } + else if (invert && startServo != -1) + { + double a1 = foot.O1 - 90; + double a2 = 90 - foot.O2; + double a3 = foot.O3 - 90; + + Serial.Instance.send(startServo, + (int)Remap((float)a1, -90, 90, 500, 2500), + (int)Remap((float)a2, -90, 90, 500, 2500), // 0 is middel + (int)Remap((float)a3, 90, -90, 500, 2500)); // 0 is middel + } + Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0); Hip2.transform.localRotation = Quaternion.Euler((float)a2, 0, 0); Knie.transform.localRotation = Quaternion.Euler((float)a3, 0, 0); pointShouldBe.transform.localPosition = foot.pos; } + + public static float Remap(float value, float from1, float to1, float from2, float to2) + { + return (value - from1) / (to1 - from1) * (to2 - from2) + from2; + } } diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 50665ef..dccfa5a 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:95a2ba9a07a7566824cb024cd928f08c80c2820fdcd86abfc6642b43253d0ab4 -size 9965616 +oid sha256:740de46c9249c7078152b640eba341ecc651e214355c14dabc7a6a29355d90d1 +size 9965603 diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs index 0652173..9e018a4 100644 --- a/2018-unity-sim/Assets/RotationControl.cs +++ b/2018-unity-sim/Assets/RotationControl.cs @@ -57,17 +57,17 @@ public class RotationControl : MonoBehaviour public GameObject body; public GameObject body2; - public rotation r1 = new rotation(0.1f, -15, 15); - public rotation r2 = new rotation(0.2f, -15, 15); - public rotation r3 = new rotation(0.3f, -15, 15); + public rotation r1 = new rotation(0.1f, -10, 10); + public rotation r2 = new rotation(0.2f, -10, 10); + public rotation r3 = new rotation(0.3f, -10, 10); - public rotation r4 = new rotation(0.01f, -3, 3); - public rotation r5 = new rotation(0.02f, -3, 3); - public rotation r6 = new rotation(0.03f, -3, 3); + public rotation r4 = new rotation(0.06f, -3, 3); + public rotation r5 = new rotation(0.08f, -3, 3); + public rotation r6 = new rotation(0.1f, -3, 3); - public rotation r7 = new rotation(0.001f, -3, 3); - public rotation r8 = new rotation(0.002f, -3, 3); - public rotation r9 = new rotation(0.003f, -3, 3); + public rotation r7 = new rotation(0.1f, -3, 3); + public rotation r8 = new rotation(0.2f, -3, 3); + public rotation r9 = new rotation(0.3f, -3, 3); // Use this for initialization void Start () @@ -77,17 +77,17 @@ public class RotationControl : MonoBehaviour // Update is called once per frame void FixedUpdate() { - rotation.x = r1.update(); - rotation.y = r2.update(); - rotation.z = r3.update(); + //rotation.x = r1.update(); + //rotation.y = r2.update(); + //rotation.z = r3.update(); transformation.x = r4.update(); - transformation.y = r5.update(); + //transformation.y = r5.update(); transformation.z = r6.update(); - transformation2.x = r7.update(); + /*transformation2.x = r7.update(); transformation2.y = r8.update(); - transformation2.z = r9.update(); + transformation2.z = r9.update();*/ body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1); body.transform.position = transformation; diff --git a/2018-unity-sim/Assets/Serial.cs b/2018-unity-sim/Assets/Serial.cs new file mode 100644 index 0000000..f904b15 --- /dev/null +++ b/2018-unity-sim/Assets/Serial.cs @@ -0,0 +1,65 @@ +using UnityEngine; +using System.Collections; +using System.IO.Ports; + +public class Serial { + private static Serial instance; + + private Serial() { } + + ~Serial() { + serialPort.Close(); + } + + public static Serial Instance + { + get + { + if (instance == null) + { + instance = new Serial(); + } + return instance; + } + } + + SerialPort serialPort; + + public void send(int start, int a, int b, int c) + { + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM10", 115200); + + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + } + + if (serialPort is SerialPort) + { + + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(a.ToString()); + + start++; + + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(b.ToString()); + + start++; + + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(c.ToString()); + + serialPort.Write(" \r"); + } + } + +} diff --git a/2018-unity-sim/Assets/Serial.cs.meta b/2018-unity-sim/Assets/Serial.cs.meta new file mode 100644 index 0000000..1b69f45 --- /dev/null +++ b/2018-unity-sim/Assets/Serial.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: c99b6d9374ff6d3419c7692fdf3c1791 +timeCreated: 1542057315 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/2018-unity-sim/ProjectSettings/ProjectSettings.asset b/2018-unity-sim/ProjectSettings/ProjectSettings.asset index 88ea0ba..95f3d08 100644 --- a/2018-unity-sim/ProjectSettings/ProjectSettings.asset +++ b/2018-unity-sim/ProjectSettings/ProjectSettings.asset @@ -554,7 +554,8 @@ PlayerSettings: incrementalIl2cppBuild: {} additionalIl2CppArgs: scriptingRuntimeVersion: 0 - apiCompatibilityLevelPerPlatform: {} + apiCompatibilityLevelPerPlatform: + Standalone: 1 m_RenderingPath: 1 m_MobileRenderingPath: 1 metroPackageName: Hexapod From 054cfb6d7245372ec281b9688bf62279ead92a34 Mon Sep 17 00:00:00 2001 From: Unknown Date: Tue, 13 Nov 2018 23:09:58 +0100 Subject: [PATCH 08/18] v5 ITS ALIVE, IT WALKS! --- .../Hexapod/v15/Server/sqlite3/storage.ide | 4 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/RotationControl.cs | 4 +- 2018-unity-sim/Assets/Serial.cs | 51 +++++---- 2018-unity-sim/Assets/Walk.cs | 101 ++++++++++++++++++ 2018-unity-sim/Assets/Walk.cs.meta | 13 +++ 8 files changed, 150 insertions(+), 31 deletions(-) create mode 100644 2018-unity-sim/Assets/Walk.cs create mode 100644 2018-unity-sim/Assets/Walk.cs.meta diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index a0e099f..d35ce34 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c4c3f4544eb43253b4b9ad94cc8291363a6ce0f6df51feaa403bbfb95295079c -size 1015808 +oid sha256:9202b8dd6cfeae2178ab386ec0e86aad5dfeca5ff21214cee23f3cd8ebd79869 +size 1024000 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index c93e578..018b39c 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:67e4d109d215f82a493b4ce51e540c4865a5526df7a00a03c03ef61814f85448 +oid sha256:fba003802c813b0a87d96cacf1c558f976e2d17d121e27e33b9207cdb44efd72 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index a5e2164..02cfc59 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2ccfe5eac771e341c240adcad75bc3967f5421a290d5ce27c7a49eb7a82aacfb +oid sha256:edf75adc1c1ee4aac6176c016911cc99350128df50dc38cfbb8202d3a6d03727 size 4140632 diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index dccfa5a..3ab7da8 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:740de46c9249c7078152b640eba341ecc651e214355c14dabc7a6a29355d90d1 -size 9965603 +oid sha256:75c899ee15cdc09c6d7f8705def4a49207aac4f45c6394ed9434aaa3d1d53138 +size 9968810 diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs index 9e018a4..8d837fc 100644 --- a/2018-unity-sim/Assets/RotationControl.cs +++ b/2018-unity-sim/Assets/RotationControl.cs @@ -81,9 +81,9 @@ public class RotationControl : MonoBehaviour //rotation.y = r2.update(); //rotation.z = r3.update(); - transformation.x = r4.update(); + //transformation.x = r4.update(); //transformation.y = r5.update(); - transformation.z = r6.update(); + //transformation.z = r6.update(); /*transformation2.x = r7.update(); transformation2.y = r8.update(); diff --git a/2018-unity-sim/Assets/Serial.cs b/2018-unity-sim/Assets/Serial.cs index f904b15..5eb6ece 100644 --- a/2018-unity-sim/Assets/Serial.cs +++ b/2018-unity-sim/Assets/Serial.cs @@ -23,42 +23,47 @@ public class Serial { } } + public bool enabled = false; + SerialPort serialPort; public void send(int start, int a, int b, int c) { - if (serialPort == null) + if (enabled) { - serialPort = new SerialPort(@"\\.\" + "COM10", 115200); + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM10", 115200); - serialPort.Open(); - serialPort.DiscardOutBuffer(); - serialPort.DiscardInBuffer(); - } + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + } - if (serialPort is SerialPort) - { + if (serialPort is SerialPort) + { - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(a.ToString()); + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(a.ToString()); - start++; + start++; - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(b.ToString()); + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(b.ToString()); - start++; + start++; - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(c.ToString()); + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(c.ToString()); - serialPort.Write(" \r"); + serialPort.Write(" \r"); + } } } diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs new file mode 100644 index 0000000..4382d70 --- /dev/null +++ b/2018-unity-sim/Assets/Walk.cs @@ -0,0 +1,101 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Walk : MonoBehaviour +{ + public List legs = new List(); + private List legsInitial = new List(); + + // Use this for initialization + void Start() + { + for (int index = 0; index < legs.Count; ++index) + { + legsInitial.Add(legs[index].GetComponent().point); + } + } + + struct step + { + public Vector3 pos; + public bool inAir; + + public step(Vector3 p, bool i) + { + pos = p; + inAir = i; + } + } + + // 1, 3, 5 -= 3 + + int offset(int i, int offset, int max) + { + return i - offset < 0 ? (max - (offset - i)) : i - offset; + } + + step[] s = { + new step(new Vector3(-1, 0, 0), false), + + new step(new Vector3(0, -2, 0), false), + + new step(new Vector3(0, 0, 0), false), // rest + + new step(new Vector3(1, 0, 0), false), + new step(new Vector3(1, 0, 0), false), + + new step(new Vector3(0, 0, 0), false), // rest + + new step(new Vector3(0, 2, 0), true), + new step(new Vector3(-1, 0, 0), false), + }; + + public int st = 5; + public int speed2 = 30; + int speed = 10; + + public float rotation = 0; + + int size = 8; + + public float walkspeed = 1; + + // Update is called once per frame + void FixedUpdate() + { + if (speed <= 0) + { + if (st >= size-1) + st = 0; + else + st++; + + for (int index = 0; index < legs.Count; ++index) + { + int t = st; + if (index == 1 || index == 3 || index == 5) + { + t = offset(st, 4, size); + } + + if (s[t].inAir == false) + { + Vector3 t2 = s[t].pos; + t2.x *= walkspeed; + + // rotate x,y around rotation. + legs[index].GetComponent().point += Quaternion.Euler(0, rotation, 0) * t2; + } + else + { + legs[index].GetComponent().point = legsInitial[index] + s[t].pos; + } + } + + speed = speed2; + } + else + speed--; + } +} diff --git a/2018-unity-sim/Assets/Walk.cs.meta b/2018-unity-sim/Assets/Walk.cs.meta new file mode 100644 index 0000000..72a7f4a --- /dev/null +++ b/2018-unity-sim/Assets/Walk.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 62866dc69f17c5f40a7ec527e34e82f1 +timeCreated: 1542141752 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From 8630ef075343f7e0760b107ae9f655fe252f4894 Mon Sep 17 00:00:00 2001 From: Unknown Date: Wed, 14 Nov 2018 22:22:38 +0100 Subject: [PATCH 09/18] v6 rotational walking :D --- .../Hexapod/v15/Server/sqlite3/storage.ide | 4 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Leg.cs | 12 +- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/Serial.cs | 13 ++- 2018-unity-sim/Assets/Walk.cs | 4 +- 2018-unity-sim/Assets/Walk2.cs | 103 ++++++++++++++++++ 2018-unity-sim/Assets/Walk2.cs.meta | 13 +++ 9 files changed, 145 insertions(+), 12 deletions(-) create mode 100644 2018-unity-sim/Assets/Walk2.cs create mode 100644 2018-unity-sim/Assets/Walk2.cs.meta diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index d35ce34..ff76b55 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9202b8dd6cfeae2178ab386ec0e86aad5dfeca5ff21214cee23f3cd8ebd79869 -size 1024000 +oid sha256:1fb1ba69420bf701266a582fef590a853b372d4d22a1e31ba047caec54371a0b +size 1028096 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 018b39c..18e2c1a 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fba003802c813b0a87d96cacf1c558f976e2d17d121e27e33b9207cdb44efd72 +oid sha256:353baed719f408b743f68e68adde7c2a391e680fe9b6bba231924b5b5d144a10 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 02cfc59..0e092b0 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:edf75adc1c1ee4aac6176c016911cc99350128df50dc38cfbb8202d3a6d03727 +oid sha256:e7d85fc1cd7e52ae5c3c70261ea42d55729b28400d99b590cb0b578189c04ea3 size 4140632 diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index b38c499..e6b4d47 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -24,7 +24,7 @@ public class Leg : MonoBehaviour { public double translateZ = 0; public GameObject pointShouldBe; - public Vector3 pos = new Vector3(0, 0, 0); + //public Vector3 pos = new Vector3(0, 0, 0); public int startServo = -1; @@ -99,6 +99,16 @@ public class Leg : MonoBehaviour { pointShouldBe.transform.localPosition = foot.pos; } + public Vector3 getWorldPos() + { + return point + new Vector3((float)translateX, (float)translateY, (float)translateZ); + } + + public void setWorldPos(Vector3 pos) + { + this.point = pos - new Vector3((float)translateX, (float)translateY, (float)translateZ); + } + public static float Remap(float value, float from1, float to1, float from2, float to2) { return (value - from1) / (to1 - from1) * (to2 - from2) + from2; diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 3ab7da8..b30442b 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:75c899ee15cdc09c6d7f8705def4a49207aac4f45c6394ed9434aaa3d1d53138 -size 9968810 +oid sha256:747794c65fedc51eaf1915d291c3e149b26158aa02c9491f0c1dca1c3c7a2c90 +size 9969205 diff --git a/2018-unity-sim/Assets/Serial.cs b/2018-unity-sim/Assets/Serial.cs index 5eb6ece..d082e17 100644 --- a/2018-unity-sim/Assets/Serial.cs +++ b/2018-unity-sim/Assets/Serial.cs @@ -35,9 +35,16 @@ public class Serial { { serialPort = new SerialPort(@"\\.\" + "COM10", 115200); - serialPort.Open(); - serialPort.DiscardOutBuffer(); - serialPort.DiscardInBuffer(); + try + { + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + } + catch + { + enabled = false; + } } if (serialPort is SerialPort) diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs index 4382d70..44d3dc8 100644 --- a/2018-unity-sim/Assets/Walk.cs +++ b/2018-unity-sim/Assets/Walk.cs @@ -47,8 +47,8 @@ public class Walk : MonoBehaviour new step(new Vector3(0, 0, 0), false), // rest - new step(new Vector3(0, 2, 0), true), - new step(new Vector3(-1, 0, 0), false), + new step(new Vector3(0, 2, 0), false), + new step(new Vector3(-1, 0, 0), true), }; public int st = 5; diff --git a/2018-unity-sim/Assets/Walk2.cs b/2018-unity-sim/Assets/Walk2.cs new file mode 100644 index 0000000..d275907 --- /dev/null +++ b/2018-unity-sim/Assets/Walk2.cs @@ -0,0 +1,103 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Walk2 : MonoBehaviour +{ + public List legs = new List(); + private List legsInitial = new List(); + + // Use this for initialization + void Start() + { + for (int index = 0; index < legs.Count; ++index) + { + legsInitial.Add(legs[index].GetComponent().point); + } + } + + struct step + { + public float rotation; + public float height; + public bool inAir; + + public step(float r, float h, bool i) + { + rotation = r; + height = h; + inAir = i; + } + } + + // 1, 3, 5 -= 3 + + int offset(int i, int offset, int max) + { + return i - offset < 0 ? (max - (offset - i)) : i - offset; + } + + step[] s = { + new step(-1, 0, false), + + new step(0, -2, false), + + new step(0, 0, false), // rest + + new step(1, 0, false), + new step(1, 0, false), + + new step(0, 0, false), // rest + + new step(0, 2, false), + new step(-1, 0, true), + }; + + public int st = 5; + public int speed2 = 30; + int speed = 10; + + public float rotation = 0; + + int size = 8; + + //public float walkspeed = 1; + + // Update is called once per frame + void FixedUpdate() + { + if (speed <= 0) + { + if (st >= size-1) + st = 0; + else + st++; + + for (int index = 0; index < legs.Count; ++index) + { + int t = st; + if (index == 1 || index == 3 || index == 5) + { + t = offset(st, 4, size); + } + + if (s[t].inAir == false) + { + Vector3 n = legs[index].GetComponent().getWorldPos(); + n = Quaternion.Euler(0, rotation * s[t].rotation, 0) * n; + n.y += s[t].height; + // rotate x,y around rotation. + legs[index].GetComponent().setWorldPos(n); + } + else + { + legs[index].GetComponent().point = legsInitial[index] + new Vector3(0, s[t].height, 0); + } + } + + speed = speed2; + } + else + speed--; + } +} diff --git a/2018-unity-sim/Assets/Walk2.cs.meta b/2018-unity-sim/Assets/Walk2.cs.meta new file mode 100644 index 0000000..19644ec --- /dev/null +++ b/2018-unity-sim/Assets/Walk2.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 91e6f3895f276d94da1803128e6290e0 +timeCreated: 1542229569 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From 04062fc3b823546cae46375e3679d98be067d7e8 Mon Sep 17 00:00:00 2001 From: Unknown Date: Thu, 15 Nov 2018 14:11:50 +0100 Subject: [PATCH 10/18] v7 slow talking :D --- .../Hexapod/v15/Server/sqlite3/storage.ide | 2 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Main.unity | 4 +-- 2018-unity-sim/Assets/Walk.cs | 22 +++++++++++-- 2018-unity-sim/Assets/Walk2.cs | 31 ++++++++++++++----- 6 files changed, 49 insertions(+), 14 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index ff76b55..5d2d0f2 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1fb1ba69420bf701266a582fef590a853b372d4d22a1e31ba047caec54371a0b +oid sha256:d608934d107d8fb52e3979ec301995b2514874c7355b03d7403dc07d6b1de5bd size 1028096 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 18e2c1a..5df4b81 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:353baed719f408b743f68e68adde7c2a391e680fe9b6bba231924b5b5d144a10 +oid sha256:c5b87e0aea8f57f9afcffeeea959d9d5b13096fae5391f81a94f7e9694bb8aaa size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 0e092b0..dcc869e 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e7d85fc1cd7e52ae5c3c70261ea42d55729b28400d99b590cb0b578189c04ea3 +oid sha256:f0c126c2227bb98418c09496e3947d76db4257919f65046cedba9b2e1b8e9716 size 4140632 diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index b30442b..46bcf37 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:747794c65fedc51eaf1915d291c3e149b26158aa02c9491f0c1dca1c3c7a2c90 -size 9969205 +oid sha256:cccf856e8bc96b9a519d22d7f282f3b9c28a8c17a6ee9109118d5071805e88d0 +size 9969207 diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs index 44d3dc8..8b03700 100644 --- a/2018-unity-sim/Assets/Walk.cs +++ b/2018-unity-sim/Assets/Walk.cs @@ -13,6 +13,7 @@ public class Walk : MonoBehaviour for (int index = 0; index < legs.Count; ++index) { legsInitial.Add(legs[index].GetComponent().point); + step2.Add( new Vector3() ); } } @@ -61,6 +62,8 @@ public class Walk : MonoBehaviour public float walkspeed = 1; + private List step2 = new List(); + // Update is called once per frame void FixedUpdate() { @@ -85,17 +88,32 @@ public class Walk : MonoBehaviour t2.x *= walkspeed; // rotate x,y around rotation. - legs[index].GetComponent().point += Quaternion.Euler(0, rotation, 0) * t2; + step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2; } else { - legs[index].GetComponent().point = legsInitial[index] + s[t].pos; + Vector3 t2 = s[t].pos; + t2.x *= walkspeed; + + // rotate x,y around rotation. + step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2; } } speed = speed2; } else + { speed--; + makestep(); + } + } + + void makestep() + { + for (int index = 0; index < legs.Count; ++index) + { + legs[index].GetComponent().point += step2[index]; + } } } diff --git a/2018-unity-sim/Assets/Walk2.cs b/2018-unity-sim/Assets/Walk2.cs index d275907..548a1ec 100644 --- a/2018-unity-sim/Assets/Walk2.cs +++ b/2018-unity-sim/Assets/Walk2.cs @@ -13,6 +13,8 @@ public class Walk2 : MonoBehaviour for (int index = 0; index < legs.Count; ++index) { legsInitial.Add(legs[index].GetComponent().point); + step2.Add(0); + step3.Add(0); } } @@ -62,13 +64,15 @@ public class Walk2 : MonoBehaviour int size = 8; //public float walkspeed = 1; + private List step2 = new List(); + private List step3 = new List(); // Update is called once per frame void FixedUpdate() { if (speed <= 0) { - if (st >= size-1) + if (st >= size - 1) st = 0; else st++; @@ -83,21 +87,34 @@ public class Walk2 : MonoBehaviour if (s[t].inAir == false) { - Vector3 n = legs[index].GetComponent().getWorldPos(); - n = Quaternion.Euler(0, rotation * s[t].rotation, 0) * n; - n.y += s[t].height; - // rotate x,y around rotation. - legs[index].GetComponent().setWorldPos(n); + step2[index] = (rotation * s[t].rotation) / speed2; + step3[index] = s[t].height / speed2; } else { - legs[index].GetComponent().point = legsInitial[index] + new Vector3(0, s[t].height, 0); + step2[index] = (rotation * s[t].rotation) / speed2; + step3[index] = s[t].height / speed2; } } speed = speed2; } else + { speed--; + makestep(); + } + } + + void makestep() + { + for (int index = 0; index < legs.Count; ++index) + { + Vector3 n = legs[index].GetComponent().getWorldPos(); + n = Quaternion.Euler(0, step2[index], 0) * n; + n.y += step3[index]; + // rotate x,y around rotation. + legs[index].GetComponent().setWorldPos(n); + } } } From cc2f3cf8c65b22b96a4e8f1a4f1944f1b84cb822 Mon Sep 17 00:00:00 2001 From: Unknown Date: Thu, 15 Nov 2018 16:37:54 +0100 Subject: [PATCH 11/18] fix problem in returning to home --- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/Serial.cs | 56 ++++++++----------- 2018-unity-sim/Assets/Walk.cs | 7 +-- 2018-unity-sim/Assets/Walk2.cs | 25 ++++++--- 6 files changed, 47 insertions(+), 49 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 5df4b81..5c6dedd 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c5b87e0aea8f57f9afcffeeea959d9d5b13096fae5391f81a94f7e9694bb8aaa +oid sha256:4d594c616b0eb44e6b6f7b9ec1d4cba6468f7fc2519ad2ce517541d0ecb26e9a size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index dcc869e..37d99f5 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f0c126c2227bb98418c09496e3947d76db4257919f65046cedba9b2e1b8e9716 +oid sha256:cbd9fdc6275465a9b1715e2ab62259322eee14a7b04282e195f4ac025bff3255 size 4140632 diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 46bcf37..2f3e2f3 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cccf856e8bc96b9a519d22d7f282f3b9c28a8c17a6ee9109118d5071805e88d0 -size 9969207 +oid sha256:b58d8e9b8bde13d367cf00d433c5a643695c6ae1e342bcbf448a7be16f5c7b34 +size 9969204 diff --git a/2018-unity-sim/Assets/Serial.cs b/2018-unity-sim/Assets/Serial.cs index d082e17..39e31ba 100644 --- a/2018-unity-sim/Assets/Serial.cs +++ b/2018-unity-sim/Assets/Serial.cs @@ -29,47 +29,37 @@ public class Serial { public void send(int start, int a, int b, int c) { + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM10", 115200); + + try + { + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + + enabled = true; + } + catch + { + enabled = false; + } + } + if (enabled) { - if (serialPort == null) - { - serialPort = new SerialPort(@"\\.\" + "COM10", 115200); - - try - { - serialPort.Open(); - serialPort.DiscardOutBuffer(); - serialPort.DiscardInBuffer(); - } - catch - { - enabled = false; - } - } - if (serialPort is SerialPort) { - - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(a.ToString()); - + string send = " #" + start.ToString() + " P" + a.ToString(); start++; - - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(b.ToString()); - + send = send + " #" + start.ToString() + " P" + b.ToString(); start++; + send = send + " #" + start.ToString() + " P" + c.ToString(); - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(c.ToString()); + send = send + " \r"; - serialPort.Write(" \r"); + serialPort.Write(send); } } } diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs index 8b03700..4ecba33 100644 --- a/2018-unity-sim/Assets/Walk.cs +++ b/2018-unity-sim/Assets/Walk.cs @@ -92,11 +92,8 @@ public class Walk : MonoBehaviour } else { - Vector3 t2 = s[t].pos; - t2.x *= walkspeed; - - // rotate x,y around rotation. - step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2; + Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; + step2[index] = t2 / speed2; } } diff --git a/2018-unity-sim/Assets/Walk2.cs b/2018-unity-sim/Assets/Walk2.cs index 548a1ec..fbb7cc2 100644 --- a/2018-unity-sim/Assets/Walk2.cs +++ b/2018-unity-sim/Assets/Walk2.cs @@ -15,6 +15,7 @@ public class Walk2 : MonoBehaviour legsInitial.Add(legs[index].GetComponent().point); step2.Add(0); step3.Add(0); + step4.Add(new Vector3(0, 0, 0)); } } @@ -66,6 +67,7 @@ public class Walk2 : MonoBehaviour //public float walkspeed = 1; private List step2 = new List(); private List step3 = new List(); + private List step4 = new List(); // Update is called once per frame void FixedUpdate() @@ -89,11 +91,12 @@ public class Walk2 : MonoBehaviour { step2[index] = (rotation * s[t].rotation) / speed2; step3[index] = s[t].height / speed2; + step4[index] = new Vector3(0, 0, 0); } else { - step2[index] = (rotation * s[t].rotation) / speed2; - step3[index] = s[t].height / speed2; + Vector3 t2 = legsInitial[index] - legs[index].GetComponent().point; + step4[index] = t2 / speed2; } } @@ -110,11 +113,19 @@ public class Walk2 : MonoBehaviour { for (int index = 0; index < legs.Count; ++index) { - Vector3 n = legs[index].GetComponent().getWorldPos(); - n = Quaternion.Euler(0, step2[index], 0) * n; - n.y += step3[index]; - // rotate x,y around rotation. - legs[index].GetComponent().setWorldPos(n); + if (step4[index] == new Vector3(0, 0, 0)) + { + Vector3 n = legs[index].GetComponent().getWorldPos(); + n = Quaternion.Euler(0, step2[index], 0) * n; + n.y += step3[index]; + // rotate x,y around rotation. + legs[index].GetComponent().setWorldPos(n); + } + else + { + // return to home + legs[index].GetComponent().point += step4[index]; + } } } } From 98b0fb446636b8a90798e5df3d1c4f4a710f666a Mon Sep 17 00:00:00 2001 From: Unknown Date: Thu, 15 Nov 2018 20:34:00 +0100 Subject: [PATCH 12/18] v8 added walking and rotation at the same time :D --- .../Hexapod/v15/Server/sqlite3/storage.ide | 4 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/Walk3.cs | 143 ++++++++++++++++++ 2018-unity-sim/Assets/Walk3.cs.meta | 13 ++ 6 files changed, 162 insertions(+), 6 deletions(-) create mode 100644 2018-unity-sim/Assets/Walk3.cs create mode 100644 2018-unity-sim/Assets/Walk3.cs.meta diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index 5d2d0f2..46c9d53 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d608934d107d8fb52e3979ec301995b2514874c7355b03d7403dc07d6b1de5bd -size 1028096 +oid sha256:b7e84c2cc41a9930869a3ce7f30c1576199c4ea5b992dc992639be222c5b5f0d +size 1032192 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 5c6dedd..edc8ac8 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4d594c616b0eb44e6b6f7b9ec1d4cba6468f7fc2519ad2ce517541d0ecb26e9a +oid sha256:f442027f263d76b460d56701cb0ed83c0d692eb0bc16595a9a6478c2465709e6 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 37d99f5..abfae42 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cbd9fdc6275465a9b1715e2ab62259322eee14a7b04282e195f4ac025bff3255 +oid sha256:044f7f16abf42991f6623612ca4708a352f354f41deb9d22b2de3affd0d3ae5e size 4140632 diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 2f3e2f3..0e3c910 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b58d8e9b8bde13d367cf00d433c5a643695c6ae1e342bcbf448a7be16f5c7b34 -size 9969204 +oid sha256:741511ef61d3583727616b9883e21b71227cb8818b2941ef71c600f2241cbcdd +size 9969790 diff --git a/2018-unity-sim/Assets/Walk3.cs b/2018-unity-sim/Assets/Walk3.cs new file mode 100644 index 0000000..b6c43fc --- /dev/null +++ b/2018-unity-sim/Assets/Walk3.cs @@ -0,0 +1,143 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Walk3 : MonoBehaviour +{ + public List legs = new List(); + private List legsInitial = new List(); + + // Use this for initialization + void Start() + { + for (int index = 0; index < legs.Count; ++index) + { + legsInitial.Add(legs[index].GetComponent().point); + step2.Add(0); + step6.Add(false); + //step3.Add(0); + //step4.Add(new Vector3(0, 0, 0)); + step5.Add(new Vector3()); + } + } + + struct step + { + public Vector3 pos; + public float rotation; + public float height; + public bool inAir; + + public step(Vector3 p, float r, float h, bool i) + { + pos = p; + rotation = r; + height = 0; + inAir = i; + } + } + + // 1, 3, 5 -= 3 + + int offset(int i, int offset, int max) + { + return i - offset < 0 ? (max - (offset - i)) : i - offset; + } + + step[] s = { + new step(new Vector3(-1, 0, 0), -1, 0, false), + + new step(new Vector3(0, -2, 0), 0, -2, false), + + new step(new Vector3(0, 0, 0), 0, 0, false), // rest + + new step(new Vector3(1, 0, 0), 1, 0, false), + new step(new Vector3(1, 0, 0), 1, 0, false), + + new step(new Vector3(0, 0, 0), 0, 0, false), // rest + + new step(new Vector3(0, 2, 0), 0, 2, false), + new step(new Vector3(-1, 0, 0), -1, 0, true), + }; + + public int st = 5; + public int speed2 = 30; + int speed = 10; + + public float walkDirection = 0; + public float centerRotation = 0; + + int size = 8; + + public float walkspeed = 1; + + private List step2 = new List(); + //private List step3 = new List(); + //private List step4 = new List(); + private List step5 = new List(); + private List step6 = new List(); + + // Update is called once per frame + void FixedUpdate() + { + if (speed <= 0) + { + if (st >= size - 1) + st = 0; + else + st++; + + for (int index = 0; index < legs.Count; ++index) + { + int t = st; + if (index == 1 || index == 3 || index == 5) + { + t = offset(st, 4, size); + } + + if (s[t].inAir == false) + { + step2[index] = (centerRotation * s[t].rotation) / speed2; + + Vector3 t2 = s[t].pos; + t2.x *= walkspeed; + // rotate x,y around rotation. + step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2; + + step6[index] = true; + } + else + { + Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; + step5[index] = t2 / speed2; + + step6[index] = false; + } + } + + speed = speed2; + } + else + { + speed--; + makestep(); + } + } + + void makestep() + { + for (int index = 0; index < legs.Count; ++index) + { + legs[index].GetComponent().point += step5[index]; + if (step6[index]) + { + //legs[index].GetComponent().point += step5[index]; + + // rotate x,y around rotation. + legs[index].GetComponent().setWorldPos( + Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent().getWorldPos() + ); + } + } + } +} diff --git a/2018-unity-sim/Assets/Walk3.cs.meta b/2018-unity-sim/Assets/Walk3.cs.meta new file mode 100644 index 0000000..67297d2 --- /dev/null +++ b/2018-unity-sim/Assets/Walk3.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: a4266f2a53eea3a43972b07e077212bc +timeCreated: 1542307321 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From 9b40dccbf453af185eaa9ee57f744277751d4f8e Mon Sep 17 00:00:00 2001 From: Unknown Date: Mon, 19 Nov 2018 22:21:47 +0100 Subject: [PATCH 13/18] v9 walk3 wip --- .../Hexapod/v15/Server/sqlite3/storage.ide | 2 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Leg.cs | 5 + 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/Walk3.cs | 99 +++++++++++++++---- 6 files changed, 89 insertions(+), 25 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index 46c9d53..00c7ff4 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b7e84c2cc41a9930869a3ce7f30c1576199c4ea5b992dc992639be222c5b5f0d +oid sha256:f8cb9e49b8fed01a468f7fcfd52da0ca8fb2038c930699ddf498320099d1918e size 1032192 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index edc8ac8..3b916d2 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f442027f263d76b460d56701cb0ed83c0d692eb0bc16595a9a6478c2465709e6 +oid sha256:a6c0d92ca18a8e9362306b1b98d3dee3437273fd783dba80869b1ce80456a3b8 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index abfae42..81a3187 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:044f7f16abf42991f6623612ca4708a352f354f41deb9d22b2de3affd0d3ae5e +oid sha256:a302143b127e34fb309f81ce66bb25954c314519c1950162d0ff74dbc3191722 size 4140632 diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index e6b4d47..a9095e3 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -99,6 +99,11 @@ public class Leg : MonoBehaviour { pointShouldBe.transform.localPosition = foot.pos; } + public Vector3 getLocalPos() + { + return point; + } + public Vector3 getWorldPos() { return point + new Vector3((float)translateX, (float)translateY, (float)translateZ); diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 0e3c910..046c363 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:741511ef61d3583727616b9883e21b71227cb8818b2941ef71c600f2241cbcdd -size 9969790 +oid sha256:41ef2a8cdbb19d72f4ec38634d7892f2b1b014ede4fd18ef191cb42d54bf3be7 +size 9972160 diff --git a/2018-unity-sim/Assets/Walk3.cs b/2018-unity-sim/Assets/Walk3.cs index b6c43fc..604f57c 100644 --- a/2018-unity-sim/Assets/Walk3.cs +++ b/2018-unity-sim/Assets/Walk3.cs @@ -18,6 +18,9 @@ public class Walk3 : MonoBehaviour //step3.Add(0); //step4.Add(new Vector3(0, 0, 0)); step5.Add(new Vector3()); + + freeze.Add(false); + freeze_y.Add(false); } } @@ -27,13 +30,15 @@ public class Walk3 : MonoBehaviour public float rotation; public float height; public bool inAir; + public bool inRest; - public step(Vector3 p, float r, float h, bool i) + public step(Vector3 p, float r, float h, bool i, bool ir) { pos = p; rotation = r; height = 0; inAir = i; + inRest = ir; } } @@ -45,19 +50,19 @@ public class Walk3 : MonoBehaviour } step[] s = { - new step(new Vector3(-1, 0, 0), -1, 0, false), + new step(new Vector3(-1, 0, 0), -1, 0, false, false), - new step(new Vector3(0, -2, 0), 0, -2, false), + new step(new Vector3(0, -2, 0), 0, 0, false, false), - new step(new Vector3(0, 0, 0), 0, 0, false), // rest + new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest - new step(new Vector3(1, 0, 0), 1, 0, false), - new step(new Vector3(1, 0, 0), 1, 0, false), + new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle + new step(new Vector3(1, 0, 0), 1, 0, false, false), - new step(new Vector3(0, 0, 0), 0, 0, false), // rest + new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest - new step(new Vector3(0, 2, 0), 0, 2, false), - new step(new Vector3(-1, 0, 0), -1, 0, true), + new step(new Vector3(0, 2, 0), 0, 0, false, false), + new step(new Vector3(-1, 0, 0), -1, 0, true, false), }; public int st = 5; @@ -77,16 +82,57 @@ public class Walk3 : MonoBehaviour private List step5 = new List(); private List step6 = new List(); + private List freeze = new List(); + private List freeze_y = new List(); + // Update is called once per frame void FixedUpdate() { if (speed <= 0) { - if (st >= size - 1) + if (st >= size-1) st = 0; else + { st++; + if (centerRotation == 0 && walkspeed == 0) + { + for (int index = 0; index < legs.Count; index++) + { + int t = st; + if (index == 1 || index == 3 || index == 5) + { + t = offset(st, 4, size); + } + + if (s[t].inRest) + { + Vector3 lp = legs[index].GetComponent().getLocalPos();// + s[t].pos; + //lp.y -= 2; + if ((Mathf.Abs(lp.y - (legsInitial[index].y-2)) < 0.0001f) + && (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f) + && (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f)) + { + freeze[index] = true; + freeze_y[index] = true; + } + } + /*else + { + freeze[index] = false; + }*/ + } + } + else + { + for (int index = 0; index < legs.Count; index++) + { + freeze[index] = false; + } + } + } + for (int index = 0; index < legs.Count; ++index) { int t = st; @@ -95,22 +141,35 @@ public class Walk3 : MonoBehaviour t = offset(st, 4, size); } - if (s[t].inAir == false) + if (!freeze[index]) { - step2[index] = (centerRotation * s[t].rotation) / speed2; + if (s[t].inAir == false) + { + step2[index] = (centerRotation * s[t].rotation) / speed2; - Vector3 t2 = s[t].pos; - t2.x *= walkspeed; - // rotate x,y around rotation. - step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2; + Vector3 t2 = s[t].pos; + t2.x *= walkspeed; + // rotate x,y around rotation. + if (freeze_y[index]) + { + t2.y = 0; + } + step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2; - step6[index] = true; + step6[index] = true; + } + else + { + Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; + step5[index] = t2 / speed2; + + step6[index] = false; + freeze_y[index] = false; + } } else { - Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; - step5[index] = t2 / speed2; - + step5[index] = new Vector3(0, 0, 0); step6[index] = false; } } From b147e3376f371896326f478cb846558e12474e26 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sun, 19 May 2019 00:18:28 +0200 Subject: [PATCH 14/18] joystick --- .../Hexapod/v15/Server/sqlite3/storage.ide | 2 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/Serial2.cs | 69 ++++++++ 2018-unity-sim/Assets/Serial2.cs.meta | 13 ++ 2018-unity-sim/Assets/Serial3.cs | 160 ++++++++++++++++++ 2018-unity-sim/Assets/Serial3.cs.meta | 13 ++ 8 files changed, 260 insertions(+), 5 deletions(-) create mode 100644 2018-unity-sim/Assets/Serial2.cs create mode 100644 2018-unity-sim/Assets/Serial2.cs.meta create mode 100644 2018-unity-sim/Assets/Serial3.cs create mode 100644 2018-unity-sim/Assets/Serial3.cs.meta diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index 00c7ff4..cd568d2 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f8cb9e49b8fed01a468f7fcfd52da0ca8fb2038c930699ddf498320099d1918e +oid sha256:a1b91e2a145f9667d70b13198a5b3107c5f978327695ea68479520fa223e97ad size 1032192 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 3b916d2..144c84d 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6c0d92ca18a8e9362306b1b98d3dee3437273fd783dba80869b1ce80456a3b8 +oid sha256:9b12b85d80593b3788a752c840c161c3268546335cc555e76e324629c4f83893 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 81a3187..02c9ed0 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a302143b127e34fb309f81ce66bb25954c314519c1950162d0ff74dbc3191722 +oid sha256:e36a9fe21123888300a9a9acd66fa539c9b4ee21cc5f999f36da2a0890c9d78a size 4140632 diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index 046c363..a89ac05 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:41ef2a8cdbb19d72f4ec38634d7892f2b1b014ede4fd18ef191cb42d54bf3be7 -size 9972160 +oid sha256:e34faced49874c8c137f631b93aa0c26a5847bc7229ac8bd5d9b7c82482ede52 +size 9973360 diff --git a/2018-unity-sim/Assets/Serial2.cs b/2018-unity-sim/Assets/Serial2.cs new file mode 100644 index 0000000..ffe7715 --- /dev/null +++ b/2018-unity-sim/Assets/Serial2.cs @@ -0,0 +1,69 @@ +using System; +using UnityEngine; +using System.Collections; +using System.IO.Ports; +using System.Linq; + +public class Serial2 : MonoBehaviour{ + + public float x; + public float y; + + public RotationControl bot; + + ~Serial2() { + serialPort.Close(); + } + + public bool enabled = false; + + SerialPort serialPort; + + public void Update() + { + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM7", 115200); + + try + { + serialPort.NewLine = "\n"; + + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + + enabled = true; + } + catch + { + enabled = false; + } + } + + if (enabled) + { + if (serialPort is SerialPort) + { + string received = serialPort.ReadLine(); + string[] data = received.Split(','); + x = ConvertRadiansToDegrees(float.Parse(data.First())); + y = ConvertRadiansToDegrees(float.Parse(data.Last())); + + bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1); + } + } + } + + public float limit(float input, float min, float max) + { + return (input < max & input > min) ? input : input < min ? min : max; + } + + public float ConvertRadiansToDegrees(float radians) + { + float degrees = (float) ((180 / Math.PI) * radians); + return (degrees); + } + +} diff --git a/2018-unity-sim/Assets/Serial2.cs.meta b/2018-unity-sim/Assets/Serial2.cs.meta new file mode 100644 index 0000000..1ebe0c8 --- /dev/null +++ b/2018-unity-sim/Assets/Serial2.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: ac6468bb4d2734947a923ea42d6d8192 +timeCreated: 1557262171 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/2018-unity-sim/Assets/Serial3.cs b/2018-unity-sim/Assets/Serial3.cs new file mode 100644 index 0000000..2c8b2c9 --- /dev/null +++ b/2018-unity-sim/Assets/Serial3.cs @@ -0,0 +1,160 @@ +using System; +using UnityEngine; +using System.Collections; +using System.IO.Ports; +using System.Linq; +using UnityEngine.UI; + +public class Serial3 : MonoBehaviour{ + + public RotationControl bot; + public Walk3 walk; + + public float a1, a2, a3, b1, b2, b3; + + ~Serial3() { + serialPort.Close(); + } + + public bool enabled = false; + + SerialPort serialPort; + + public void Update() + { + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM7", 115200); + + try + { + serialPort.NewLine = "\r\n"; + +// serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler); + + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + + enabled = true; + } + catch + { + enabled = false; + } + } + + if (enabled) + { + if (serialPort is SerialPort) + { + string received = serialPort.ReadLine(); + string[] data = received.Split(','); + + foreach (string d in data) + { + + string[] ch = d.Split('_'); + + int channel = int.Parse(ch.First()); + float value = float.Parse(ch.Last()); + + switch (channel) + { + case 0: + a1 = value - 127; + break; + case 1: + a2 = value - 127; + break; + case 2: + a3 = value - 127; + break; + case 3: + b1 = value - 127; + break; + case 4: + b2 = value - 127; + break; + case 5: + b3 = value - 127; + break; + } + + bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20), + 1); + + float speed = (float) (Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3; + walk.walkspeed = speed < 0.5f ? 0 : speed; + + float rotation = -1 * limit(b3/4, -5, 5); + walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation; + + walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1))); + } + } + } + } + + private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e) + { + SerialPort serialPort = (SerialPort)sender; + + if (enabled) + { + if (serialPort is SerialPort) + { + string received = serialPort.ReadLine(); + string[] data = received.Split(','); + + foreach (string d in data) + { + // if (data == "\r") + // continue; + + string[] ch = d.Split('_'); + + int channel = int.Parse(ch.First()); + float value = float.Parse(ch.Last()); + + switch (channel) + { + case 0: + a1 = value; + break; + case 1: + a2 = value; + break; + case 2: + a3 = value; + break; + case 3: + b1 = value; + break; + case 4: + b2 = value; + break; + case 5: + b3 = value; + break; + } + } + + // bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1); + } + } + } + + public float limit(float input, float min, float max) + { + input = input / 6; + return (input < max & input > min) ? input : input < min ? min : max; + } + + public float ConvertRadiansToDegrees(float radians) + { + float degrees = (float)((180 / Math.PI) * radians); + return (degrees); + } + +} diff --git a/2018-unity-sim/Assets/Serial3.cs.meta b/2018-unity-sim/Assets/Serial3.cs.meta new file mode 100644 index 0000000..b147075 --- /dev/null +++ b/2018-unity-sim/Assets/Serial3.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 7fa025fa8dcb3a249b67fc0e2fe67b44 +timeCreated: 1558207463 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From e1e06ee2cb8e45c4591230f1c07fa49bf2bfe639 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sun, 19 May 2019 15:54:46 +0200 Subject: [PATCH 15/18] better walk control --- .../.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm | 2 +- .../.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Serial3.cs | 5 +++++ 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 144c84d..545618f 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9b12b85d80593b3788a752c840c161c3268546335cc555e76e324629c4f83893 +oid sha256:9d88cf0f5d97ee5d432360c8648028e32f724e9759db7a6dce5b9a30cc18a6a8 size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 02c9ed0..063cdaa 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e36a9fe21123888300a9a9acd66fa539c9b4ee21cc5f999f36da2a0890c9d78a +oid sha256:20a060fb1f3aa3d33eb59d4f11b5225d0479babe788d9f6de89c00445e1c5fd1 size 4140632 diff --git a/2018-unity-sim/Assets/Serial3.cs b/2018-unity-sim/Assets/Serial3.cs index 2c8b2c9..5277af8 100644 --- a/2018-unity-sim/Assets/Serial3.cs +++ b/2018-unity-sim/Assets/Serial3.cs @@ -91,6 +91,11 @@ public class Serial3 : MonoBehaviour{ walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation; walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1))); + + float rotationabs = Math.Abs(walk.centerRotation); + float speed2 = ((6 / 3) * walk.walkspeed) + ((6/5) * rotationabs); + speed2 = speed2 < 6 ? speed2 : 6; + walk.speed2 = (int)(10 - speed2); } } } From 4be4615a103564ac71f1cfe333c89d0f8f5be5d6 Mon Sep 17 00:00:00 2001 From: Unknown Date: Mon, 10 Jun 2019 15:20:47 +0200 Subject: [PATCH 16/18] Updated to new design --- 2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm | 2 +- 2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal | 2 +- 2018-unity-sim/Assets/Foot.cs | 2 +- 2018-unity-sim/Assets/Main.unity | 4 ++-- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 545618f..8da1c61 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9d88cf0f5d97ee5d432360c8648028e32f724e9759db7a6dce5b9a30cc18a6a8 +oid sha256:2e29e44da33cbde8435eaf693d7d6e86584a9b7e11a564832a08565ee2270d7e size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 063cdaa..571f51a 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20a060fb1f3aa3d33eb59d4f11b5225d0479babe788d9f6de89c00445e1c5fd1 +oid sha256:2b2a7aec422e8200a35038518e5b7b915dfc90080b9d466db723d7e4e9b6b404 size 4140632 diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index ddac315..6e38fb8 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -28,7 +28,7 @@ public class Foot : Component public Vector3 transformation = new Vector3(0, 0, 0); public Vector3 transformation2 = new Vector3(0, 0, 0); - static float knie_offset = 3; + static float knie_offset = 5.5f; void RL3() { diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index a89ac05..cc4b971 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e34faced49874c8c137f631b93aa0c26a5847bc7229ac8bd5d9b7c82482ede52 -size 9973360 +oid sha256:d9d8f9f9ab588af6ad767e7b01fd9e0b23cd6212c541eac0450a24d0875c5bf8 +size 9973394 From 43e60d535a57c757f8ae2e3ca5bac4924b3cce10 Mon Sep 17 00:00:00 2001 From: Unknown Date: Sun, 4 Dec 2022 23:11:05 +0100 Subject: [PATCH 17/18] updated walk and controller input to joystick --- .../Hexapod/v15/Server/sqlite3/storage.ide | 4 +- .../v15/Server/sqlite3/storage.ide-shm | 2 +- .../v15/Server/sqlite3/storage.ide-wal | 4 +- 2018-unity-sim/Assets/Foot.cs | 8 +- 2018-unity-sim/Assets/JoyStick.meta | 10 + .../Assets/JoyStick/HandleHoystick.cs | 72 +++++ .../HandleHoystick.cs.meta} | 4 +- 2018-unity-sim/Assets/Leg.cs | 48 ++-- 2018-unity-sim/Assets/Main.unity | 4 +- 2018-unity-sim/Assets/RotationControl.cs | 16 +- 2018-unity-sim/Assets/Serial.cs | 67 ----- 2018-unity-sim/Assets/Serial.meta | 10 + 2018-unity-sim/Assets/Serial/Serial.cs | 119 ++++++++ .../Assets/{ => Serial}/Serial.cs.meta | 0 2018-unity-sim/Assets/{ => Serial}/Serial2.cs | 3 +- .../Assets/{ => Serial}/Serial2.cs.meta | 0 2018-unity-sim/Assets/Serial/Serial3.cs | 170 ++++++++++++ .../Assets/{ => Serial}/Serial3.cs.meta | 0 2018-unity-sim/Assets/Serial3.cs | 165 ------------ 2018-unity-sim/Assets/Walk.cs | 170 ++++++++++-- 2018-unity-sim/Assets/Walk.cs.meta | 4 +- 2018-unity-sim/Assets/Walk2.cs | 131 --------- 2018-unity-sim/Assets/Walk2.cs.meta | 13 - 2018-unity-sim/Assets/Walk3.cs | 202 -------------- .../ProjectSettings/InputManager.asset | 254 +++--------------- 25 files changed, 609 insertions(+), 871 deletions(-) create mode 100644 2018-unity-sim/Assets/JoyStick.meta create mode 100644 2018-unity-sim/Assets/JoyStick/HandleHoystick.cs rename 2018-unity-sim/Assets/{Walk3.cs.meta => JoyStick/HandleHoystick.cs.meta} (77%) delete mode 100644 2018-unity-sim/Assets/Serial.cs create mode 100644 2018-unity-sim/Assets/Serial.meta create mode 100644 2018-unity-sim/Assets/Serial/Serial.cs rename 2018-unity-sim/Assets/{ => Serial}/Serial.cs.meta (100%) rename 2018-unity-sim/Assets/{ => Serial}/Serial2.cs (98%) rename 2018-unity-sim/Assets/{ => Serial}/Serial2.cs.meta (100%) create mode 100644 2018-unity-sim/Assets/Serial/Serial3.cs rename 2018-unity-sim/Assets/{ => Serial}/Serial3.cs.meta (100%) delete mode 100644 2018-unity-sim/Assets/Serial3.cs delete mode 100644 2018-unity-sim/Assets/Walk2.cs delete mode 100644 2018-unity-sim/Assets/Walk2.cs.meta delete mode 100644 2018-unity-sim/Assets/Walk3.cs diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide index cd568d2..22b813b 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a1b91e2a145f9667d70b13198a5b3107c5f978327695ea68479520fa223e97ad -size 1032192 +oid sha256:fb1b045fab765d6e4727cad7634579ee74f002aebcd23bd485206d6334a262a2 +size 1040384 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm index 8da1c61..abd0e8e 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2e29e44da33cbde8435eaf693d7d6e86584a9b7e11a564832a08565ee2270d7e +oid sha256:849f186132e524136abc5270c38be18c765db9085b78c3305ed426b14b20c82a size 32768 diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal index 571f51a..e4a6eaa 100644 --- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal +++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2b2a7aec422e8200a35038518e5b7b915dfc90080b9d466db723d7e4e9b6b404 -size 4140632 +oid sha256:52b4e0760d65610d51ab1e442fd4c8e9b76cb5571a812bcb8594d3cb95b9a800 +size 3786312 diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs index 6e38fb8..b53a6bb 100644 --- a/2018-unity-sim/Assets/Foot.cs +++ b/2018-unity-sim/Assets/Foot.cs @@ -1,6 +1,4 @@ using System; -using System.Collections; -using System.Collections.Generic; using UnityEngine; public class Foot : Component @@ -19,7 +17,9 @@ public class Foot : Component // Inverse Kinemetics Region double l3, s; - double l1=10, l2=15; + public double l1=10; // top leg length + public double l2=15; // bottom leg length + static float knie_offset = 5.5f; // distancce from horziontal servo to knee servo. public double X, Y, Z; public double rotationX=0, rotationY=0, rotationZ=0; @@ -28,8 +28,6 @@ public class Foot : Component public Vector3 transformation = new Vector3(0, 0, 0); public Vector3 transformation2 = new Vector3(0, 0, 0); - static float knie_offset = 5.5f; - void RL3() { if ((X == 0) && (Z == 0)) diff --git a/2018-unity-sim/Assets/JoyStick.meta b/2018-unity-sim/Assets/JoyStick.meta new file mode 100644 index 0000000..9c4a1a1 --- /dev/null +++ b/2018-unity-sim/Assets/JoyStick.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5f676c461da1c254990d7719d77e6250 +folderAsset: yes +timeCreated: 1641405303 +licenseType: Free +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/2018-unity-sim/Assets/JoyStick/HandleHoystick.cs b/2018-unity-sim/Assets/JoyStick/HandleHoystick.cs new file mode 100644 index 0000000..c2c914b --- /dev/null +++ b/2018-unity-sim/Assets/JoyStick/HandleHoystick.cs @@ -0,0 +1,72 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using UnityEngine; + +namespace Assets.JoyStick +{ + class HandleHoystick : MonoBehaviour + { + public RotationControl bot; + public Walk walk; + + public void Update() + { + float a2 = Remap(Input.GetAxis("1"), 1, -127, -1, 127); + float a1 = Remap(Input.GetAxis("2"), 1, -127, -1, 127); + float a3 = Remap(Input.GetAxis("3"), -1, -127, 1, 127); + + float b2 = Remap(Input.GetAxis("4"), -1, -127, 1, 127); + float b3 = Remap(Input.GetAxis("5"), -1, -127, 1, 127); + float b1 = Remap(Input.GetAxis("6"), -1, -127, 1, 127); + + //Debug.Log(Input.GetAxis("4")); + //Debug.Log(Remap(Input.GetAxis("4"), -1, -127, 1, 127)); + + bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20), + 1); + + float speed = (float)(Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3; + walk.walkspeed = speed < 0.5f ? 0 : speed; + + float rotation = -1 * limit(b3 / 4, -5, 5); + walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation; + + walk.walkDirection = (-1 * ConvertRadiansToDegrees((float)Math.Atan2(b2, b1))); + + float rotationabs = Math.Abs(walk.centerRotation); + float speed2 = ((6 / 3) * walk.walkspeed) + ((6 / 5) * rotationabs); + speed2 = speed2 < 6 ? speed2 : 6; + walk.speed2 = (int)(10 - speed2); + } + + public float limit(float input, float min, float max) + { + input = input / 6; + return (input < max & input > min) ? input : input < min ? min : max; + } + + public float ConvertRadiansToDegrees(float radians) + { + float degrees = (float)((180 / Math.PI) * radians); + return (degrees); + } + + public float Remap(float from, float fromMin, float toMin, float fromMax, float toMax) + { + var fromAbs = from - fromMin; + var fromMaxAbs = fromMax - fromMin; + + var normal = fromAbs / fromMaxAbs; + + var toMaxAbs = toMax - toMin; + var toAbs = toMaxAbs * normal; + + var to = toAbs + toMin; + + return to; + } + + } +} \ No newline at end of file diff --git a/2018-unity-sim/Assets/Walk3.cs.meta b/2018-unity-sim/Assets/JoyStick/HandleHoystick.cs.meta similarity index 77% rename from 2018-unity-sim/Assets/Walk3.cs.meta rename to 2018-unity-sim/Assets/JoyStick/HandleHoystick.cs.meta index 67297d2..cbe655b 100644 --- a/2018-unity-sim/Assets/Walk3.cs.meta +++ b/2018-unity-sim/Assets/JoyStick/HandleHoystick.cs.meta @@ -1,6 +1,6 @@ fileFormatVersion: 2 -guid: a4266f2a53eea3a43972b07e077212bc -timeCreated: 1542307321 +guid: c5ce8a2605d301e44a4a210aa345ed62 +timeCreated: 1641405303 licenseType: Free MonoImporter: externalObjects: {} diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs index a9095e3..43d791c 100644 --- a/2018-unity-sim/Assets/Leg.cs +++ b/2018-unity-sim/Assets/Leg.cs @@ -1,12 +1,11 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; +using UnityEngine; public class Leg : MonoBehaviour { public Transform Hip1; public Transform Hip2; public Transform Knie; + // rotation angles for different servos public double a1 = 0; public double a2 = 0; public double a3 = 0; @@ -14,11 +13,12 @@ public class Leg : MonoBehaviour { public Vector3 point = new Vector3(10, 10, 0); public Quaternion rotation = new Quaternion(0, 0, 0, 0); - public Vector3 transformation = new Vector3(0, 0, 0); - public Vector3 transformation2 = new Vector3(0, 0, 0); + public Vector3 transformationBeforeRotation = new Vector3(0, 0, 0); + public Vector3 transformationAfterRotation = new Vector3(0, 0, 0); - public bool invert = false; + public bool invertForLeftLeg = false; + // translation to change origin to middle of body public double translateX = 0; public double translateY = 0; public double translateZ = 0; @@ -51,16 +51,16 @@ public class Leg : MonoBehaviour { foot.translateZ = translateZ; // transform before rotation. - foot.transformation = transformation; + foot.transformation = transformationBeforeRotation; // transform after rotation. - foot.transformation2 = transformation2; + foot.transformation2 = transformationAfterRotation; - foot.invert = invert; + foot.invert = invertForLeftLeg; foot.setleg(); - if (!invert) + if (!invertForLeftLeg) { a1 = foot.O1 - 90; a2 = 90 - foot.O2; @@ -73,23 +73,33 @@ public class Leg : MonoBehaviour { a3 = foot.O3 - 90; } - if (!invert && startServo != -1) + if (!invertForLeftLeg && startServo != -1) { + // Serial.Instance.send(startServo, + // (int)Remap((float)a1, -90, 90, 2500, 500), + // (int)Remap((float)a2, -90, 90, 2500, 500), // 0 is middel + // (int)Remap((float)a3, 90, -90, 2500, 500)); // 0 is middel + if(false) Serial.Instance.send(startServo, - (int)Remap((float)a1, -90, 90, 2500, 500), - (int)Remap((float)a2, -90, 90, 2500, 500), // 0 is middel - (int)Remap((float)a3, 90, -90, 2500, 500)); // 0 is middel + (int)Remap((float)a1, -90, 90, 0, 180), + (int)Remap((float)a2, 90, -90, 0, 180), // 0 is middel + (int)Remap((float)a3, -90, 90, 0, 180)); // 0 is middel } - else if (invert && startServo != -1) + else if (invertForLeftLeg && startServo != -1) { double a1 = foot.O1 - 90; double a2 = 90 - foot.O2; double a3 = foot.O3 - 90; - Serial.Instance.send(startServo, - (int)Remap((float)a1, -90, 90, 500, 2500), - (int)Remap((float)a2, -90, 90, 500, 2500), // 0 is middel - (int)Remap((float)a3, 90, -90, 500, 2500)); // 0 is middel + // Serial.Instance.send(startServo, + // (int)Remap((float)a1, -90, 90, 500, 2500), + // (int)Remap((float)a2, -90, 90, 500, 2500), // 0 is middel + // (int)Remap((float)a3, 90, -90, 500, 2500)); // 0 is middel + if (false) + Serial.Instance.send(startServo, + (int)Remap((float)a1, 90, -90, 0, 180), + (int)Remap((float)a2, -90, 90, 0, 180), // 0 is middel + (int)Remap((float)a3, 90, -90, 0, 180)); // 0 is middel } Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0); diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity index cc4b971..3867477 100644 --- a/2018-unity-sim/Assets/Main.unity +++ b/2018-unity-sim/Assets/Main.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d9d8f9f9ab588af6ad767e7b01fd9e0b23cd6212c541eac0450a24d0875c5bf8 -size 9973394 +oid sha256:157f86a1cf17b5abdf560b35d4f752eadaaaf135056954a3484ae65e075d8fba +size 9973687 diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs index 8d837fc..5f443a4 100644 --- a/2018-unity-sim/Assets/RotationControl.cs +++ b/2018-unity-sim/Assets/RotationControl.cs @@ -81,13 +81,13 @@ public class RotationControl : MonoBehaviour //rotation.y = r2.update(); //rotation.z = r3.update(); - //transformation.x = r4.update(); - //transformation.y = r5.update(); - //transformation.z = r6.update(); + //transformationBeforeRotation.x = r4.update(); + //transformationBeforeRotation.y = r5.update(); + //transformationBeforeRotation.z = r6.update(); - /*transformation2.x = r7.update(); - transformation2.y = r8.update(); - transformation2.z = r9.update();*/ + /*transformationAfterRotation.x = r7.update(); + transformationAfterRotation.y = r8.update(); + transformationAfterRotation.z = r9.update();*/ body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1); body.transform.position = transformation; @@ -96,8 +96,8 @@ public class RotationControl : MonoBehaviour for (int index = 0; index < rotation2.Count; ++index) { rotation2[index].GetComponent().rotation = rotation; - rotation2[index].GetComponent().transformation = transformation; - rotation2[index].GetComponent().transformation2 = transformation2; + rotation2[index].GetComponent().transformationBeforeRotation = transformation; + rotation2[index].GetComponent().transformationAfterRotation = transformation2; rotation2[index].GetComponent().FixedUpdate(); } } diff --git a/2018-unity-sim/Assets/Serial.cs b/2018-unity-sim/Assets/Serial.cs deleted file mode 100644 index 39e31ba..0000000 --- a/2018-unity-sim/Assets/Serial.cs +++ /dev/null @@ -1,67 +0,0 @@ -using UnityEngine; -using System.Collections; -using System.IO.Ports; - -public class Serial { - private static Serial instance; - - private Serial() { } - - ~Serial() { - serialPort.Close(); - } - - public static Serial Instance - { - get - { - if (instance == null) - { - instance = new Serial(); - } - return instance; - } - } - - public bool enabled = false; - - SerialPort serialPort; - - public void send(int start, int a, int b, int c) - { - if (serialPort == null) - { - serialPort = new SerialPort(@"\\.\" + "COM10", 115200); - - try - { - serialPort.Open(); - serialPort.DiscardOutBuffer(); - serialPort.DiscardInBuffer(); - - enabled = true; - } - catch - { - enabled = false; - } - } - - if (enabled) - { - if (serialPort is SerialPort) - { - string send = " #" + start.ToString() + " P" + a.ToString(); - start++; - send = send + " #" + start.ToString() + " P" + b.ToString(); - start++; - send = send + " #" + start.ToString() + " P" + c.ToString(); - - send = send + " \r"; - - serialPort.Write(send); - } - } - } - -} diff --git a/2018-unity-sim/Assets/Serial.meta b/2018-unity-sim/Assets/Serial.meta new file mode 100644 index 0000000..87b3f4c --- /dev/null +++ b/2018-unity-sim/Assets/Serial.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 942facdab943ceb4ca29453f4ee4d1b3 +folderAsset: yes +timeCreated: 1641404792 +licenseType: Free +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/2018-unity-sim/Assets/Serial/Serial.cs b/2018-unity-sim/Assets/Serial/Serial.cs new file mode 100644 index 0000000..0c5a03d --- /dev/null +++ b/2018-unity-sim/Assets/Serial/Serial.cs @@ -0,0 +1,119 @@ +using System; +using UnityEngine; +using System.Collections; +using System.IO.Ports; +using Random = System.Random; + +public class Serial +{ + private static Serial instance; + private int rnd = 0; + + private Serial() + { + } + + ~Serial() + { + serialPort.Close(); + serialPort.Dispose(); + } + + public static Serial Instance + { + get + { + if (instance == null) + { + instance = new Serial(); + } + + return instance; + } + } + + public bool enabled = false; + + public SerialPort serialPort; + + public int[] values = new int[18]; + + public static string ByteArrayToString(byte[] ba) + { + return BitConverter.ToString(ba).Replace("-", " "); + } + + public void send(int start, int a, int b, int c) + { + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM4", 250000); + + try + { + serialPort.Parity = Parity.Even; + serialPort.StopBits = StopBits.One; + serialPort.DataBits = 8; + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + System.Threading.Thread.Sleep(1000); + + enabled = true; + } + catch + { + enabled = false; + } + } + + if (enabled) + { + values[start] = a; + values[++start] = b; + values[++start] = c; + + if (serialPort is SerialPort && start == 17) + { + // string send = "s"; + byte[] send = new byte[18+1+2]; + send[18] = 0x00; + send[19] = 0xfe; + send[20] = 0xff; + // send[21] = 0xff; + + // if (rnd == 0) + // { + //rnd = 1; + for (int i = 0; i < 18; i++) + { + //string crc = ((i) * (values[i])) + ""; + //send = send + (i).ToString() + "_" + (values[i]).ToString() + "," + crc + "="; + byte[] intBytes = BitConverter.GetBytes(values[i]); + if (BitConverter.IsLittleEndian) + Array.Reverse(intBytes); + send[i] = intBytes[3]; + send[18] += send[i]; + } + + // Debug.Log(ByteArrayToString(send)); + serialPort.Write(send, 0, 18+1+2); + serialPort.BaseStream.Flush(); +// } +// else +// { +// rnd = 0; +// for (int i = 10; i < 18; i++) +// { +// string crc = ((i + 3) * (values[i])) + ""; +// +// send = send + (i + 2).ToString() + "_" + (values[i]).ToString() + "," + crc + "="; +// } +// +// Debug.Log(send); +// serialPort.Write(send); +// } + } + } + } +} diff --git a/2018-unity-sim/Assets/Serial.cs.meta b/2018-unity-sim/Assets/Serial/Serial.cs.meta similarity index 100% rename from 2018-unity-sim/Assets/Serial.cs.meta rename to 2018-unity-sim/Assets/Serial/Serial.cs.meta diff --git a/2018-unity-sim/Assets/Serial2.cs b/2018-unity-sim/Assets/Serial/Serial2.cs similarity index 98% rename from 2018-unity-sim/Assets/Serial2.cs rename to 2018-unity-sim/Assets/Serial/Serial2.cs index ffe7715..86cfa95 100644 --- a/2018-unity-sim/Assets/Serial2.cs +++ b/2018-unity-sim/Assets/Serial/Serial2.cs @@ -1,4 +1,4 @@ -using System; +/*using System; using UnityEngine; using System.Collections; using System.IO.Ports; @@ -67,3 +67,4 @@ public class Serial2 : MonoBehaviour{ } } +*/ \ No newline at end of file diff --git a/2018-unity-sim/Assets/Serial2.cs.meta b/2018-unity-sim/Assets/Serial/Serial2.cs.meta similarity index 100% rename from 2018-unity-sim/Assets/Serial2.cs.meta rename to 2018-unity-sim/Assets/Serial/Serial2.cs.meta diff --git a/2018-unity-sim/Assets/Serial/Serial3.cs b/2018-unity-sim/Assets/Serial/Serial3.cs new file mode 100644 index 0000000..17dd6d9 --- /dev/null +++ b/2018-unity-sim/Assets/Serial/Serial3.cs @@ -0,0 +1,170 @@ +//using System; +//using UnityEngine; +//using System.Collections; +//using System.IO.Ports; +//using System.Linq; +//using UnityEngine.UI; + +//public class Serial3 : MonoBehaviour{ + +// public RotationControl bot; +// public Walk walk; + +// public float a1, a2, a3, b1, b2, b3; + +// // ~Serial3() +// // { +// // serialPort.Close(); +// // serialPort.Dispose(); +// // } + +// public bool enabled = false; +// public bool enabled_send = false; + +// SerialPort serialPort; + +// public void Update() +// { +// if (serialPort == null) +// { +// serialPort = new SerialPort(@"\\.\" + "COM7", 230400); + +// try +// { +// serialPort.NewLine = "\r\n"; + +//// serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler); + +// serialPort.Open(); +// serialPort.DiscardOutBuffer(); +// serialPort.DiscardInBuffer(); + +// enabled = true; +// } +// catch +// { +// enabled = false; +// } +// } + +// if (enabled) +// { +// serialPort = Serial.Instance.serialPort; +// Serial.Instance.enabled = enabled_send; +// if (serialPort is SerialPort) +// { +// string received = serialPort.ReadLine(); +// string[] data = received.Split(','); + +// foreach (string d in data) +// { + +// string[] ch = d.Split('_'); + +// int channel = int.Parse(ch.First()); +// float value = float.Parse(ch.Last()); + +// switch (channel) +// { +// case 0: +// a1 = value - 127; +// break; +// case 1: +// a2 = value - 127; +// break; +// case 2: +// a3 = value - 127; +// break; +// case 3: +// b1 = value - 127; +// break; +// case 4: +// b2 = value - 127; +// break; +// case 5: +// b3 = value - 127; +// break; +// } + +// bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20), +// 1); + +// float speed = (float) (Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3; +// walk.walkspeed = speed < 0.5f ? 0 : speed; + +// float rotation = -1 * limit(b3/4, -5, 5); +// walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation; + +// walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1))); + +// float rotationabs = Math.Abs(walk.centerRotation); +// float speed2 = ((6 / 3) * walk.walkspeed) + ((6/5) * rotationabs); +// speed2 = speed2 < 6 ? speed2 : 6; +// walk.speed2 = (int)(10 - speed2); +// } +// } +// } +// } + +// private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e) +// { +// SerialPort serialPort = (SerialPort)sender; + +// if (enabled) +// { +// if (serialPort is SerialPort) +// { +// string received = serialPort.ReadLine(); +// string[] data = received.Split(','); + +// foreach (string d in data) +// { +// // if (data == "\r") +// // continue; + +// string[] ch = d.Split('_'); + +// int channel = int.Parse(ch.First()); +// float value = float.Parse(ch.Last()); + +// switch (channel) +// { +// case 0: +// a1 = value; +// break; +// case 1: +// a2 = value; +// break; +// case 2: +// a3 = value; +// break; +// case 3: +// b1 = value; +// break; +// case 4: +// b2 = value; +// break; +// case 5: +// b3 = value; +// break; +// } +// } + +// // bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1); +// } +// } +// } + +// public float limit(float input, float min, float max) +// { +// input = input / 6; +// return (input < max & input > min) ? input : input < min ? min : max; +// } + +// public float ConvertRadiansToDegrees(float radians) +// { +// float degrees = (float)((180 / Math.PI) * radians); +// return (degrees); +// } + +//} diff --git a/2018-unity-sim/Assets/Serial3.cs.meta b/2018-unity-sim/Assets/Serial/Serial3.cs.meta similarity index 100% rename from 2018-unity-sim/Assets/Serial3.cs.meta rename to 2018-unity-sim/Assets/Serial/Serial3.cs.meta diff --git a/2018-unity-sim/Assets/Serial3.cs b/2018-unity-sim/Assets/Serial3.cs deleted file mode 100644 index 5277af8..0000000 --- a/2018-unity-sim/Assets/Serial3.cs +++ /dev/null @@ -1,165 +0,0 @@ -using System; -using UnityEngine; -using System.Collections; -using System.IO.Ports; -using System.Linq; -using UnityEngine.UI; - -public class Serial3 : MonoBehaviour{ - - public RotationControl bot; - public Walk3 walk; - - public float a1, a2, a3, b1, b2, b3; - - ~Serial3() { - serialPort.Close(); - } - - public bool enabled = false; - - SerialPort serialPort; - - public void Update() - { - if (serialPort == null) - { - serialPort = new SerialPort(@"\\.\" + "COM7", 115200); - - try - { - serialPort.NewLine = "\r\n"; - -// serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler); - - serialPort.Open(); - serialPort.DiscardOutBuffer(); - serialPort.DiscardInBuffer(); - - enabled = true; - } - catch - { - enabled = false; - } - } - - if (enabled) - { - if (serialPort is SerialPort) - { - string received = serialPort.ReadLine(); - string[] data = received.Split(','); - - foreach (string d in data) - { - - string[] ch = d.Split('_'); - - int channel = int.Parse(ch.First()); - float value = float.Parse(ch.Last()); - - switch (channel) - { - case 0: - a1 = value - 127; - break; - case 1: - a2 = value - 127; - break; - case 2: - a3 = value - 127; - break; - case 3: - b1 = value - 127; - break; - case 4: - b2 = value - 127; - break; - case 5: - b3 = value - 127; - break; - } - - bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20), - 1); - - float speed = (float) (Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3; - walk.walkspeed = speed < 0.5f ? 0 : speed; - - float rotation = -1 * limit(b3/4, -5, 5); - walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation; - - walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1))); - - float rotationabs = Math.Abs(walk.centerRotation); - float speed2 = ((6 / 3) * walk.walkspeed) + ((6/5) * rotationabs); - speed2 = speed2 < 6 ? speed2 : 6; - walk.speed2 = (int)(10 - speed2); - } - } - } - } - - private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e) - { - SerialPort serialPort = (SerialPort)sender; - - if (enabled) - { - if (serialPort is SerialPort) - { - string received = serialPort.ReadLine(); - string[] data = received.Split(','); - - foreach (string d in data) - { - // if (data == "\r") - // continue; - - string[] ch = d.Split('_'); - - int channel = int.Parse(ch.First()); - float value = float.Parse(ch.Last()); - - switch (channel) - { - case 0: - a1 = value; - break; - case 1: - a2 = value; - break; - case 2: - a3 = value; - break; - case 3: - b1 = value; - break; - case 4: - b2 = value; - break; - case 5: - b3 = value; - break; - } - } - - // bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1); - } - } - } - - public float limit(float input, float min, float max) - { - input = input / 6; - return (input < max & input > min) ? input : input < min ? min : max; - } - - public float ConvertRadiansToDegrees(float radians) - { - float degrees = (float)((180 / Math.PI) * radians); - return (degrees); - } - -} diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs index 4ecba33..346e383 100644 --- a/2018-unity-sim/Assets/Walk.cs +++ b/2018-unity-sim/Assets/Walk.cs @@ -13,19 +13,32 @@ public class Walk : MonoBehaviour for (int index = 0; index < legs.Count; ++index) { legsInitial.Add(legs[index].GetComponent().point); - step2.Add( new Vector3() ); + step2.Add(0); + step6.Add(false); + //step3.Add(0); + //step4.Add(new Vector3(0, 0, 0)); + step5.Add(new Vector3()); + + freeze.Add(false); + freeze_y.Add(false); } } struct step { public Vector3 pos; + public float rotation; + public float height; public bool inAir; + public bool inRest; - public step(Vector3 p, bool i) + public step(Vector3 p, float r, float h, bool i, bool ir) { pos = p; + rotation = r; + height = 0; inAir = i; + inRest = ir; } } @@ -37,63 +50,159 @@ public class Walk : MonoBehaviour } step[] s = { - new step(new Vector3(-1, 0, 0), false), + new step(new Vector3(-1, 0, 0), -1, 0, false, false), - new step(new Vector3(0, -2, 0), false), + new step(new Vector3(0, -2, 0), 0, 0, false, false), - new step(new Vector3(0, 0, 0), false), // rest + new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest - new step(new Vector3(1, 0, 0), false), - new step(new Vector3(1, 0, 0), false), + new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle + new step(new Vector3(1, 0, 0), 1, 0, false, false), - new step(new Vector3(0, 0, 0), false), // rest + new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest - new step(new Vector3(0, 2, 0), false), - new step(new Vector3(-1, 0, 0), true), + new step(new Vector3(0, 2, 0), 0, 0, false, false), + new step(new Vector3(-1, 0, 0), -1, 0, true, false), }; public int st = 5; public int speed2 = 30; int speed = 10; - public float rotation = 0; + public float walkDirection = 0; + public float centerRotation = 0; int size = 8; public float walkspeed = 1; - private List step2 = new List(); + private List step2 = new List(); + //private List step3 = new List(); + //private List step4 = new List(); + private List step5 = new List(); + private List step6 = new List(); + + private List freeze = new List(); + private List freeze_y = new List(); // Update is called once per frame void FixedUpdate() { if (speed <= 0) { - if (st >= size-1) + if (st >= size - 1) st = 0; else + { st++; + if (centerRotation == 0 && walkspeed == 0) + { + for (int index = 0; index < legs.Count; index++) + { + int t = st; + if (index == 1 || index == 3 || index == 5) + { + t = offset(st, 4, size); + } + + if (s[t].inRest) + { + Vector3 lp = legs[index].GetComponent().getLocalPos(); // + s[t].pos; + //lp.y -= 2; + if ((Mathf.Abs(lp.y - (legsInitial[index].y - 2)) < 0.0001f) + && (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f) + && (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f)) + { + freeze[index] = true; + freeze_y[index] = true; + } + } + + /*else + { + freeze[index] = false; + }*/ + } + } + else + { + for (int index = 0; index < legs.Count; index++) + { + freeze[index] = false; + } + } + } + for (int index = 0; index < legs.Count; ++index) { int t = st; - if (index == 1 || index == 3 || index == 5) - { - t = offset(st, 4, size); - } - if (s[t].inAir == false) + if (true) { - Vector3 t2 = s[t].pos; - t2.x *= walkspeed; - - // rotate x,y around rotation. - step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2; + // Hex walk + if (index == 1 || index == 3 || index == 5) + { + t = offset(st, 4, size); + } } else { - Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; - step2[index] = t2 / speed2; + // One leg at a time walk + switch (index) + { + case 0: + t = offset(st, 0, size); + break; + case 1: + t = offset(st, 4, size); + break; + case 2: + t = offset(st, 2, size); + break; + case 3: + t = offset(st, 3, size); + break; + case 4: + t = offset(st, 1, size); + break; + case 5: + t = offset(st, 5, size); + break; + } + } + + if (!freeze[index]) + { + if (s[t].inAir == false) + { + step2[index] = (centerRotation * s[t].rotation) / speed2; + + Vector3 t2 = s[t].pos; + t2.x *= walkspeed; + // rotate x,y around rotation. + if (freeze_y[index]) + { + t2.y = 0; + } + + step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2; + + step6[index] = true; + } + else + { + Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; + step5[index] = t2 / speed2; + + step6[index] = false; + freeze_y[index] = false; + } + } + else + { + step5[index] = new Vector3(0, 0, 0); + step6[index] = false; } } @@ -110,7 +219,16 @@ public class Walk : MonoBehaviour { for (int index = 0; index < legs.Count; ++index) { - legs[index].GetComponent().point += step2[index]; + legs[index].GetComponent().point += step5[index]; + if (step6[index]) + { + //legs[index].GetComponent().point += step5[index]; + + // rotate x,y around rotation. + legs[index].GetComponent().setWorldPos( + Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent().getWorldPos() + ); + } } } } diff --git a/2018-unity-sim/Assets/Walk.cs.meta b/2018-unity-sim/Assets/Walk.cs.meta index 72a7f4a..67297d2 100644 --- a/2018-unity-sim/Assets/Walk.cs.meta +++ b/2018-unity-sim/Assets/Walk.cs.meta @@ -1,6 +1,6 @@ fileFormatVersion: 2 -guid: 62866dc69f17c5f40a7ec527e34e82f1 -timeCreated: 1542141752 +guid: a4266f2a53eea3a43972b07e077212bc +timeCreated: 1542307321 licenseType: Free MonoImporter: externalObjects: {} diff --git a/2018-unity-sim/Assets/Walk2.cs b/2018-unity-sim/Assets/Walk2.cs deleted file mode 100644 index fbb7cc2..0000000 --- a/2018-unity-sim/Assets/Walk2.cs +++ /dev/null @@ -1,131 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class Walk2 : MonoBehaviour -{ - public List legs = new List(); - private List legsInitial = new List(); - - // Use this for initialization - void Start() - { - for (int index = 0; index < legs.Count; ++index) - { - legsInitial.Add(legs[index].GetComponent().point); - step2.Add(0); - step3.Add(0); - step4.Add(new Vector3(0, 0, 0)); - } - } - - struct step - { - public float rotation; - public float height; - public bool inAir; - - public step(float r, float h, bool i) - { - rotation = r; - height = h; - inAir = i; - } - } - - // 1, 3, 5 -= 3 - - int offset(int i, int offset, int max) - { - return i - offset < 0 ? (max - (offset - i)) : i - offset; - } - - step[] s = { - new step(-1, 0, false), - - new step(0, -2, false), - - new step(0, 0, false), // rest - - new step(1, 0, false), - new step(1, 0, false), - - new step(0, 0, false), // rest - - new step(0, 2, false), - new step(-1, 0, true), - }; - - public int st = 5; - public int speed2 = 30; - int speed = 10; - - public float rotation = 0; - - int size = 8; - - //public float walkspeed = 1; - private List step2 = new List(); - private List step3 = new List(); - private List step4 = new List(); - - // Update is called once per frame - void FixedUpdate() - { - if (speed <= 0) - { - if (st >= size - 1) - st = 0; - else - st++; - - for (int index = 0; index < legs.Count; ++index) - { - int t = st; - if (index == 1 || index == 3 || index == 5) - { - t = offset(st, 4, size); - } - - if (s[t].inAir == false) - { - step2[index] = (rotation * s[t].rotation) / speed2; - step3[index] = s[t].height / speed2; - step4[index] = new Vector3(0, 0, 0); - } - else - { - Vector3 t2 = legsInitial[index] - legs[index].GetComponent().point; - step4[index] = t2 / speed2; - } - } - - speed = speed2; - } - else - { - speed--; - makestep(); - } - } - - void makestep() - { - for (int index = 0; index < legs.Count; ++index) - { - if (step4[index] == new Vector3(0, 0, 0)) - { - Vector3 n = legs[index].GetComponent().getWorldPos(); - n = Quaternion.Euler(0, step2[index], 0) * n; - n.y += step3[index]; - // rotate x,y around rotation. - legs[index].GetComponent().setWorldPos(n); - } - else - { - // return to home - legs[index].GetComponent().point += step4[index]; - } - } - } -} diff --git a/2018-unity-sim/Assets/Walk2.cs.meta b/2018-unity-sim/Assets/Walk2.cs.meta deleted file mode 100644 index 19644ec..0000000 --- a/2018-unity-sim/Assets/Walk2.cs.meta +++ /dev/null @@ -1,13 +0,0 @@ -fileFormatVersion: 2 -guid: 91e6f3895f276d94da1803128e6290e0 -timeCreated: 1542229569 -licenseType: Free -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/2018-unity-sim/Assets/Walk3.cs b/2018-unity-sim/Assets/Walk3.cs deleted file mode 100644 index 604f57c..0000000 --- a/2018-unity-sim/Assets/Walk3.cs +++ /dev/null @@ -1,202 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class Walk3 : MonoBehaviour -{ - public List legs = new List(); - private List legsInitial = new List(); - - // Use this for initialization - void Start() - { - for (int index = 0; index < legs.Count; ++index) - { - legsInitial.Add(legs[index].GetComponent().point); - step2.Add(0); - step6.Add(false); - //step3.Add(0); - //step4.Add(new Vector3(0, 0, 0)); - step5.Add(new Vector3()); - - freeze.Add(false); - freeze_y.Add(false); - } - } - - struct step - { - public Vector3 pos; - public float rotation; - public float height; - public bool inAir; - public bool inRest; - - public step(Vector3 p, float r, float h, bool i, bool ir) - { - pos = p; - rotation = r; - height = 0; - inAir = i; - inRest = ir; - } - } - - // 1, 3, 5 -= 3 - - int offset(int i, int offset, int max) - { - return i - offset < 0 ? (max - (offset - i)) : i - offset; - } - - step[] s = { - new step(new Vector3(-1, 0, 0), -1, 0, false, false), - - new step(new Vector3(0, -2, 0), 0, 0, false, false), - - new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest - - new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle - new step(new Vector3(1, 0, 0), 1, 0, false, false), - - new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest - - new step(new Vector3(0, 2, 0), 0, 0, false, false), - new step(new Vector3(-1, 0, 0), -1, 0, true, false), - }; - - public int st = 5; - public int speed2 = 30; - int speed = 10; - - public float walkDirection = 0; - public float centerRotation = 0; - - int size = 8; - - public float walkspeed = 1; - - private List step2 = new List(); - //private List step3 = new List(); - //private List step4 = new List(); - private List step5 = new List(); - private List step6 = new List(); - - private List freeze = new List(); - private List freeze_y = new List(); - - // Update is called once per frame - void FixedUpdate() - { - if (speed <= 0) - { - if (st >= size-1) - st = 0; - else - { - st++; - - if (centerRotation == 0 && walkspeed == 0) - { - for (int index = 0; index < legs.Count; index++) - { - int t = st; - if (index == 1 || index == 3 || index == 5) - { - t = offset(st, 4, size); - } - - if (s[t].inRest) - { - Vector3 lp = legs[index].GetComponent().getLocalPos();// + s[t].pos; - //lp.y -= 2; - if ((Mathf.Abs(lp.y - (legsInitial[index].y-2)) < 0.0001f) - && (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f) - && (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f)) - { - freeze[index] = true; - freeze_y[index] = true; - } - } - /*else - { - freeze[index] = false; - }*/ - } - } - else - { - for (int index = 0; index < legs.Count; index++) - { - freeze[index] = false; - } - } - } - - for (int index = 0; index < legs.Count; ++index) - { - int t = st; - if (index == 1 || index == 3 || index == 5) - { - t = offset(st, 4, size); - } - - if (!freeze[index]) - { - if (s[t].inAir == false) - { - step2[index] = (centerRotation * s[t].rotation) / speed2; - - Vector3 t2 = s[t].pos; - t2.x *= walkspeed; - // rotate x,y around rotation. - if (freeze_y[index]) - { - t2.y = 0; - } - step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2; - - step6[index] = true; - } - else - { - Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent().point; - step5[index] = t2 / speed2; - - step6[index] = false; - freeze_y[index] = false; - } - } - else - { - step5[index] = new Vector3(0, 0, 0); - step6[index] = false; - } - } - - speed = speed2; - } - else - { - speed--; - makestep(); - } - } - - void makestep() - { - for (int index = 0; index < legs.Count; ++index) - { - legs[index].GetComponent().point += step5[index]; - if (step6[index]) - { - //legs[index].GetComponent().point += step5[index]; - - // rotate x,y around rotation. - legs[index].GetComponent().setWorldPos( - Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent().getWorldPos() - ); - } - } - } -} diff --git a/2018-unity-sim/ProjectSettings/InputManager.asset b/2018-unity-sim/ProjectSettings/InputManager.asset index 17c8f53..2aaa155 100644 --- a/2018-unity-sim/ProjectSettings/InputManager.asset +++ b/2018-unity-sim/ProjectSettings/InputManager.asset @@ -6,290 +6,98 @@ InputManager: serializedVersion: 2 m_Axes: - serializedVersion: 3 - m_Name: Horizontal + m_Name: 1 descriptiveName: descriptiveNegativeName: negativeButton: left positiveButton: right altNegativeButton: a altPositiveButton: d - gravity: 3 + gravity: 1 dead: 0.001 - sensitivity: 3 + sensitivity: 1 snap: 1 invert: 0 - type: 0 + type: 2 axis: 0 joyNum: 0 - serializedVersion: 3 - m_Name: Vertical + m_Name: 2 descriptiveName: descriptiveNegativeName: negativeButton: down positiveButton: up altNegativeButton: s altPositiveButton: w - gravity: 3 + gravity: 1 dead: 0.001 - sensitivity: 3 + sensitivity: 1 snap: 1 invert: 0 - type: 0 - axis: 0 + type: 2 + axis: 1 joyNum: 0 - serializedVersion: 3 - m_Name: Fire1 + m_Name: 3 descriptiveName: descriptiveNegativeName: negativeButton: positiveButton: left ctrl altNegativeButton: altPositiveButton: mouse 0 - gravity: 1000 + gravity: 1 dead: 0.001 - sensitivity: 1000 - snap: 0 + sensitivity: 1 + snap: 1 invert: 0 - type: 0 - axis: 0 + type: 2 + axis: 2 joyNum: 0 - serializedVersion: 3 - m_Name: Fire2 + m_Name: 4 descriptiveName: descriptiveNegativeName: negativeButton: positiveButton: left alt altNegativeButton: altPositiveButton: mouse 1 - gravity: 1000 + gravity: 1 dead: 0.001 - sensitivity: 1000 - snap: 0 + sensitivity: 1 + snap: 1 invert: 0 - type: 0 - axis: 0 + type: 2 + axis: 3 joyNum: 0 - serializedVersion: 3 - m_Name: Fire3 + m_Name: 5 descriptiveName: descriptiveNegativeName: negativeButton: positiveButton: left shift altNegativeButton: altPositiveButton: mouse 2 - gravity: 1000 + gravity: 1 dead: 0.001 - sensitivity: 1000 - snap: 0 + sensitivity: 1 + snap: 1 invert: 0 - type: 0 - axis: 0 + type: 2 + axis: 4 joyNum: 0 - serializedVersion: 3 - m_Name: Jump + m_Name: 6 descriptiveName: descriptiveNegativeName: negativeButton: positiveButton: space altNegativeButton: altPositiveButton: - gravity: 1000 + gravity: 1 dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Mouse X - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: - altNegativeButton: - altPositiveButton: - gravity: 0 - dead: 0 - sensitivity: 0.1 - snap: 0 - invert: 0 - type: 1 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Mouse Y - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: - altNegativeButton: - altPositiveButton: - gravity: 0 - dead: 0 - sensitivity: 0.1 - snap: 0 - invert: 0 - type: 1 - axis: 1 - joyNum: 0 - - serializedVersion: 3 - m_Name: Mouse ScrollWheel - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: - altNegativeButton: - altPositiveButton: - gravity: 0 - dead: 0 - sensitivity: 0.1 - snap: 0 - invert: 0 - type: 1 - axis: 2 - joyNum: 0 - - serializedVersion: 3 - m_Name: Horizontal - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: - altNegativeButton: - altPositiveButton: - gravity: 0 - dead: 0.19 sensitivity: 1 - snap: 0 + snap: 1 invert: 0 type: 2 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Vertical - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: - altNegativeButton: - altPositiveButton: - gravity: 0 - dead: 0.19 - sensitivity: 1 - snap: 0 - invert: 1 - type: 2 - axis: 1 - joyNum: 0 - - serializedVersion: 3 - m_Name: Fire1 - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: joystick button 0 - altNegativeButton: - altPositiveButton: - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Fire2 - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: joystick button 1 - altNegativeButton: - altPositiveButton: - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Fire3 - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: joystick button 2 - altNegativeButton: - altPositiveButton: - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Jump - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: joystick button 3 - altNegativeButton: - altPositiveButton: - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Submit - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: return - altNegativeButton: - altPositiveButton: joystick button 0 - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Submit - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: enter - altNegativeButton: - altPositiveButton: space - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 - joyNum: 0 - - serializedVersion: 3 - m_Name: Cancel - descriptiveName: - descriptiveNegativeName: - negativeButton: - positiveButton: escape - altNegativeButton: - altPositiveButton: joystick button 1 - gravity: 1000 - dead: 0.001 - sensitivity: 1000 - snap: 0 - invert: 0 - type: 0 - axis: 0 + axis: 5 joyNum: 0 From 772e4c34ed2076f01857d17baf8eeea71ab27549 Mon Sep 17 00:00:00 2001 From: MangaValk Date: Mon, 10 Apr 2023 15:11:41 +0200 Subject: [PATCH 18/18] upgrade to new unity version --- .../Editor/MediationAdapterDependencies.xml | 20 + .../Assets/MobileDependencyResolver.meta | 9 + .../MobileDependencyResolver/Editor.meta | 9 + .../Editor/Google.IOSResolver.dll | 3 + .../Editor/Google.IOSResolver.dll.meta | 90 ++ .../Editor/Google.JarResolver.dll | 3 + .../Editor/Google.JarResolver.dll.meta | 37 + .../Editor/Google.VersionHandler.dll | 3 + .../Editor/Google.VersionHandler.dll.meta | 37 + .../Editor/Google.VersionHandlerImpl.dll | 3 + .../Editor/Google.VersionHandlerImpl.dll.meta | 37 + .../Editor/mobile-dependency-resolver.txt | 4 + .../mobile-dependency-resolver.txt.meta | 11 + 2018-unity-sim/Assets/Resources.meta | 8 + .../Assets/Resources/BillingMode.json | 1 + .../Assets/Resources/BillingMode.json.meta | 7 + 2018-unity-sim/Logs/AssetImportWorker0.log | 352 ++++++ 2018-unity-sim/Logs/AssetImportWorker1.log | 346 ++++++ 2018-unity-sim/Logs/Packages-Update.log | 52 + .../shadercompiler-AssetImportWorker0.log | Bin 0 -> 6036 bytes ...hadercompiler-UnityShaderCompiler.exe0.log | 103 ++ ...hadercompiler-UnityShaderCompiler.exe1.log | 10 + ...hadercompiler-UnityShaderCompiler.exe2.log | 10 + ...hadercompiler-UnityShaderCompiler.exe3.log | 7 + ...hadercompiler-UnityShaderCompiler.exe4.log | 7 + ...hadercompiler-UnityShaderCompiler.exe5.log | 7 + ...hadercompiler-UnityShaderCompiler.exe6.log | 7 + 2018-unity-sim/Packages/manifest.json | 49 + 2018-unity-sim/Packages/packages-lock.json | 420 +++++++ .../ProjectSettings/GvhProjectSettings.xml | 3 + .../ProjectSettings/MemorySettings.asset | 35 + .../PackageManagerSettings.asset | 36 + .../Settings.json | 78 ++ .../ProjectSettings/PresetManager.asset | 7 + .../ProjectSettings/ProjectVersion.txt | 3 +- .../ProjectSettings/VFXManager.asset | 15 + .../VersionControlSettings.asset | 8 + 2018-unity-sim/ProjectSettings/boot.config | 0 .../UnityPackageManager/manifest.json | 4 - .../UserSettings/EditorUserSettings.asset | Bin 0 -> 4156 bytes .../UserSettings/Layouts/default-2021.dwlt | 1008 +++++++++++++++++ 41 files changed, 2844 insertions(+), 5 deletions(-) create mode 100644 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Loaded Objects now: 2848. +Memory consumption went from 92.3 MB to 92.3 MB. +Total: 6.781500 ms (FindLiveObjects: 0.184200 ms CreateObjectMapping: 0.053500 ms MarkObjects: 6.513800 ms DeleteObjects: 0.028300 ms) + +AssetImportParameters requested are different than current active one (requested -> active): + custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> + custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> + custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> + custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> + custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> + custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> + custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> + custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> + custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> +======================================================================== +Received Prepare +Registering precompiled user dll's ... +Registered in 0.006019 seconds. +Begin MonoManager ReloadAssembly +Native extension for WindowsStandalone target not found +Native extension for WebGL target not found +Refreshing native plugins compatible for Editor in 0.70 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Mono: successfully reloaded assembly +- Completed reload, in 0.990 seconds +Domain Reload Profiling: + ReloadAssembly (991ms) + BeginReloadAssembly (141ms) + ExecutionOrderSort (0ms) + DisableScriptedObjects (5ms) + BackupInstance (0ms) + ReleaseScriptingObjects (0ms) + CreateAndSetChildDomain (32ms) + EndReloadAssembly (754ms) + LoadAssemblies (91ms) + RebuildTransferFunctionScriptingTraits (0ms) + SetupTypeCache (169ms) + ReleaseScriptCaches (2ms) + RebuildScriptCaches (42ms) + SetupLoadedEditorAssemblies (425ms) + LogAssemblyErrors (0ms) + InitializePlatformSupportModulesInManaged (8ms) + SetLoadedEditorAssemblies (0ms) + RefreshPlugins (1ms) + BeforeProcessingInitializeOnLoad (71ms) + ProcessInitializeOnLoadAttributes (202ms) + ProcessInitializeOnLoadMethodAttributes (132ms) + AfterProcessingInitializeOnLoad (10ms) + EditorAssembliesLoaded (0ms) + ExecutionOrderSort2 (0ms) + AwakeInstancesAfterBackupRestoration (7ms) +Platform modules already initialized, skipping +Refreshing native plugins compatible for Editor in 5.76 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Unloading 2293 Unused Serialized files (Serialized files now loaded: 0) +Unloading 50 unused Assets / (25.8 KB). Loaded Objects now: 2851. +Memory consumption went from 92.3 MB to 92.3 MB. +Total: 6.085800 ms (FindLiveObjects: 0.197300 ms CreateObjectMapping: 0.071700 ms MarkObjects: 5.785400 ms DeleteObjects: 0.030000 ms) + +AssetImportParameters requested are different than current active one (requested -> active): + custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> + custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> + custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> + custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> + custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> + custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> + custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> + custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> + custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> diff --git a/2018-unity-sim/Logs/AssetImportWorker1.log b/2018-unity-sim/Logs/AssetImportWorker1.log new file mode 100644 index 0000000..834dc30 --- /dev/null +++ b/2018-unity-sim/Logs/AssetImportWorker1.log @@ -0,0 +1,346 @@ +Using pre-set license +Built from '2021.3/staging' branch; Version is '2021.3.22f1 (b6c551784ba3) revision 11978065'; Using compiler version '192829333'; Build Type 'Release' +OS: 'Windows 10 (10.0.19045) 64bit Professional' Language: 'en' Physical Memory: 32679 MB +BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 1 + +COMMAND LINE ARGUMENTS: +C:\Program Files\Unity\Hub\Editor\2021.3.22f1\Editor\Unity.exe +-adb2 +-batchMode +-noUpm +-name +AssetImportWorker1 +-projectPath +C:/Users/patri/Documents/GitHub/Hexapod +-logFile +Logs/AssetImportWorker1.log +-srvPort +57737 +Successfully changed project path to: C:/Users/patri/Documents/GitHub/Hexapod +C:/Users/patri/Documents/GitHub/Hexapod +[UnityMemory] Configuration Parameters - Can be set up in boot.config + "memorysetup-bucket-allocator-granularity=16" + "memorysetup-bucket-allocator-bucket-count=8" + "memorysetup-bucket-allocator-block-size=33554432" + "memorysetup-bucket-allocator-block-count=8" + "memorysetup-main-allocator-block-size=16777216" + "memorysetup-thread-allocator-block-size=16777216" + "memorysetup-gfx-main-allocator-block-size=16777216" + "memorysetup-gfx-thread-allocator-block-size=16777216" + "memorysetup-cache-allocator-block-size=4194304" + "memorysetup-typetree-allocator-block-size=2097152" + "memorysetup-profiler-bucket-allocator-granularity=16" + "memorysetup-profiler-bucket-allocator-bucket-count=8" + "memorysetup-profiler-bucket-allocator-block-size=33554432" + "memorysetup-profiler-bucket-allocator-block-count=8" + "memorysetup-profiler-allocator-block-size=16777216" + "memorysetup-profiler-editor-allocator-block-size=1048576" + "memorysetup-temp-allocator-size-main=16777216" + "memorysetup-job-temp-allocator-block-size=2097152" + "memorysetup-job-temp-allocator-block-size-background=1048576" + "memorysetup-job-temp-allocator-reduction-small-platforms=262144" + "memorysetup-temp-allocator-size-background-worker=32768" + "memorysetup-temp-allocator-size-job-worker=262144" + "memorysetup-temp-allocator-size-preload-manager=33554432" + "memorysetup-temp-allocator-size-nav-mesh-worker=65536" + "memorysetup-temp-allocator-size-audio-worker=65536" + "memorysetup-temp-allocator-size-cloud-worker=32768" + "memorysetup-temp-allocator-size-gi-baking-worker=262144" + "memorysetup-temp-allocator-size-gfx=262144" +Player connection [21208] Host "[IP] 10.1.1.100 [Port] 0 [Flags] 2 [Guid] 3267946415 [EditorId] 3267946415 [Version] 1048832 [Id] WindowsEditor(7,DESKTOP-MU1JPM5) [Debug] 1 [PackageName] WindowsEditor [ProjectName] Editor" joined multi-casting on [225.0.0.222:54997]... + +Player connection [21208] Host "[IP] 10.1.1.100 [Port] 0 [Flags] 2 [Guid] 3267946415 [EditorId] 3267946415 [Version] 1048832 [Id] WindowsEditor(7,DESKTOP-MU1JPM5) [Debug] 1 [PackageName] WindowsEditor [ProjectName] Editor" joined alternative multi-casting on [225.0.0.222:34997]... + +Refreshing native plugins compatible for Editor in 45.66 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Initialize engine version: 2021.3.22f1 (b6c551784ba3) +[Subsystems] Discovering subsystems at path C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/Resources/UnitySubsystems +[Subsystems] Discovering subsystems at path C:/Users/patri/Documents/GitHub/Hexapod/Assets +GfxDevice: creating device client; threaded=0; jobified=0 +Direct3D: + Version: Direct3D 11.0 [level 11.1] + Renderer: NVIDIA GeForce RTX 2080 (ID=0x1e87) + Vendor: NVIDIA + VRAM: 8002 MB + Driver: 31.0.15.3141 +Initialize mono +Mono path[0] = 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/Managed' +Mono path[1] = 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit-win32' +Mono config path = 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/MonoBleedingEdge/etc' +Using monoOptions --debugger-agent=transport=dt_socket,embedding=1,server=y,suspend=n,address=127.0.0.1:56828 +Begin MonoManager ReloadAssembly +Registering precompiled unity dll's ... +Register platform support module: C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines/WebGLSupport/UnityEditor.WebGL.Extensions.dll +Register platform support module: C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll +Registered in 0.008395 seconds. +Native extension for WindowsStandalone target not found +Native extension for WebGL target not found +Refreshing native plugins compatible for Editor in 38.34 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Mono: successfully reloaded assembly +- Completed reload, in 0.518 seconds +Domain Reload Profiling: + ReloadAssembly (518ms) + BeginReloadAssembly (75ms) + ExecutionOrderSort (0ms) + DisableScriptedObjects (0ms) + BackupInstance (0ms) + ReleaseScriptingObjects (0ms) + CreateAndSetChildDomain (1ms) + EndReloadAssembly (354ms) + LoadAssemblies (73ms) + RebuildTransferFunctionScriptingTraits (0ms) + SetupTypeCache (90ms) + ReleaseScriptCaches (0ms) + RebuildScriptCaches (23ms) + SetupLoadedEditorAssemblies (194ms) + LogAssemblyErrors (0ms) + InitializePlatformSupportModulesInManaged (8ms) + SetLoadedEditorAssemblies (0ms) + RefreshPlugins (38ms) + BeforeProcessingInitializeOnLoad (1ms) + ProcessInitializeOnLoadAttributes (110ms) + ProcessInitializeOnLoadMethodAttributes (36ms) + AfterProcessingInitializeOnLoad (0ms) + EditorAssembliesLoaded (0ms) + ExecutionOrderSort2 (0ms) + AwakeInstancesAfterBackupRestoration (0ms) +Platform modules already initialized, skipping +Registering precompiled user dll's ... +Registered in 0.006103 seconds. +Begin MonoManager ReloadAssembly +Native extension for WindowsStandalone target not found +Native extension for WebGL target not found +Refreshing native plugins compatible for Editor in 0.55 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Mono: successfully reloaded assembly +- Completed reload, in 0.821 seconds +Domain Reload Profiling: + ReloadAssembly (821ms) + BeginReloadAssembly (102ms) + ExecutionOrderSort (0ms) + DisableScriptedObjects (5ms) + BackupInstance (0ms) + ReleaseScriptingObjects (0ms) + CreateAndSetChildDomain (15ms) + EndReloadAssembly (635ms) + LoadAssemblies (76ms) + RebuildTransferFunctionScriptingTraits (0ms) + SetupTypeCache (152ms) + ReleaseScriptCaches (0ms) + RebuildScriptCaches (35ms) + SetupLoadedEditorAssemblies (355ms) + LogAssemblyErrors (0ms) + InitializePlatformSupportModulesInManaged (6ms) + SetLoadedEditorAssemblies (0ms) + RefreshPlugins (1ms) + BeforeProcessingInitializeOnLoad (61ms) + ProcessInitializeOnLoadAttributes (170ms) + ProcessInitializeOnLoadMethodAttributes (109ms) + AfterProcessingInitializeOnLoad (8ms) + EditorAssembliesLoaded (0ms) + ExecutionOrderSort2 (0ms) + AwakeInstancesAfterBackupRestoration (5ms) +Platform modules already initialized, skipping +======================================================================== +Worker process is ready to serve import requests +Launched and connected shader compiler UnityShaderCompiler.exe after 0.04 seconds +Refreshing native plugins compatible for Editor in 0.70 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Unloading 2221 Unused Serialized files (Serialized files now loaded: 0) +Unloading 50 unused Assets / (56.1 KB). Loaded Objects now: 2666. +Memory consumption went from 85.9 MB to 85.9 MB. +Total: 5.419800 ms (FindLiveObjects: 0.198900 ms CreateObjectMapping: 0.052500 ms MarkObjects: 5.089900 ms DeleteObjects: 0.077600 ms) + +AssetImportParameters requested are different than current active one (requested -> active): + custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> + custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> + custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> + custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> + custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> + custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> + custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> + custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> + custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> +======================================================================== +Received Prepare +Registering precompiled user dll's ... +Registered in 0.004142 seconds. +Begin MonoManager ReloadAssembly +Native extension for WindowsStandalone target not found +Native extension for WebGL target not found +Refreshing native plugins compatible for Editor in 0.79 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Cancelling DisplayDialogComplex: Mobile Dependency Resolver required Mediation requires Mobile Dependency Resolver to resolve native dependencies. + Would you like to import the package? +This should not be called in batch mode. +UnityEngine.StackTraceUtility:ExtractStackTrace () +UnityEditor.EditorUtility:DisplayDialogComplex (string,string,string,string,string) +MobileDependencyResolver.Installer.Editor.MobileDependencyResolverInstaller:AskUserToInstallPackage () (at Library/PackageCache/com.unity.services.mediation@1.0.5/MobileDependencyResolver/Editor/MobileDependencyResolverInstaller.cs:38) +MobileDependencyResolver.Installer.Editor.MobileDependencyResolverInstaller:InstallPlayServicesResolverIfNeeded () (at Library/PackageCache/com.unity.services.mediation@1.0.5/MobileDependencyResolver/Editor/MobileDependencyResolverInstaller.cs:23) +System.Reflection.RuntimeMethodInfo:Invoke (object,System.Reflection.BindingFlags,System.Reflection.Binder,object[],System.Globalization.CultureInfo) +System.Reflection.MethodBase:Invoke (object,object[]) +UnityEditor.EditorAssemblies:ProcessInitializeOnLoadMethodAttributes () + +[Library/PackageCache/com.unity.services.mediation@1.0.5/MobileDependencyResolver/Editor/MobileDependencyResolverInstaller.cs line 38] + +Mono: successfully reloaded assembly +- Completed reload, in 0.938 seconds +Domain Reload Profiling: + ReloadAssembly (939ms) + BeginReloadAssembly (136ms) + ExecutionOrderSort (0ms) + DisableScriptedObjects (6ms) + BackupInstance (0ms) + ReleaseScriptingObjects (0ms) + CreateAndSetChildDomain (30ms) + EndReloadAssembly (711ms) + LoadAssemblies (90ms) + RebuildTransferFunctionScriptingTraits (0ms) + SetupTypeCache (158ms) + ReleaseScriptCaches (2ms) + RebuildScriptCaches (41ms) + SetupLoadedEditorAssemblies (399ms) + LogAssemblyErrors (0ms) + InitializePlatformSupportModulesInManaged (7ms) + SetLoadedEditorAssemblies (1ms) + RefreshPlugins (1ms) + BeforeProcessingInitializeOnLoad (69ms) + ProcessInitializeOnLoadAttributes (170ms) + ProcessInitializeOnLoadMethodAttributes (140ms) + AfterProcessingInitializeOnLoad (11ms) + EditorAssembliesLoaded (0ms) + ExecutionOrderSort2 (0ms) + AwakeInstancesAfterBackupRestoration (8ms) +Platform modules already initialized, skipping +Script is not up to date after domain reload: guid(97738b29c18143b0a469277b09d35889) path("Assets/MobileDependencyResolver/Editor/Google.JarResolver.dll") state(2) +Script is not up to date after domain reload: guid(a1e8415cfe85469f9aa0aea941166031) path("Assets/MobileDependencyResolver/Editor/Google.IOSResolver.dll") state(2) +Script is not up to date after domain reload: guid(369cd88e7aa04bd98e0f6c229f7c1510) path("Assets/MobileDependencyResolver/Editor/Google.VersionHandlerImpl.dll") state(2) +Script is not up to date after domain reload: guid(bb6999c8a5ce4ba99688ec579babe5b7) path("Assets/MobileDependencyResolver/Editor/Google.VersionHandler.dll") state(2) +Refreshing native plugins compatible for Editor in 5.29 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Unloading 2289 Unused Serialized files (Serialized files now loaded: 0) +Unloading 46 unused Assets / (25.7 KB). Loaded Objects now: 2828. +Memory consumption went from 88.2 MB to 88.2 MB. +Total: 5.675500 ms (FindLiveObjects: 0.200800 ms CreateObjectMapping: 0.062900 ms MarkObjects: 5.379800 ms DeleteObjects: 0.030600 ms) + +AssetImportParameters requested are different than current active one (requested -> active): + custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> + custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> + custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> + custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> + custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> + custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> + custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> + custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> + custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> +======================================================================== +Received Prepare +Registering precompiled user dll's ... +Registered in 0.006553 seconds. +Begin MonoManager ReloadAssembly +Native extension for WindowsStandalone target not found +Native extension for WebGL target not found +Refreshing native plugins compatible for Editor in 0.64 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Mono: successfully reloaded assembly +- Completed reload, in 0.950 seconds +Domain Reload Profiling: + ReloadAssembly (951ms) + BeginReloadAssembly (138ms) + ExecutionOrderSort (0ms) + DisableScriptedObjects (5ms) + BackupInstance (0ms) + ReleaseScriptingObjects (0ms) + CreateAndSetChildDomain (31ms) + EndReloadAssembly (718ms) + LoadAssemblies (90ms) + RebuildTransferFunctionScriptingTraits (0ms) + SetupTypeCache (170ms) + ReleaseScriptCaches (1ms) + RebuildScriptCaches (43ms) + SetupLoadedEditorAssemblies (391ms) + LogAssemblyErrors (0ms) + InitializePlatformSupportModulesInManaged (7ms) + SetLoadedEditorAssemblies (0ms) + RefreshPlugins (1ms) + BeforeProcessingInitializeOnLoad (69ms) + ProcessInitializeOnLoadAttributes (187ms) + ProcessInitializeOnLoadMethodAttributes (118ms) + AfterProcessingInitializeOnLoad (9ms) + EditorAssembliesLoaded (0ms) + ExecutionOrderSort2 (0ms) + AwakeInstancesAfterBackupRestoration (6ms) +Platform modules already initialized, skipping +Refreshing native plugins compatible for Editor in 5.40 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Unloading 2293 Unused Serialized files (Serialized files now loaded: 0) +Unloading 50 unused Assets / (25.8 KB). Loaded Objects now: 2837. +Memory consumption went from 88.4 MB to 88.3 MB. +Total: 5.768600 ms (FindLiveObjects: 0.183800 ms CreateObjectMapping: 0.054300 ms MarkObjects: 5.501400 ms DeleteObjects: 0.027600 ms) + +AssetImportParameters requested are different than current active one (requested -> active): + custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> + custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> + custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> + custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> + custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> + custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> + custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> + custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> + custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> +======================================================================== +Received Prepare +Registering precompiled user dll's ... +Registered in 0.005967 seconds. +Begin MonoManager ReloadAssembly +Native extension for WindowsStandalone target not found +Native extension for WebGL target not found +Refreshing native plugins compatible for Editor in 0.96 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Mono: successfully reloaded assembly +- Completed reload, in 0.975 seconds +Domain Reload Profiling: + ReloadAssembly (976ms) + BeginReloadAssembly (138ms) + ExecutionOrderSort (0ms) + DisableScriptedObjects (4ms) + BackupInstance (0ms) + ReleaseScriptingObjects (0ms) + CreateAndSetChildDomain (32ms) + EndReloadAssembly (745ms) + LoadAssemblies (90ms) + RebuildTransferFunctionScriptingTraits (0ms) + SetupTypeCache (168ms) + ReleaseScriptCaches (1ms) + RebuildScriptCaches (43ms) + SetupLoadedEditorAssemblies (415ms) + LogAssemblyErrors (0ms) + InitializePlatformSupportModulesInManaged (7ms) + SetLoadedEditorAssemblies (1ms) + RefreshPlugins (1ms) + BeforeProcessingInitializeOnLoad (70ms) + ProcessInitializeOnLoadAttributes (198ms) + ProcessInitializeOnLoadMethodAttributes (129ms) + AfterProcessingInitializeOnLoad (9ms) + EditorAssembliesLoaded (0ms) + ExecutionOrderSort2 (0ms) + AwakeInstancesAfterBackupRestoration (7ms) +Platform modules already initialized, skipping +Refreshing native plugins compatible for Editor in 6.74 ms, found 2 plugins. +Preloading 0 native plugins for Editor in 0.00 ms. +Unloading 2293 Unused Serialized files (Serialized files now loaded: 0) +Unloading 50 unused Assets / (25.9 KB). Loaded Objects now: 2840. +Memory consumption went from 88.4 MB to 88.3 MB. +Total: 6.005700 ms (FindLiveObjects: 0.220100 ms CreateObjectMapping: 0.056000 ms MarkObjects: 5.687000 ms DeleteObjects: 0.041000 ms) + +AssetImportParameters requested are different than current active one (requested -> active): + custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> + custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> + custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> + custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> + custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> + custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> + custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> + custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> + custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> diff --git a/2018-unity-sim/Logs/Packages-Update.log b/2018-unity-sim/Logs/Packages-Update.log new file mode 100644 index 0000000..22d7603 --- /dev/null +++ b/2018-unity-sim/Logs/Packages-Update.log @@ -0,0 +1,52 @@ + +=== Mon Apr 10 15:08:21 2023 + +Packages were changed. +Update Mode: updateDependencies + +The following packages were added: + com.unity.2d.sprite@1.0.0 + com.unity.2d.tilemap@1.0.0 + com.unity.ads@4.4.1 + com.unity.analytics@3.6.12 + com.unity.collab-proxy@2.0.1 + com.unity.ide.rider@3.0.18 + com.unity.ide.visualstudio@2.0.17 + com.unity.ide.vscode@1.2.5 + com.unity.modules.ai@1.0.0 + com.unity.modules.androidjni@1.0.0 + com.unity.modules.animation@1.0.0 + com.unity.modules.assetbundle@1.0.0 + com.unity.modules.audio@1.0.0 + com.unity.modules.cloth@1.0.0 + com.unity.modules.director@1.0.0 + com.unity.modules.imageconversion@1.0.0 + com.unity.modules.imgui@1.0.0 + com.unity.modules.jsonserialize@1.0.0 + com.unity.modules.particlesystem@1.0.0 + com.unity.modules.physics@1.0.0 + com.unity.modules.physics2d@1.0.0 + com.unity.modules.screencapture@1.0.0 + com.unity.modules.terrain@1.0.0 + com.unity.modules.terrainphysics@1.0.0 + com.unity.modules.tilemap@1.0.0 + com.unity.modules.ui@1.0.0 + com.unity.modules.uielements@1.0.0 + com.unity.modules.umbra@1.0.0 + com.unity.modules.unityanalytics@1.0.0 + com.unity.modules.unitywebrequest@1.0.0 + com.unity.modules.unitywebrequestassetbundle@1.0.0 + com.unity.modules.unitywebrequestaudio@1.0.0 + com.unity.modules.unitywebrequesttexture@1.0.0 + com.unity.modules.unitywebrequestwww@1.0.0 + com.unity.modules.vehicles@1.0.0 + com.unity.modules.video@1.0.0 + com.unity.modules.vr@1.0.0 + com.unity.modules.wind@1.0.0 + com.unity.modules.xr@1.0.0 + com.unity.purchasing@4.7.0 + com.unity.test-framework@1.1.31 + com.unity.textmeshpro@3.0.6 + com.unity.timeline@1.6.4 + com.unity.ugui@1.0.0 + com.unity.xr.legacyinputhelpers@2.1.10 diff --git a/2018-unity-sim/Logs/shadercompiler-AssetImportWorker0.log b/2018-unity-sim/Logs/shadercompiler-AssetImportWorker0.log new 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platform=d3d11 reqs=4075 mask=6 start=54 ok=1 outsize=4302 + +Cmd: compileSnippet + insize=753 file=Assets/DefaultResourcesExtra/UIElements/Hidden/UIElements/EditorUIE pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW= dKW=UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Fragment platform=d3d11 reqs=4075 mask=6 start=54 ok=1 outsize=8442 + +Cmd: compileSnippet + insize=16577 file=Assets/DefaultResourcesExtra/Skybox/Procedural pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW=_SUNDISK_SIMPLE dKW=_SUNDISK_NONE _SUNDISK_HIGH_QUALITY UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Vertex platform=d3d11 reqs=33 mask=6 start=20 ok=1 outsize=5698 + +Cmd: compileSnippet + insize=16577 file=Assets/DefaultResourcesExtra/Skybox/Procedural pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW=_SUNDISK_SIMPLE dKW=_SUNDISK_NONE _SUNDISK_HIGH_QUALITY UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Fragment platform=d3d11 reqs=33 mask=6 start=20 ok=1 outsize=934 + +Cmd: shutdown diff --git a/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe1.log b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe1.log new file mode 100644 index 0000000..4de1af0 --- /dev/null +++ b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe1.log @@ -0,0 +1,10 @@ +Base path: 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines' +Cmd: initializeCompiler + +Cmd: compileSnippet + insize=817 file=Packages/com.unity.textmeshpro/Editor Resources/Shaders/Hidden/TMP/Internal/Editor/Distance Field SSD pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW= dKW=OUTLINE_ON UNDERLAY_ON UNDERLAY_INNER UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Vertex platform=d3d11 reqs=33 mask=6 start=58 ok=1 outsize=2006 + +Cmd: compileSnippet + insize=1311 file=Assets/DefaultResourcesExtra/Standard pass=ShadowCaster cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR UNITY_PASS_SHADOWCASTER uKW=SHADOWS_DEPTH dKW=INSTANCING_ON _ALPHATEST_ON _ALPHABLEND_ON _ALPHAPREMULTIPLY_ON _METALLICGLOSSMAP _PARALLAXMAP SHADOWS_CUBE UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Vertex platform=d3d11 reqs=227 mask=6 start=139 ok=1 outsize=1446 + +Cmd: shutdown diff --git a/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe2.log b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe2.log new file mode 100644 index 0000000..47bc780 --- /dev/null +++ b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe2.log @@ -0,0 +1,10 @@ +Base path: 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines' +Cmd: initializeCompiler + +Cmd: compileSnippet + insize=817 file=Packages/com.unity.textmeshpro/Editor Resources/Shaders/Hidden/TMP/Internal/Editor/Distance Field SSD pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW= dKW=OUTLINE_ON UNDERLAY_ON UNDERLAY_INNER UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Fragment platform=d3d11 reqs=33 mask=6 start=58 ok=1 outsize=938 + +Cmd: compileSnippet + insize=11944 file=Assets/DefaultResourcesExtra/Hidden/Internal-ScreenSpaceShadows pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW=SHADOWS_SPLIT_SPHERES dKW=SHADOWS_SINGLE_CASCADE UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Fragment platform=d3d11 reqs=227 mask=6 start=380 ok=1 outsize=5738 + +Cmd: shutdown diff --git a/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe3.log b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe3.log new file mode 100644 index 0000000..d2345cd --- /dev/null +++ b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe3.log @@ -0,0 +1,7 @@ +Base path: 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines' +Cmd: initializeCompiler + +Cmd: compileSnippet + insize=1311 file=Assets/DefaultResourcesExtra/Standard pass=ShadowCaster cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR UNITY_PASS_SHADOWCASTER uKW=SHADOWS_DEPTH dKW=INSTANCING_ON _ALPHATEST_ON _ALPHABLEND_ON _ALPHAPREMULTIPLY_ON _METALLICGLOSSMAP _SMOOTHNESS_TEXTURE_ALBEDO_CHANNEL_A _PARALLAXMAP SHADOWS_CUBE UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Fragment platform=d3d11 reqs=227 mask=6 start=139 ok=1 outsize=250 + +Cmd: shutdown diff --git a/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe4.log b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe4.log new file mode 100644 index 0000000..d255e55 --- /dev/null +++ b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe4.log @@ -0,0 +1,7 @@ +Base path: 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines' +Cmd: initializeCompiler + +Cmd: compileSnippet + insize=11944 file=Assets/DefaultResourcesExtra/Hidden/Internal-ScreenSpaceShadows pass= cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR uKW=SHADOWS_SPLIT_SPHERES dKW=SHADOWS_SINGLE_CASCADE UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Vertex platform=d3d11 reqs=227 mask=6 start=380 ok=1 outsize=1290 + +Cmd: shutdown diff --git a/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe5.log b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe5.log new file mode 100644 index 0000000..046e929 --- /dev/null +++ b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe5.log @@ -0,0 +1,7 @@ +Base path: 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data/PlaybackEngines' +Cmd: initializeCompiler + +Cmd: compileSnippet + insize=1647 file=Assets/DefaultResourcesExtra/Standard pass=FORWARD cachingPP=1 ppOnly=0 stripLineD=0 buildPlatform=19 rsLen=0 pKW=UNITY_ENABLE_REFLECTION_BUFFERS UNITY_USE_DITHER_MASK_FOR_ALPHABLENDED_SHADOWS UNITY_PBS_USE_BRDF1 UNITY_SPECCUBE_BOX_PROJECTION UNITY_SPECCUBE_BLENDING UNITY_ENABLE_DETAIL_NORMALMAP SHADER_API_DESKTOP UNITY_COLORSPACE_GAMMA UNITY_LIGHT_PROBE_PROXY_VOLUME UNITY_LIGHTMAP_FULL_HDR UNITY_PASS_FORWARDBASE uKW=DIRECTIONAL LIGHTPROBE_SH SHADOWS_SCREEN dKW=FOG_LINEAR FOG_EXP FOG_EXP2 INSTANCING_ON _NORMALMAP _ALPHATEST_ON _ALPHABLEND_ON _ALPHAPREMULTIPLY_ON _METALLICGLOSSMAP _PARALLAXMAP SHADOWS_SHADOWMASK DYNAMICLIGHTMAP_ON LIGHTMAP_ON LIGHTMAP_SHADOW_MIXING DIRLIGHTMAP_COMBINED VERTEXLIGHT_ON UNITY_NO_DXT5nm UNITY_FRAMEBUFFER_FETCH_AVAILABLE UNITY_ENABLE_NATIVE_SHADOW_LOOKUPS UNITY_METAL_SHADOWS_USE_POINT_FILTERING UNITY_NO_SCREENSPACE_SHADOWS UNITY_PBS_USE_BRDF2 UNITY_PBS_USE_BRDF3 UNITY_NO_FULL_STANDARD_SHADER UNITY_HARDWARE_TIER1 UNITY_HARDWARE_TIER2 UNITY_HARDWARE_TIER3 UNITY_HALF_PRECISION_FRAGMENT_SHADER_REGISTERS UNITY_LIGHTMAP_DLDR_ENCODING UNITY_LIGHTMAP_RGBM_ENCODING UNITY_VIRTUAL_TEXTURING UNITY_PRETRANSFORM_TO_DISPLAY_ORIENTATION UNITY_ASTC_NORMALMAP_ENCODING SHADER_API_GLES30 UNITY_UNIFIED_SHADER_PRECISION_MODEL flags=0 lang=0 type=Vertex platform=d3d11 reqs=227 mask=6 start=68 ok=1 outsize=2034 + +Cmd: shutdown diff --git a/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe6.log b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe6.log new file mode 100644 index 0000000..28d9873 --- /dev/null +++ b/2018-unity-sim/Logs/shadercompiler-UnityShaderCompiler.exe6.log @@ -0,0 +1,7 @@ +Base path: 'C:/Program Files/Unity/Hub/Editor/2021.3.22f1/Editor/Data', plugins path 'C:/Program 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