tantela-2021-08-09

今天主机被同事借走，由于github上未上传最新的工程文件，Hexo博客暂时停载
今日主要编写U3D C#脚本，完整机械手的运动

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Axis1 : MonoBehaviour {
    // Start is called before the first frame update
    void Start () {

    }

    // Update is called once per frame
    void Update () {

    }

    public void left () {
        transform.Rotate (0, -50 * Time.deltaTime, 0, Space.Self);
    }

    public void right () {
        transform.Rotate (0, 50 * Time.deltaTime, 0, Space.Self);
    }

}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Events;
using UnityEngine.EventSystems;

public class buttonOptions : MonoBehaviour, IPointerDownHandler, IPointerUpHandler, IPointerExitHandler {
    public bool invokeOnce = false;
    private bool hadInvoke = false;
    public float interval = 0.1f;
    private bool isPointerDown = false;
    private float recordTime;

    public UnityEvent onPress = new UnityEvent ();
    public UnityEvent onRelease = new UnityEvent ();

    // Start is called before the first frame update
    void Start () {

    }

    // Update is called once per frame
    void Update () {
        if (invokeOnce && hadInvoke) return;
        if (isPointerDown) {
            onPress.Invoke ();
            hadInvoke = true;

            if ((Time.time - recordTime) > interval) {
                onPress.Invoke ();
                hadInvoke = true;
            }
        }
    }
    public void OnPointerDown (PointerEventData eventDate) {
        isPointerDown = true;
        recordTime = Time.time;
    }

    public void OnPointerUp (PointerEventData eventDate) {
        isPointerDown = false;
        hadInvoke = false;
        onRelease.Invoke ();
    }

    public void OnPointerExit (PointerEventData eventDate) {
        isPointerDown = false;
        hadInvoke = false;
        onRelease.Invoke ();
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class GeneralJoint : MonoBehaviour {
    private string objectName;
    private int joint_number;
    GameObject Mcamera;
    Main mainScript;

    float[] temp_angle = { 0, 0, 0 };
    int axis_number; //该关节的旋转轴，0代表x轴，1代表y轴，2代表z轴，均为本体轴

    public int Axis_number {
        get {
            return axis_number;
        }
        set {
            axis_number = Axis_number;
        }

    }

    //读取该关节的当前关节转角
    public float read_tempangle () {
        return temp_angle[Axis_number];
    }

    // 通过控制函数控制该关节的转角
    public void angleMove (float ang) {
        if (ang > 180) {
            while (ang > 180) {
                ang -= 360;
            }
        } else if (ang < -180) {
            while (ang < -180) {

                ang += 360;
            }

        }
        temp_angle[Axis_number] = ang;

        transform.localRotation = Quaternion.Euler (temp_angle[0], temp_angle[1], temp_angle[2]);
    }

    // Use this for initialization
    void Start () {
        Mcamera = GameObject.Find ("Main Camera");
        objectName = gameObject.name;
        joint_number = int.Parse (objectName.Substring (7, 1));

        mainScript = Mcamera.GetComponent<Main> ();
        axis_number = mainScript.axis_number[joint_number];

    }

    // Update is called once per frame
    void Update () {

    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.SceneManagement;

public class Main : MonoBehaviour {
    #region definition

    //将机械臂的组件关联到下面的数组中
    GameObject[] jointArray = new GameObject[6];

    int steps = 100; //每次运动的步数，这个步数乘以fixupdate每帧的时间就是一次运动需要的时间
    int cnt = 0; //计数器
    bool moveTag = false; //运动标志

    //各关节转动轴编号，0绕x轴转，1绕y轴转，2绕z轴转
    public int[] axis_number = new int[] { 1, 2, 2, 2, 1, 2 };
    private float[] jointAngleRealTime = new float[6]; //存储实时的角度
    private float[] targetAngle = new float[6]; //目标角度
    private float[] sliderAngle = new float[6] { 90, 90, 90, 90, 90, 90 }; //滑条上的角度
    private float[] deltaAngle = new float[6]; //单步变化角度
    private float[] currentAngle = new float[6]; //当前步数的关节角度

    #endregion

    //将场景的物体关联到该脚本中
    void InitObject () {
        string objName;

        objName = string.Format ("S_Axis_0");
        jointArray[0] = GameObject.Find (objName);

        objName = string.Format ("L_Axis_1");
        jointArray[1] = GameObject.Find (objName);

        objName = string.Format ("U_Axis_2");
        jointArray[2] = GameObject.Find (objName);

        objName = string.Format ("R_Axis_3");
        jointArray[3] = GameObject.Find (objName);

        objName = string.Format ("B_Axis_4");
        jointArray[4] = GameObject.Find (objName);

        objName = string.Format ("T_Axis_5");
        jointArray[5] = GameObject.Find (objName);

    }

    public void setAngle (float[] angle) //控制角度转动
    {

        jointArray[0].transform.GetComponent<GeneralJoint> ().angleMove (angle[0]);

        jointArray[1].transform.GetComponent<GeneralJoint> ().angleMove (angle[1]);
        jointArray[2].transform.GetComponent<GeneralJoint> ().angleMove (angle[2]);

        jointArray[3].transform.GetComponent<GeneralJoint> ().angleMove (angle[3]);
        jointArray[4].transform.GetComponent<GeneralJoint> ().angleMove (angle[4]);
        jointArray[5].transform.GetComponent<GeneralJoint> ().angleMove (angle[5]);

        updateJointAngle ();

    }

    void updateJointAngle () //更新关节实时角度显示
    {
        for (int i = 0; i < 6; i++) {
            jointAngleRealTime[i] = jointArray[i].GetComponent<GeneralJoint> ().read_tempangle ();
        }
    }

    //设置各关节的目标角度
    void SetTargetAngle () {
        for (int i = 0; i < targetAngle.Length; i++) {
            targetAngle[i] = sliderAngle[i] - 90;
        }
    }

    //重置各关节的目标角度
    void ReSetTargetAngle () {
        for (int i = 0; i < targetAngle.Length; i++) {
            targetAngle[i] = 0;
        }
        sliderAngle = new float[6] { 90, 90, 90, 90, 90, 90 };
    }

    //设置关节单步变化角度
    void getDeltaAngle () {

        for (int i = 0; i < deltaAngle.Length; i++) {
            deltaAngle[i] = (targetAngle[i] - jointAngleRealTime[i]) / steps;
        }
    }
    //获得当前该步关节的角度
    void getCurrentAngle () {
        for (int i = 0; i < 6; i++) {
            currentAngle[i] = jointAngleRealTime[i] + deltaAngle[i];
        }
    }

    // Use this for initialization
    void Start () {
        InitObject ();

        setAngle (new float[6] { 0, 0, 0, 0, 0, 0 });

    }
    void FixedUpdate () {
        if (moveTag) {
            if (cnt < 100) {

                getCurrentAngle ();
                setAngle (currentAngle);

                cnt++;
            } else {

                setAngle (targetAngle);

                moveTag = false;
            }

        }

    }

    void OnGUI () {
        //简单的操作界面

        if (GUI.Button (new Rect (10, 40, 50, 30), "Move")) {
            SetTargetAngle ();
            getDeltaAngle ();
            cnt = 0;
            moveTag = true;

        }

        if (GUI.Button (new Rect (10, 90, 50, 30), "Reset")) {
            ReSetTargetAngle ();
            getDeltaAngle ();
            cnt = 0;
            moveTag = true;

        }

        if (GUI.Button (new Rect (10, 140, 50, 30), "Exit")) {
            UnityEditor.EditorApplication.isPlaying = false;
            // Application.Quit ();
        }

        // GUI.Label (new Rect (55, 125, 150, 500), "操作说明：先通过滑条调整各个关节的目标角度，然后按“move”按钮开始运动");

        GUI.BeginGroup (new Rect (50, 20, 400, 200));
        sliderAngle[0] = GUI.HorizontalSlider (new Rect (55, 25, 100, 20), sliderAngle[0], 0, 180);
        GUI.Label (new Rect (55, 5, Screen.width, 20), "joint0 value: " + ((int) sliderAngle[0] - 90) + " degree");

        sliderAngle[1] = GUI.HorizontalSlider (new Rect (55, 55, 100, 20), sliderAngle[1], 0, 180);
        GUI.Label (new Rect (55, 35, Screen.width, 20), "joint1 value: " + ((int) sliderAngle[1] - 90) + " degree");

        sliderAngle[2] = GUI.HorizontalSlider (new Rect (55, 85, 100, 20), sliderAngle[2], 0, 180);
        GUI.Label (new Rect (55, 65, Screen.width, 20), "joint2 value: " + ((int) sliderAngle[2] - 90) + " degree");

        sliderAngle[3] = GUI.HorizontalSlider (new Rect (205, 25, 100, 20), sliderAngle[3], 0, 180);
        GUI.Label (new Rect (205, 5, Screen.width, 20), "joint3 value: " + ((int) sliderAngle[3] - 90) + " degree");

        sliderAngle[4] = GUI.HorizontalSlider (new Rect (205, 55, 100, 20), sliderAngle[4], 0, 180);
        GUI.Label (new Rect (205, 35, Screen.width, 20), "joint4 value: " + ((int) sliderAngle[4] - 90) + " degree");

        sliderAngle[5] = GUI.HorizontalSlider (new Rect (205, 85, 100, 20), sliderAngle[5], 0, 180);
        GUI.Label (new Rect (205, 65, Screen.width, 20), "joint5 value: " + ((int) sliderAngle[5] - 90) + " degree");

        GUI.EndGroup ();

    }
}

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;

public class ReadInfor : MonoBehaviour {
    //文本中每行的内容
    ArrayList infoall;

    // Start is called before the first frame update
    void Start () {
        string pathTemp = "";
        if (Application.platform == RuntimePlatform.Android) {
            pathTemp = "/storage/emulated/0/DCIM"; //Android设备目录
        } else {
            // pathTemp = Application.streamingAssetsPath; //streaming 文件夹
            pathTemp = "D:/U3D"; //本地测试目录
            //System.Environment.CurrentDirectory //工程目录
        }

        // Debug.Log ("pathTemp " + pathTemp);
        //得到文本中每一行的内容
        infoall = LoadFile (pathTemp, "config.txt");

        for (int i = 0; i < infoall.Count; i++) {
            Debug.Log (infoall[i]);
            // Debug.Log (SplitInforStr (infoall[i].ToString ()));
            // Debug.Log ("100 -x = " + (100 - SplitInforInt (infoall[i].ToString ())).ToString ());
        }
    }

    /**
     * path：读取文件的路径
     * name：读取文件的名称
     */
    ArrayList LoadFile (string path, string name) {
        //使用流的形式读取
        StreamReader sr = null;
        try {
            sr = File.OpenText (path + "//" + name);
        } catch (Exception e) {
            //路径与名称未找到文件则直接返回空
            Debug.Log (e);
            return null;
        }
        string line;
        ArrayList arrlist = new ArrayList ();
        while ((line = sr.ReadLine ()) != null) {
            //一行一行的读取
            //将每一行的内容存入数组链表容器中
            arrlist.Add (line);
        }

        //关闭流
        sr.Close ();
        //销毁流
        sr.Dispose ();
        //将数组链表容器返回
        return arrlist;
    }

    // 返回字符串
    string SplitInforStr (string strTemp) {
        string[] str = new string[2];
        str = strTemp.Split ('/');
        return str[0];
    }

    /// 返回int型
    int SplitInforInt (string strTemp) {
        string[] str = new string[2];
        str = strTemp.Split ('/');

        try { //防止读取文失败影响正常运行
            return Convert.ToInt32 (str[1]);
        } catch (Exception ex) {
            Debug.Log (ex);
            return 0;
        }
    }

}