diff --git a/VersionManager.json b/VersionManager.json
index 122771710f..836ad8ee36 100644
--- a/VersionManager.json
+++ b/VersionManager.json
@@ -1,4 +1,4 @@
{
- "Version": "6.0.0",
+ "Version": "6.1.0",
"URL": "https://synthesis.autodesk.com/download.html"
}
diff --git a/api/Api/Mirabuf/JointInstance.cs b/api/Api/Mirabuf/JointInstance.cs
index b47836a91c..f4727bc1e7 100644
--- a/api/Api/Mirabuf/JointInstance.cs
+++ b/api/Api/Mirabuf/JointInstance.cs
@@ -1,5 +1,10 @@
namespace Mirabuf.Joint {
public partial class JointInstance {
+
+ public enum WheelTypeEnum {
+ Standard = 0, Omni = 1
+ }
+
private bool? _isWheel = null;
public bool IsWheel(Assembly assembly) {
if (!_isWheel.HasValue) {
@@ -11,5 +16,24 @@ public bool IsWheel(Assembly assembly) {
}
return _isWheel.Value;
}
+
+ private WheelTypeEnum? _wheelType = null;
+ public WheelTypeEnum GetWheelType(Assembly assembly) {
+ if (!_wheelType.HasValue) {
+ if (IsWheel(assembly)) {
+ var hasValue = assembly.Data.Joints.JointDefinitions[JointReference].UserData.Data
+ .TryGetValue("wheelType", out var wheelType);
+ if (hasValue && wheelType.Equals("1")) {
+ _wheelType = WheelTypeEnum.Omni;
+ } else {
+ _wheelType = WheelTypeEnum.Standard;
+ }
+ } else {
+ throw new System.Exception("Non-wheels don't have wheel types");
+ }
+ }
+
+ return _wheelType.Value;
+ }
}
}
diff --git a/api/Api/Simulation/SimBehaviour.cs b/api/Api/Simulation/SimBehaviour.cs
index 4498604a8b..cd6059c21a 100644
--- a/api/Api/Simulation/SimBehaviour.cs
+++ b/api/Api/Simulation/SimBehaviour.cs
@@ -32,8 +32,8 @@ public bool Enabled {
///
/// ID of the SimObject within the SimulationManager
/// A list of reserved inputs by the behaviour, along with a input to assign to each
- public SimBehaviour(string simObjectId) {
- Enabled = true;
+ public SimBehaviour(string simObjectId, bool autoEnable = true) {
+ Enabled = autoEnable;
SimObjectId = simObjectId;
string id = simObjectId;
int _i = id.IndexOf("_", 0);
diff --git a/api/Api/Simulation/SimulationManager.cs b/api/Api/Simulation/SimulationManager.cs
index 6a4d2ec585..86f64df08f 100644
--- a/api/Api/Simulation/SimulationManager.cs
+++ b/api/Api/Simulation/SimulationManager.cs
@@ -108,6 +108,7 @@ public static bool RemoveBehaviour(string simObjectName, SimBehaviour b) {
var cursor = list.First;
while (!removed && cursor != null) {
if (cursor.Value.Equals(b)) {
+ cursor.Value.Enabled = false;
cursor.Value.OnRemove();
list.Remove(cursor);
removed = true;
diff --git a/api/Api/UIManager/UIParser.cs b/api/Api/UIManager/UIParser.cs
index 48a34c1c23..e5a14e17c1 100644
--- a/api/Api/UIManager/UIParser.cs
+++ b/api/Api/UIManager/UIParser.cs
@@ -128,7 +128,7 @@ public static VisualElementAsset CreateVisualElements(string name, XmlNodeList n
// Logger.Log("Finished Creating Element");
- _UnityVisualElement resultElement = (_UnityVisualElement)element;
+ _UnityVisualElement resultElement = (_UnityVisualElement)element!;
foreach (XmlNode child in node.ChildNodes)
{
diff --git a/emulation/bridge/.gitignore b/emulation/bridge/.gitignore
deleted file mode 100644
index 976db91f6e..0000000000
--- a/emulation/bridge/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-pkg/api
-
diff --git a/emulation/bridge/Makefile b/emulation/bridge/Makefile
deleted file mode 100644
index 982be4c95f..0000000000
--- a/emulation/bridge/Makefile
+++ /dev/null
@@ -1,29 +0,0 @@
-GOCMD=go
-GOBUILD=$(GOCMD) build
-GOCLEAN=$(GOCMD) clean
-GOTEST=$(GOCMD) test
-GOGET=$(GOCMD) get
-GOMOD=$(GOCMD) mod
-GOTIDY=$(GOMOD) tidy
-
-PROTOC=./scripts/gen_grpc.sh
-
-BINARY_NAME=server
-
-BINARY_PATH=./bin
-
-all: build-protobuf test build
-build-protobuf:
- $(PROTOC)
-build:
- $(GOBUILD) -v -o $(BINARY_PATH)/$(BINARY_NAME) ./cmd/server
-test:
- $(GOTEST) -v ./...
-clean:
- $(GOCLEAN)
- rm -rf $(BINARY_PATH)/$(BINARY_NAME)
-run:
- $(GOBUILD) -v -o $(BINARY_PATH)/$(BINARY_NAME) ./cmd/server
- ./$(BINARY_PATH)/$(BINARY_NAME)
-tidy:
- $(GOTIDY)
\ No newline at end of file
diff --git a/emulation/bridge/cmd/main.go b/emulation/bridge/cmd/main.go
deleted file mode 100644
index ab35114be9..0000000000
--- a/emulation/bridge/cmd/main.go
+++ /dev/null
@@ -1,14 +0,0 @@
-package main
-
-import v1 "github.com/autodesk/synthesis/emulation/bridge/pkg/service/v1"
-import "context"
-import "github.com/autodesk/synthesis/emulation/bridge/pkg/protocol/grpc"
-
-func main() {
- emuSrv := v1.NewEmulationBridgeService()
- emuSrv.RegisterClient("native", "Native", "localhost:50052")
- emuSrv.RegisterClient("java", "Java", "localhost:50053")
- emuSrv.ActivateClient("native", true)
- emuSrv.ActivateClient("java", true)
- grpc.RunServer(context.Background(), emuSrv, emuSrv)
-}
diff --git a/emulation/bridge/go.mod b/emulation/bridge/go.mod
deleted file mode 100644
index 56d4a17512..0000000000
--- a/emulation/bridge/go.mod
+++ /dev/null
@@ -1,8 +0,0 @@
-module github.com/autodesk/synthesis/emulation/bridge
-
-go 1.12
-
-require (
- golang.org/x/net v0.7.0 // indirect
- google.golang.org/grpc v1.53.0
-)
diff --git a/emulation/bridge/go.sum b/emulation/bridge/go.sum
deleted file mode 100644
index 66241a2668..0000000000
--- a/emulation/bridge/go.sum
+++ /dev/null
@@ -1,1116 +0,0 @@
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-cloud.google.com/go v0.44.2/go.mod h1:60680Gw3Yr4ikxnPRS/oxxkBccT6SA1yMk63TGekxKY=
-cloud.google.com/go v0.44.3/go.mod h1:60680Gw3Yr4ikxnPRS/oxxkBccT6SA1yMk63TGekxKY=
-cloud.google.com/go v0.45.1/go.mod h1:RpBamKRgapWJb87xiFSdk4g1CME7QZg3uwTez+TSTjc=
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-cloud.google.com/go v0.53.0/go.mod h1:fp/UouUEsRkN6ryDKNW/Upv/JBKnv6WDthjR6+vze6M=
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-gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
-gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
-gopkg.in/errgo.v2 v2.1.0/go.mod h1:hNsd1EY+bozCKY1Ytp96fpM3vjJbqLJn88ws8XvfDNI=
-gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
-gopkg.in/yaml.v2 v2.2.3/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
-gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
-gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
-honnef.co/go/tools v0.0.0-20190102054323-c2f93a96b099/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
-honnef.co/go/tools v0.0.0-20190106161140-3f1c8253044a/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
-honnef.co/go/tools v0.0.0-20190418001031-e561f6794a2a/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
-honnef.co/go/tools v0.0.0-20190523083050-ea95bdfd59fc/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
-honnef.co/go/tools v0.0.1-2019.2.3/go.mod h1:a3bituU0lyd329TUQxRnasdCoJDkEUEAqEt0JzvZhAg=
-honnef.co/go/tools v0.0.1-2020.1.3/go.mod h1:X/FiERA/W4tHapMX5mGpAtMSVEeEUOyHaw9vFzvIQ3k=
-honnef.co/go/tools v0.0.1-2020.1.4/go.mod h1:X/FiERA/W4tHapMX5mGpAtMSVEeEUOyHaw9vFzvIQ3k=
-rsc.io/binaryregexp v0.2.0/go.mod h1:qTv7/COck+e2FymRvadv62gMdZztPaShugOCi3I+8D8=
-rsc.io/quote/v3 v3.1.0/go.mod h1:yEA65RcK8LyAZtP9Kv3t0HmxON59tX3rD+tICJqUlj0=
-rsc.io/sampler v1.3.0/go.mod h1:T1hPZKmBbMNahiBKFy5HrXp6adAjACjK9JXDnKaTXpA=
diff --git a/emulation/bridge/pkg/protocol/grpc/server.go b/emulation/bridge/pkg/protocol/grpc/server.go
deleted file mode 100644
index 0806584241..0000000000
--- a/emulation/bridge/pkg/protocol/grpc/server.go
+++ /dev/null
@@ -1,33 +0,0 @@
-package grpc
-
-import (
- "context"
- "github.com/autodesk/synthesis/emulation/bridge/pkg/api/v1"
- "google.golang.org/grpc"
- "os"
- "os/signal"
- "log"
- "net"
-)
-
-func RunServer(ctx context.Context, readerSrv v1.EmulationReaderServer, writerSrv v1.EmulationWriterServer) error {
- lis, err := net.Listen("tcp", ":50051")
- if err != nil {
- log.Fatalf("failed to bind to port 50051: %v", err)
- }
- server := grpc.NewServer()
- v1.RegisterEmulationReaderServer(server, readerSrv);
- v1.RegisterEmulationWriterServer(server, writerSrv);
-
- sig := make(chan os.Signal, 1)
- signal.Notify(sig, os.Interrupt)
- go func() {
- for range sig {
- log.Println("shutting down gRPC server...")
- server.GracefulStop()
- <-ctx.Done()
- }
- }()
- log.Printf("starting gRPC server...")
- return server.Serve(lis)
-}
diff --git a/emulation/bridge/pkg/service/v1/emulator_service.go b/emulation/bridge/pkg/service/v1/emulator_service.go
deleted file mode 100644
index dc53263e85..0000000000
--- a/emulation/bridge/pkg/service/v1/emulator_service.go
+++ /dev/null
@@ -1,159 +0,0 @@
-package v1
-
-import (
- "context"
- "fmt"
- "io"
-
- v1 "github.com/autodesk/synthesis/emulation/bridge/pkg/api/v1"
- "google.golang.org/grpc"
-)
-
-type ServInfo struct {
- Type, Name, Addr string
-}
-
-type EmulationBridgeService struct {
- clientInfo []ServInfo
- defaultHandlers map[string]string
- activeConns map[string]*grpc.ClientConn
-}
-
-func NewEmulationBridgeService() *EmulationBridgeService {
- return &EmulationBridgeService{
- clientInfo: make([]ServInfo, 0),
- activeConns: make(map[string]*grpc.ClientConn),
- defaultHandlers: make(map[string]string),
- }
-}
-
-func (eb *EmulationBridgeService) RegisterClient(name, serverType, addr string) error {
- if _, ok := eb.activeConns[name]; ok {
- return fmt.Errorf("server '%s' already registered", name)
- }
- for _, elem := range eb.clientInfo {
- if elem.Name == name {
- return fmt.Errorf("server name '%s' already taken", name)
- }
- }
- eb.clientInfo = append(eb.clientInfo, ServInfo{
- Name: name,
- Type: serverType,
- Addr: addr,
- })
- return nil
-}
-
-func (eb *EmulationBridgeService) ActivateClient(name string, isDefault bool) error {
-
- servInfo, err := eb.getServInfoByName(name)
- if err != nil {
- return err
- }
- conn, err := grpc.Dial(servInfo.Addr, grpc.WithInsecure())
- if err != nil {
- return err
- }
- if isDefault {
- for k, v := range eb.defaultHandlers {
- if k == servInfo.Type {
- return fmt.Errorf("failed to register '%s' as default handler for '%s'. '%s' already registered", name, servInfo.Type, v)
- }
- }
- }
- eb.activeConns[name] = conn
- if isDefault {
- eb.defaultHandlers[servInfo.Type] = name
- }
- return nil
-}
-
-func (eb EmulationBridgeService) getServInfoByName(name string) (*ServInfo, error) {
- for _, elem := range eb.clientInfo {
- if elem.Name == name {
- return &elem, nil
- }
- }
- return nil, fmt.Errorf("failed to find server info for server named '%s'", name)
-
-}
-
-func (eb *EmulationBridgeService) RobotOutputs(req *v1.RobotOutputsRequest, steam v1.EmulationReader_RobotOutputsServer) error {
- var handlerType string
- var reader v1.EmulationReaderClient
- switch req.TargetPlatform {
- case v1.TargetPlatform_JAVA:
- handlerType = "Java"
- case v1.TargetPlatform_NATIVE:
- handlerType = "Native"
- case v1.TargetPlatform_OTHER:
- handlerType = "Other"
- }
- if conn, ok := eb.activeConns[eb.defaultHandlers[handlerType]]; ok {
- reader = v1.NewEmulationReaderClient(conn)
- } else {
- fmt.Printf("here\n")
- return fmt.Errorf("handler not registered for 'RobotInputs'")
- }
-
- clientStream, err := reader.RobotOutputs(context.Background(), req)
- if err != nil {
- return err
- }
- for {
- robotOutputs, err := clientStream.Recv()
- if err != nil {
- return err
- }
- err = steam.Send(robotOutputs)
- if err != nil {
- return err
- }
- }
-}
-
-func (eb *EmulationBridgeService) RobotInputs(stream v1.EmulationWriter_RobotInputsServer) error {
- var handlerType string
- var writer v1.EmulationWriterClient = nil
- var clientStream v1.EmulationWriter_RobotInputsClient
- for {
- var err error
- inputs, err := stream.Recv()
- if err == io.EOF {
- stream.SendAndClose(&v1.UpdateRobotInputsResponse{
- Api: "v1",
- })
- return nil
- } else if err != nil {
- return err
- }
- if writer == nil {
- switch inputs.TargetPlatform {
- case v1.TargetPlatform_JAVA:
- handlerType = "Java"
- case v1.TargetPlatform_NATIVE:
- handlerType = "Native"
- case v1.TargetPlatform_OTHER:
- handlerType = "Other"
- }
- if conn, ok := eb.activeConns[eb.defaultHandlers[handlerType]]; ok {
- writer = v1.NewEmulationWriterClient(conn)
- } else {
- return fmt.Errorf("handler not registered for 'RobotInputs'")
- }
- if clientStream == nil {
- clientStream, err = writer.RobotInputs(context.Background())
- if err != nil {
- return err
- }
- }
- }
- err = clientStream.Send(inputs)
- if err == io.EOF {
- break
- } else if err != nil {
- return err
- }
- }
- return nil
-}
diff --git a/emulation/bridge/scripts/gen_grpc.sh b/emulation/bridge/scripts/gen_grpc.sh
deleted file mode 100644
index a635c5f347..0000000000
--- a/emulation/bridge/scripts/gen_grpc.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-protoc -I ../api/v1/proto \
- -I$GOPATH/src \
- --go_out=plugins=grpc:pkg/api/v1 \
- ../api/v1/proto/emulator_service.proto
\ No newline at end of file
diff --git a/engine/Assets/Scripts/AutoUpdater.cs b/engine/Assets/Scripts/AutoUpdater.cs
index 0790ed176a..ae711c9099 100644
--- a/engine/Assets/Scripts/AutoUpdater.cs
+++ b/engine/Assets/Scripts/AutoUpdater.cs
@@ -15,7 +15,7 @@ public class AutoUpdater : MonoBehaviour {
public static bool UpdateAvailable { get; private set; } = false;
public static string UpdaterLink { get; private set; }
- public const string LocalVersion = "6.0.0.0"; // must be a version value
+ public const string LocalVersion = "6.1.0.0"; // must be a version value
private void Start() {
if (CheckConnection()) {
diff --git a/engine/Assets/Scripts/Behaviors/ArcadeDriveBehaviour.cs b/engine/Assets/Scripts/Behaviors/ArcadeDriveBehaviour.cs
index 3c00c137f5..09c1cc425c 100644
--- a/engine/Assets/Scripts/Behaviors/ArcadeDriveBehaviour.cs
+++ b/engine/Assets/Scripts/Behaviors/ArcadeDriveBehaviour.cs
@@ -1,17 +1,12 @@
-using System;
-using System.Collections.Generic;
-using Google.Protobuf.WellKnownTypes;
+using System.Collections.Generic;
using Synthesis.PreferenceManager;
using Synthesis.UI.Dynamic;
using SynthesisAPI.EventBus;
using SynthesisAPI.InputManager;
using SynthesisAPI.InputManager.Inputs;
using SynthesisAPI.Simulation;
-using UnityEditor;
using UnityEngine;
-using Input = UnityEngine.Input;
-using Logger = SynthesisAPI.Utilities.Logger;
-using Math = SynthesisAPI.Utilities.Math;
+using Math = SynthesisAPI.Utilities.Math;
#nullable enable
@@ -94,7 +89,7 @@ public Analog TryLoadInput(string key, Analog defaultInput) {
}
private void OnValueInputAssigned(IEvent tmp) {
- ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;
+ ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
if (args.InputKey.Length > MiraId.Length) {
string s = args.InputKey.Remove(0, MiraId.Length);
diff --git a/engine/Assets/Scripts/Behaviors/GeneralArmBehaviour.cs b/engine/Assets/Scripts/Behaviors/GeneralArmBehaviour.cs
index 50a03ce337..a2722ff0b0 100644
--- a/engine/Assets/Scripts/Behaviors/GeneralArmBehaviour.cs
+++ b/engine/Assets/Scripts/Behaviors/GeneralArmBehaviour.cs
@@ -1,18 +1,12 @@
using System;
-using System.Collections;
-using System.Collections.Generic;
-using Google.Protobuf.WellKnownTypes;
using Synthesis.PreferenceManager;
using Synthesis.UI.Dynamic;
using SynthesisAPI.EventBus;
using SynthesisAPI.InputManager;
using SynthesisAPI.InputManager.Inputs;
using SynthesisAPI.Simulation;
-using SynthesisAPI.Utilities;
using UnityEngine;
-using Logger = SynthesisAPI.Utilities.Logger;
-
#nullable enable
namespace Synthesis {
@@ -74,7 +68,7 @@ public Analog TryLoadInput(string key, Analog defaultInput) {
}
private void OnValueInputAssigned(IEvent tmp) {
- ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;
+ ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
if (args.InputKey.Equals(_forwardInputKey) || args.InputKey.Equals(_reverseInputKey)) {
if (_robot.RobotGUID != (MainHUD.SelectedRobot?.RobotGUID ?? string.Empty) ||
!((DynamicUIManager.ActiveModal as ChangeInputsModal)?.isSave ?? false))
diff --git a/engine/Assets/Scripts/Behaviors/GeneralSliderBehaviour.cs b/engine/Assets/Scripts/Behaviors/GeneralSliderBehaviour.cs
index d3b5dac225..034b889328 100644
--- a/engine/Assets/Scripts/Behaviors/GeneralSliderBehaviour.cs
+++ b/engine/Assets/Scripts/Behaviors/GeneralSliderBehaviour.cs
@@ -1,17 +1,11 @@
-using System.Collections;
-using System.Collections.Generic;
-using Google.Protobuf.WellKnownTypes;
using Synthesis.PreferenceManager;
using Synthesis.UI.Dynamic;
using SynthesisAPI.EventBus;
using SynthesisAPI.InputManager;
using SynthesisAPI.InputManager.Inputs;
using SynthesisAPI.Simulation;
-using SynthesisAPI.Utilities;
using UnityEngine;
-using Logger = SynthesisAPI.Utilities.Logger;
-
#nullable enable
namespace Synthesis {
@@ -65,7 +59,7 @@ public Analog TryLoadInput(string key, Analog defaultInput) {
}
private void OnValueInputAssigned(IEvent tmp) {
- ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;
+ ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
if (args.InputKey.Equals(_forwardInputKey) || args.InputKey.Equals(_reverseInputKey)) {
if (_robot.RobotGUID != (MainHUD.SelectedRobot?.RobotGUID ?? string.Empty) ||
!((DynamicUIManager.ActiveModal as ChangeInputsModal)?.isSave ?? false))
diff --git a/engine/Assets/Scripts/Behaviors/MecanumDriveBehaviour.cs b/engine/Assets/Scripts/Behaviors/MecanumDriveBehaviour.cs
new file mode 100644
index 0000000000..111d4be870
--- /dev/null
+++ b/engine/Assets/Scripts/Behaviors/MecanumDriveBehaviour.cs
@@ -0,0 +1,224 @@
+using System.Collections.Generic;
+using Google.Protobuf.WellKnownTypes;
+using Synthesis.PreferenceManager;
+using SynthesisAPI.EventBus;
+using SynthesisAPI.InputManager;
+using SynthesisAPI.InputManager.Inputs;
+using SynthesisAPI.Simulation;
+using UnityEngine;
+
+using Math = System.Math;
+
+#nullable enable
+
+namespace Synthesis {
+ public class MecanumDriveBehaviour : SimBehaviour {
+ internal const string FORWARD = "Mecanum Forward";
+ internal const string BACKWARD = "Mecanum Backward";
+ internal const string LEFT = "Mecanum Left";
+ internal const string RIGHT = "Mecanum Right";
+ internal const string TURN_LEFT = "Mecanum Turn Left";
+ internal const string TURN_RIGHT = "Mecanum Turn Right";
+ internal const string RESET_FIELD_FORWARD = "Mecanum Reset Forward";
+ internal const string TOGGLE_FIELD_CENTRIC = "Toggle Field Centric";
+
+ private readonly string forward = FORWARD;
+ private readonly string backward = BACKWARD;
+ private readonly string left = LEFT;
+ private readonly string right = RIGHT;
+ private readonly string turn_left = TURN_LEFT;
+ private readonly string turn_right = TURN_RIGHT;
+ private readonly string reset_field_forward = RESET_FIELD_FORWARD;
+ private readonly string toggle_field_centric = TOGGLE_FIELD_CENTRIC;
+
+ private List _frontLeftWheels;
+ private List _frontRightWheels;
+ private List _backRightWheels;
+ private List _backLeftWheels;
+ private readonly RobotSimObject _robot;
+
+ private Vector3 _fieldForward;
+ private bool _fieldCentric = true;
+ private bool _fieldCentricDown = false;
+
+ ///
+ /// Create a mecanum drivetrain.
+ ///
+ /// Owning SimObject
+ /// Front-Left wheels
+ /// Front-Right wheels
+ /// Back-Right wheels
+ /// Back-Left wheels
+ public MecanumDriveBehaviour(RobotSimObject robot, List frontLeft, List frontRight,
+ List backRight, List backLeft)
+ : base(robot.Name, false) {
+ _frontLeftWheels = frontLeft;
+ _frontRightWheels = frontRight;
+ _backRightWheels = backRight;
+ _backLeftWheels = backLeft;
+
+ _robot = robot;
+ _fieldForward = Vector3.forward;
+
+ forward = _robot.RobotGUID + "Mecanum Forward";
+ backward = _robot.RobotGUID + "Mecanum Backward";
+ left = _robot.RobotGUID + "Mecanum Left";
+ right = _robot.RobotGUID + "Mecanum Right";
+ turn_left = _robot.RobotGUID + "Mecanum Turn Left";
+ turn_right = _robot.RobotGUID + "Mecanum Turn Right";
+ reset_field_forward = _robot.RobotGUID + "Mecanum Reset Forward";
+ toggle_field_centric = _robot.RobotGUID + "Toggle Field Centric";
+
+ InitInputs(GetInputs());
+ EventBus.NewTypeListener(OnValueInputAssigned);
+
+ Enabled = true;
+ }
+
+ public (string key, string name, Analog input)[] GetInputs() {
+ return new(
+ string key, string name, Analog input)[] { (forward, FORWARD, TryLoadInput(forward, new Digital("W"))),
+ (backward, BACKWARD, TryLoadInput(backward, new Digital("S"))),
+ (left, LEFT, TryLoadInput(left, new Digital("A"))),
+ (right, RIGHT, TryLoadInput(right, new Digital("D"))),
+ (turn_left, TURN_LEFT, TryLoadInput(turn_left, new Digital("LeftArrow"))),
+ (turn_right, TURN_RIGHT, TryLoadInput(turn_right, new Digital("RightArrow"))),
+ (reset_field_forward, RESET_FIELD_FORWARD, TryLoadInput(reset_field_forward, new Digital("R"))),
+ (toggle_field_centric, TOGGLE_FIELD_CENTRIC, TryLoadInput(toggle_field_centric, new Digital("T"))) };
+ }
+
+ public Analog TryLoadInput(string key, Analog defaultInput) {
+ Analog input;
+ if (InputManager.MappedValueInputs.ContainsKey(key)) {
+ input = InputManager.GetAnalog(key);
+ input.ContextBitmask = defaultInput.ContextBitmask;
+ return input;
+ }
+ input = SimulationPreferences.GetRobotInput(_robot.RobotGUID, key);
+ if (input == null) {
+ SimulationPreferences.SetRobotInput(_robot.RobotGUID, key, defaultInput);
+ return defaultInput;
+ }
+ return input;
+ }
+
+ private void OnValueInputAssigned(IEvent tmp) {
+ ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
+
+ if (args.InputKey.Length > _robot.RobotGUID.Length) {
+ string s = args.InputKey.Remove(0, _robot.RobotGUID.Length);
+ switch (s) {
+ case FORWARD:
+ case BACKWARD:
+ case LEFT:
+ case RIGHT:
+ case TURN_LEFT:
+ case TURN_RIGHT:
+ case RESET_FIELD_FORWARD:
+ case TOGGLE_FIELD_CENTRIC:
+ SimulationPreferences.SetRobotInput(_robot.RobotGUID, args.InputKey, args.Input);
+ break;
+ }
+ }
+ }
+
+ ///
+ /// A difference comparison with some wiggle room between the values
+ ///
+ /// Value A
+ /// Value B
+ /// Allowed difference between them to be considered the same essentially.
+ /// Exclusive
+ private bool Diff(float a, float b, float acceptableDelta) {
+ return Math.Abs(a - b) < acceptableDelta;
+ }
+
+ public override void Update() {
+ if (Mathf.Abs(InputManager.MappedValueInputs[reset_field_forward].Value) > 0.5f)
+ _fieldForward = _robot.GroundedNode.transform.forward;
+
+ var fieldCentricInput = Mathf.Abs(InputManager.MappedValueInputs[toggle_field_centric].Value);
+ if (_fieldCentricDown ^ (fieldCentricInput > 0.5f)) {
+ _fieldCentricDown = !_fieldCentricDown;
+ if (_fieldCentricDown) {
+ _fieldCentric = !_fieldCentric;
+ }
+ }
+
+ Vector3 headingVector = _robot.GroundedNode.transform.forward -
+ (Vector3.up * Vector3.Dot(Vector3.up, _robot.GroundedNode.transform.forward));
+ float headingVectorY = Vector3.Dot(_fieldForward, headingVector);
+ float headingVectorX = Vector3.Dot(Vector3.Cross(_fieldForward, Vector3.up), headingVector);
+ float chassisAngle = Mathf.Atan2(headingVectorX, headingVectorY) * Mathf.Rad2Deg;
+
+ var forwardInput = InputManager.MappedValueInputs[forward];
+ var backwardInput = InputManager.MappedValueInputs[backward];
+ var leftInput = InputManager.MappedValueInputs[left];
+ var rightInput = InputManager.MappedValueInputs[right];
+ var turnLeftInput = InputManager.MappedValueInputs[turn_left];
+ var turnRightInput = InputManager.MappedValueInputs[turn_right];
+
+ float moveForward = Mathf.Abs(forwardInput.Value) - Mathf.Abs(backwardInput.Value);
+ float moveStrafe = Mathf.Abs(rightInput.Value) - Mathf.Abs(leftInput.Value);
+ float moveTurn = Mathf.Abs(turnLeftInput.Value) - Mathf.Abs(turnRightInput.Value);
+
+ moveForward = Diff(moveForward, 0f, 0.1f) ? 0f : moveForward;
+ moveStrafe = Diff(moveStrafe, 0f, 0.1f) ? 0f : moveStrafe;
+ moveTurn = Diff(moveTurn, 0f, 0.1f) ? 0f : moveTurn;
+
+ if (_fieldCentric) {
+ var vec = Quaternion.AngleAxis(chassisAngle, Vector3.up) * new Vector3(moveStrafe, 0f, moveForward);
+ moveForward = vec.z;
+ moveStrafe = vec.x;
+ }
+
+ // Are the inputs basically zero
+ if (moveForward == 0f && moveTurn == 0f && moveStrafe == 0f) {
+ _frontLeftWheels.ForEach(x => x.MainInput = 0f);
+ _frontRightWheels.ForEach(x => x.MainInput = 0f);
+ _backRightWheels.ForEach(x => x.MainInput = 0f);
+ _backLeftWheels.ForEach(x => x.MainInput = 0f);
+ return;
+ }
+
+ var frontLeftSpeed = moveForward + moveStrafe - moveTurn;
+ var frontRightSpeed = moveForward - moveStrafe + moveTurn;
+ var backLeftSpeed = moveForward - moveStrafe - moveTurn;
+ var backRightSpeed = moveForward + moveStrafe + moveTurn;
+
+ _frontLeftWheels.ForEach(x => x.MainInput = frontLeftSpeed);
+ _frontRightWheels.ForEach(x => x.MainInput = frontRightSpeed);
+ _backRightWheels.ForEach(x => x.MainInput = backRightSpeed);
+ _backLeftWheels.ForEach(x => x.MainInput = backLeftSpeed);
+ }
+
+ protected override void OnEnable() {
+ Vector3 northWest = new Vector3(-1, 0, 1).normalized;
+ Vector3 northEast = new Vector3(1, 0, 1).normalized;
+
+ _frontLeftWheels.ForEach(x => x.LocalRoller = northWest);
+ _frontRightWheels.ForEach(x => x.LocalRoller = northEast);
+ _backRightWheels.ForEach(x => x.LocalRoller = northWest);
+ _backLeftWheels.ForEach(x => x.LocalRoller = northEast);
+ }
+
+ protected override void OnDisable() {
+ _frontLeftWheels.ForEach(x => {
+ x.MainInput = 0f;
+ x.MatchRollerToWheelType();
+ });
+ _frontRightWheels.ForEach(x => {
+ x.MainInput = 0f;
+ x.MatchRollerToWheelType();
+ });
+ _backRightWheels.ForEach(x => {
+ x.MainInput = 0f;
+ x.MatchRollerToWheelType();
+ });
+ _backLeftWheels.ForEach(x => {
+ x.MainInput = 0f;
+ x.MatchRollerToWheelType();
+ });
+ }
+ }
+}
diff --git a/engine/Assets/Scripts/Behaviors/MecanumDriveBehaviour.cs.meta b/engine/Assets/Scripts/Behaviors/MecanumDriveBehaviour.cs.meta
new file mode 100644
index 0000000000..057df72525
--- /dev/null
+++ b/engine/Assets/Scripts/Behaviors/MecanumDriveBehaviour.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1fd5b2e0370614ba0b7a2194a613b593
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/engine/Assets/Scripts/Behaviors/OmniDriveBehaviour.cs b/engine/Assets/Scripts/Behaviors/OmniDriveBehaviour.cs
new file mode 100644
index 0000000000..99497d9381
--- /dev/null
+++ b/engine/Assets/Scripts/Behaviors/OmniDriveBehaviour.cs
@@ -0,0 +1,227 @@
+using System.Collections.Generic;
+using Synthesis.PreferenceManager;
+using SynthesisAPI.EventBus;
+using SynthesisAPI.InputManager;
+using SynthesisAPI.InputManager.Inputs;
+using SynthesisAPI.Simulation;
+using UnityEngine;
+using Logger = SynthesisAPI.Utilities.Logger;
+using LogLevel = SynthesisAPI.Utilities.LogLevel;
+using Math = System.Math;
+
+#nullable enable
+
+namespace Synthesis {
+ public class OmniDriveBehaviour : SimBehaviour {
+ internal const string FORWARD = "Omni Forward";
+ internal const string BACKWARD = "Omni Backward";
+ internal const string LEFT = "Omni Left";
+ internal const string RIGHT = "Omni Right";
+ internal const string TURN_LEFT = "Omni Turn Left";
+ internal const string TURN_RIGHT = "Omni Turn Right";
+ internal const string RESET_FIELD_FORWARD = "Omni Reset Forward";
+ internal const string TOGGLE_FIELD_CENTRIC = "Toggle Field Centric";
+
+ private readonly string forward = FORWARD;
+ private readonly string backward = BACKWARD;
+ private readonly string left = LEFT;
+ private readonly string right = RIGHT;
+ private readonly string turn_left = TURN_LEFT;
+ private readonly string turn_right = TURN_RIGHT;
+ private readonly string reset_field_forward = RESET_FIELD_FORWARD;
+ private readonly string toggle_field_centric = TOGGLE_FIELD_CENTRIC;
+
+ private List _wheels;
+ private readonly RobotSimObject _robot;
+
+ private Vector3 _fieldForward;
+ private bool _fieldCentric = true;
+ private bool _fieldCentricDown = false;
+
+ private float _turnFavor = 1.5f;
+
+ ///
+ /// Create a mecanum drivetrain.
+ ///
+ /// Owning SimObject
+ /// Front-Left wheels
+ /// Front-Right wheels
+ /// Back-Right wheels
+ /// Back-Left wheels
+ public OmniDriveBehaviour(RobotSimObject robot, List wheels) : base(robot.Name, false) {
+ _wheels = wheels;
+
+ _robot = robot;
+ _fieldForward = Vector3.forward;
+
+ forward = _robot.RobotGUID + "Omni Forward";
+ backward = _robot.RobotGUID + "Omni Backward";
+ left = _robot.RobotGUID + "Omni Left";
+ right = _robot.RobotGUID + "Omni Right";
+ turn_left = _robot.RobotGUID + "Omni Turn Left";
+ turn_right = _robot.RobotGUID + "Omni Turn Right";
+ reset_field_forward = _robot.RobotGUID + "Omni Reset Forward";
+ toggle_field_centric = _robot.RobotGUID + "Toggle Field Centric";
+
+ InitInputs(GetInputs());
+ EventBus.NewTypeListener(OnValueInputAssigned);
+
+ Enabled = true;
+ }
+
+ public (string key, string name, Analog input)[] GetInputs() {
+ return new(
+ string key, string name, Analog input)[] { (forward, FORWARD, TryLoadInput(forward, new Digital("W"))),
+ (backward, BACKWARD, TryLoadInput(backward, new Digital("S"))),
+ (left, LEFT, TryLoadInput(left, new Digital("A"))),
+ (right, RIGHT, TryLoadInput(right, new Digital("D"))),
+ (turn_left, TURN_LEFT, TryLoadInput(turn_left, new Digital("LeftArrow"))),
+ (turn_right, TURN_RIGHT, TryLoadInput(turn_right, new Digital("RightArrow"))),
+ (reset_field_forward, RESET_FIELD_FORWARD, TryLoadInput(reset_field_forward, new Digital("R"))),
+ (toggle_field_centric, TOGGLE_FIELD_CENTRIC, TryLoadInput(toggle_field_centric, new Digital("T"))) };
+ }
+
+ public Analog TryLoadInput(string key, Analog defaultInput) {
+ Analog input;
+ if (InputManager.MappedValueInputs.ContainsKey(key)) {
+ input = InputManager.GetAnalog(key);
+ input.ContextBitmask = defaultInput.ContextBitmask;
+ return input;
+ }
+ input = SimulationPreferences.GetRobotInput(_robot.RobotGUID, key);
+ if (input == null) {
+ SimulationPreferences.SetRobotInput(_robot.RobotGUID, key, defaultInput);
+ return defaultInput;
+ }
+ return input;
+ }
+
+ private void OnValueInputAssigned(IEvent tmp) {
+ ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
+
+ if (args.InputKey.Length > _robot.RobotGUID.Length) {
+ string s = args.InputKey.Remove(0, _robot.RobotGUID.Length);
+ switch (s) {
+ case FORWARD:
+ case BACKWARD:
+ case LEFT:
+ case RIGHT:
+ case TURN_LEFT:
+ case TURN_RIGHT:
+ case RESET_FIELD_FORWARD:
+ case TOGGLE_FIELD_CENTRIC:
+ SimulationPreferences.SetRobotInput(_robot.RobotGUID, args.InputKey, args.Input);
+ break;
+ }
+ }
+ }
+
+ ///
+ /// A difference comparison with some wiggle room between the values
+ ///
+ /// Value A
+ /// Value B
+ /// Allowed difference between them to be considered the same essentially.
+ /// Exclusive
+ private bool Diff(float a, float b, float acceptableDelta) {
+ return Math.Abs(a - b) < acceptableDelta;
+ }
+
+ public override void Update() {
+ if (Mathf.Abs(InputManager.MappedValueInputs[reset_field_forward].Value) > 0.5f)
+ _fieldForward = _robot.GroundedNode.transform.forward;
+
+ var fieldCentricInput = Mathf.Abs(InputManager.MappedValueInputs[toggle_field_centric].Value);
+ if (_fieldCentricDown ^ (fieldCentricInput > 0.5f)) {
+ _fieldCentricDown = !_fieldCentricDown;
+ if (_fieldCentricDown) {
+ _fieldCentric = !_fieldCentric;
+ }
+ }
+
+ var forwardInput = InputManager.MappedValueInputs[forward];
+ var backwardInput = InputManager.MappedValueInputs[backward];
+ var leftInput = InputManager.MappedValueInputs[left];
+ var rightInput = InputManager.MappedValueInputs[right];
+ var turnLeftInput = InputManager.MappedValueInputs[turn_left];
+ var turnRightInput = InputManager.MappedValueInputs[turn_right];
+
+ float moveForward = Mathf.Abs(forwardInput.Value) - Mathf.Abs(backwardInput.Value);
+ float moveStrafe = Mathf.Abs(rightInput.Value) - Mathf.Abs(leftInput.Value);
+ float moveTurn = Mathf.Abs(turnRightInput.Value) - Mathf.Abs(turnLeftInput.Value);
+
+ moveForward = Diff(moveForward, 0f, 0.1f) ? 0f : moveForward;
+ moveStrafe = Diff(moveStrafe, 0f, 0.1f) ? 0f : moveStrafe;
+ moveTurn = Diff(moveTurn, 0f, 0.1f) ? 0f : moveTurn;
+
+ // Are the inputs basically zero
+ if (moveForward == 0f && moveTurn == 0f && moveStrafe == 0f) {
+ _wheels.ForEach(x => x.MainInput = 0f);
+ return;
+ }
+
+ // Adjusts how much turning verse translation is favored
+ moveTurn *= _turnFavor;
+
+ var robotTransform = _robot.GroundedNode.transform;
+
+ Vector3 chassisVelocity = robotTransform.forward * moveForward + robotTransform.right * moveStrafe;
+ Vector3 chassisAngularVelocity = robotTransform.up * moveTurn;
+
+ if (chassisVelocity.magnitude > 1)
+ chassisVelocity = chassisVelocity.normalized;
+
+ // Rotate chassis velocity by chassis angle
+ if (_fieldCentric) {
+ Vector3 headingVector = _robot.GroundedNode.transform.forward -
+ (Vector3.up * Vector3.Dot(Vector3.up, _robot.GroundedNode.transform.forward));
+ float headingVectorY = Vector3.Dot(_fieldForward, headingVector);
+ float headingVectorX = Vector3.Dot(Vector3.Cross(_fieldForward, Vector3.up), headingVector);
+ float chassisAngle = Mathf.Atan2(headingVectorX, headingVectorY) * Mathf.Rad2Deg;
+ chassisVelocity = Quaternion.AngleAxis(chassisAngle, robotTransform.up) * chassisVelocity;
+ }
+
+ var maxVelocity = 1.0f;
+ float[] velocities = new float[_wheels.Count];
+ for (int i = 0; i < velocities.Length; i++) {
+ var wheel = _wheels[i];
+ var com = robotTransform.localToWorldMatrix.MultiplyPoint3x4(
+ robotTransform.GetComponent().centerOfMass);
+ var radius = wheel.Anchor - com;
+
+ // Remove axis component of radius
+ radius -= Vector3.Dot(robotTransform.up, radius) * robotTransform.up;
+
+ velocities[i] = Vector3.Dot(Vector3.Cross(wheel.Axis, robotTransform.up).normalized,
+ Vector3.Cross(chassisAngularVelocity, radius) + chassisVelocity);
+ if (Mathf.Abs(velocities[i]) > maxVelocity)
+ maxVelocity = Mathf.Abs(velocities[i]);
+ }
+
+ for (int i = 0; i < velocities.Length; i++) {
+ _wheels[i].MainInput = velocities[i] / maxVelocity;
+ }
+ }
+
+ protected override void OnEnable() {
+ bool wheelTypeWarning = false;
+ _wheels.ForEach(x => {
+ if (x.LocalRoller == null) {
+ wheelTypeWarning = true;
+ x.LocalRoller = Vector3.right;
+ }
+ });
+
+ if (wheelTypeWarning) {
+ Logger.Log("Switching standard wheels to omni while using omni drive", LogLevel.Warning);
+ }
+ }
+
+ protected override void OnDisable() {
+ _wheels.ForEach(x => {
+ x.MainInput = 0.0f;
+ x.MatchRollerToWheelType();
+ });
+ }
+ }
+}
diff --git a/engine/Assets/Scripts/Behaviors/OmniDriveBehaviour.cs.meta b/engine/Assets/Scripts/Behaviors/OmniDriveBehaviour.cs.meta
new file mode 100644
index 0000000000..5ce707a64b
--- /dev/null
+++ b/engine/Assets/Scripts/Behaviors/OmniDriveBehaviour.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f502ecb079ac41b1b5c7802ef977aa6
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/engine/Assets/Scripts/Behaviors/SwerveDriveBehaviour.cs b/engine/Assets/Scripts/Behaviors/SwerveDriveBehaviour.cs
index 370f944d70..32b155d21e 100644
--- a/engine/Assets/Scripts/Behaviors/SwerveDriveBehaviour.cs
+++ b/engine/Assets/Scripts/Behaviors/SwerveDriveBehaviour.cs
@@ -46,7 +46,7 @@ public SwerveDriveBehaviour(RobotSimObject robot, (RotationalDriver azimuth, Whe
_fieldForward = Vector3.forward;
_moduleDrivers.ForEach(x => {
- if (x.azimuth.IsReserved) {
+ if (x.azimuth.Reservee != null) {
SimulationManager.RemoveBehaviour(_robot.Name, x.azimuth.Reservee);
}
@@ -94,7 +94,7 @@ public Analog TryLoadInput(string key, Analog defaultInput) {
}
private void OnValueInputAssigned(IEvent tmp) {
- ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;
+ ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
if (args.InputKey.Length > _robot.RobotGUID.Length) {
string s = args.InputKey.Remove(0, _robot.RobotGUID.Length);
diff --git a/engine/Assets/Scripts/Drivers/WheelDriver.cs b/engine/Assets/Scripts/Drivers/WheelDriver.cs
index 2988d6b2af..9eb524400f 100644
--- a/engine/Assets/Scripts/Drivers/WheelDriver.cs
+++ b/engine/Assets/Scripts/Drivers/WheelDriver.cs
@@ -1,12 +1,8 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
using Google.Protobuf.WellKnownTypes;
using Mirabuf.Joint;
using Synthesis.PreferenceManager;
using SynthesisAPI.Simulation;
using UnityEngine;
-using Synthesis.Util;
using Synthesis.Physics;
#nullable enable
@@ -16,6 +12,7 @@ public class WheelDriver : Driver {
private const float MIRABUF_TO_UNITY_FORCE = 40f;
private CustomWheel _customWheel;
+ private JointInstance.WheelTypeEnum _wheelType;
private JointInstance _jointInstance;
public JointInstance JointInstance => _jointInstance;
@@ -52,6 +49,14 @@ public Vector3 LocalAxis {
}
}
+ ///
+ /// Specify a roller direction. NULL roller direction indicates no roller
+ ///
+ public Vector3? LocalRoller {
+ get => _customWheel.LocalRollerRollingDirection;
+ set { _customWheel.LocalRollerRollingDirection = value; }
+ }
+
private float _radius = 0.05f;
public float Radius {
get => _radius;
@@ -113,12 +118,14 @@ public JointMotor Motor {
/// Anchor of the Rotational Joint
/// Axis of the Rotational Joint
/// Radius of the wheel. Automatically calculated if set to NaN
+ /// Optional parameter of wheel type for joint
public WheelDriver(string name, string[] inputs, string[] outputs, SimObject simObject,
JointInstance jointInstance, CustomWheel customWheel, Vector3 anchor, Vector3 axis, float radius,
- string motorRef)
+ string motorRef, JointInstance.WheelTypeEnum wheelType)
: base(name, inputs, outputs, simObject) {
_jointInstance = jointInstance;
_customWheel = customWheel;
+ _wheelType = wheelType;
Anchor = _customWheel.Rb.transform.localToWorldMatrix.MultiplyPoint3x4(anchor);
Axis = _customWheel.Rb.transform.localToWorldMatrix.MultiplyVector(axis);
@@ -144,6 +151,8 @@ public WheelDriver(string name, string[] inputs, string[] outputs, SimObject sim
};
}
+ MatchRollerToWheelType();
+
State.SetValue(_outputs[0], Value.ForNumber(0));
State.SetValue(_outputs[1], Value.ForNumber(1));
}
@@ -180,6 +189,14 @@ public void WheelsPhysicsUpdate(float mod) {
_customWheel.CalculateAndApplyFriction(mod);
}
+ public void MatchRollerToWheelType() {
+ if (_wheelType == JointInstance.WheelTypeEnum.Omni) {
+ LocalRoller = LocalAxis;
+ } else {
+ LocalRoller = null;
+ }
+ }
+
private void VelocityControl() {
if (!_useMotor)
return;
diff --git a/engine/Assets/Scripts/Importer/Importer.cs b/engine/Assets/Scripts/Importer/Importer.cs
index 6f3f30954e..52fa394e77 100644
--- a/engine/Assets/Scripts/Importer/Importer.cs
+++ b/engine/Assets/Scripts/Importer/Importer.cs
@@ -75,7 +75,7 @@ private class ImportHelper {
public ImportHelper(MixAndMatchRobotData mixAndMatchRobotData)
: this(mixAndMatchRobotData,
- mixAndMatchRobotData.GlobalPartData.Select(part => new MirabufLive(part.MirabufPartFile))
+ mixAndMatchRobotData.GlobalPartData.Select(part => new MirabufLive(part.MirabufPartFilePath))
.ToArray()) {}
public ImportHelper(string filePath) : this(null, new[] { new MirabufLive(filePath) }) {}
@@ -248,7 +248,8 @@ void WheelJoint() {
_simObject, instance, customWheel, wheelA.anchor, axisWut, float.NaN,
(assembly.Data.Joints.MotorDefinitions.ContainsKey(definition.MotorReference)
? definition.MotorReference
- : null)!);
+ : null)!,
+ instance.GetWheelType(assembly));
SimulationManager.AddDriver(_simObject.Name, driver);
}
}
diff --git a/engine/Assets/Scripts/Physics/CustomWheel.cs b/engine/Assets/Scripts/Physics/CustomWheel.cs
index b8fe30cf8e..0371edbbf4 100644
--- a/engine/Assets/Scripts/Physics/CustomWheel.cs
+++ b/engine/Assets/Scripts/Physics/CustomWheel.cs
@@ -17,6 +17,14 @@ public Rigidbody Rb {
}
}
+ private const float ROLLER_FRICTION = 0.15f;
+
+ public Vector3? LocalRollerRollingDirection = null;
+ private Vector3? RollerRollingDirection =>
+ LocalRollerRollingDirection == null
+ ? null
+ : Rb.transform.localToWorldMatrix.MultiplyVector(LocalRollerRollingDirection.Value);
+
public float ImpulseMax = 100f;
public Vector3 LocalAxis;
@@ -65,6 +73,12 @@ public void CalculateAndApplyFriction(float mod) {
_lastImpulseTotal = CalculateNetFriction();
Rb.velocity += _lastImpulseTotal * mod; // / Rb.mass;
+
+ // Update visual meshes
+ for (int i = 0; i < Rb.transform.childCount; i++) {
+ var child = Rb.transform.GetChild(i);
+ child.RotateAround(Anchor, Axis, -RotationSpeed * Time.fixedDeltaTime * Mathf.Rad2Deg);
+ }
}
public void OnCollisionEnter(Collision collision) {
@@ -107,7 +121,18 @@ private Vector3 CalculateNetFriction() {
_collisionDataThisFrame = new(Vector3.zero, Vector3.zero, 0);
- return CalculateSlidingFriction(netImpulse, netVelocity) + CalculateRollingFriction(netImpulse, netVelocity);
+ var evaluatedFriction =
+ CalculateSlidingFriction(netImpulse, netVelocity) + CalculateRollingFriction(netImpulse, netVelocity);
+
+ if (LocalRollerRollingDirection.HasValue) {
+ Vector3 rollerDir = RollerRollingDirection.Value;
+ var rollerVec = rollerDir * Vector3.Dot(rollerDir, evaluatedFriction);
+ var sansRoller = evaluatedFriction - rollerVec;
+ var rollerFriction = rollerDir * Vector3.Dot(rollerDir, netVelocity);
+ evaluatedFriction = sansRoller + rollerFriction * ROLLER_FRICTION;
+ }
+
+ return evaluatedFriction;
}
///
diff --git a/engine/Assets/Scripts/SimObjects/MixAndMatch/MixAndMatchSaveData.cs b/engine/Assets/Scripts/SimObjects/MixAndMatch/MixAndMatchSaveData.cs
index 43e4669172..2fe14a09f0 100644
--- a/engine/Assets/Scripts/SimObjects/MixAndMatch/MixAndMatchSaveData.cs
+++ b/engine/Assets/Scripts/SimObjects/MixAndMatch/MixAndMatchSaveData.cs
@@ -9,7 +9,7 @@ namespace SimObjects.MixAndMatch {
public static class MixAndMatchSaveUtil {
private static readonly char ALT_SEP = Path.AltDirectorySeparatorChar;
- private static readonly string PART_MIRABUF_FOLDER_PATH =
+ public static readonly string PART_MIRABUF_FOLDER_PATH =
Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData) + ALT_SEP + "Autodesk" + ALT_SEP +
"Synthesis" + ALT_SEP + "MixAndMatch" + ALT_SEP + "Mira";
@@ -210,6 +210,26 @@ public class GlobalPartData {
public string Guid;
public string MirabufPartFile;
+ [JsonIgnore]
+ private string _mirabufPartFilePath;
+ [JsonIgnore]
+ public string MirabufPartFilePath {
+ get {
+ if (_mirabufPartFilePath == null) {
+ _mirabufPartFilePath =
+ MixAndMatchSaveUtil.PART_MIRABUF_FOLDER_PATH + Path.AltDirectorySeparatorChar + MirabufPartFile;
+ if (!File.Exists(_mirabufPartFilePath)) {
+ _mirabufPartFilePath = MirabufPartFile;
+ if (!File.Exists(_mirabufPartFilePath)) {
+ throw new Exception($"Can't find mira file '{_mirabufPartFilePath}'.");
+ }
+ }
+ }
+
+ return _mirabufPartFilePath;
+ }
+ }
+
public ConnectionPointData[] ConnectionPoints;
public GlobalPartData(string name, string guid, string mirabufPartFile,
diff --git a/engine/Assets/Scripts/SimObjects/RobotSimObject.cs b/engine/Assets/Scripts/SimObjects/RobotSimObject.cs
index d3a4cac9a9..608f55c913 100644
--- a/engine/Assets/Scripts/SimObjects/RobotSimObject.cs
+++ b/engine/Assets/Scripts/SimObjects/RobotSimObject.cs
@@ -582,6 +582,10 @@ private void ConfigureDrivetrain() {
ConfigureTankDrivetrain();
} else if (ConfiguredDrivetrainType.Value == DrivetrainType.SWERVE.Value) {
success = ConfigureSwerveDrivetrain();
+ } else if (ConfiguredDrivetrainType.Value == DrivetrainType.MECANUM.Value) {
+ success = ConfigureMecanumDrivetrain();
+ } else if (ConfiguredDrivetrainType.Value == DrivetrainType.OMNI.Value) {
+ ConfigureOmniDrivetrain();
}
if (!success) {
@@ -651,13 +655,13 @@ private bool ConfigureSwerveDrivetrain() {
var wheelDrivers = wheels as WheelDriver[] ?? wheels.ToArray();
- if (potentialAzimuthDrivers.Count() < wheelDrivers.Count())
+ if (!potentialAzimuthDrivers.Any() || potentialAzimuthDrivers.Count() < wheelDrivers.Count())
return false;
modules = new(RotationalDriver azimuth, WheelDriver driver)[wheelDrivers.Count()];
int i = 0;
wheelDrivers.ForEach(x => {
- RotationalDriver closest = null;
+ RotationalDriver closest = potentialAzimuthDrivers.First();
float distance = float.MaxValue;
potentialAzimuthDrivers.ForEach(
y => closest = (y.Anchor - x.Anchor).magnitude < distance ? y : closest);
@@ -677,6 +681,66 @@ private bool ConfigureSwerveDrivetrain() {
return true;
}
+ private bool ConfigureMecanumDrivetrain() {
+ var wheels = GetLeftRightWheels();
+
+ if (!wheels.HasValue) {
+ return false;
+ }
+
+ List frontLeft = new List(wheels.Value.leftWheels.Count);
+ List backLeft = new List(wheels.Value.leftWheels.Count);
+ List backRight = new List(wheels.Value.rightWheels.Count);
+ List frontRight = new List(wheels.Value.rightWheels.Count);
+
+ // Using GroundedBounds instead of rigidbody because there is an issue with grabbing it too early
+ var comZ = GroundedBounds.center.z;
+
+ foreach (var leftWheel in wheels.Value.leftWheels) {
+ if (GroundedNode.transform.worldToLocalMatrix.MultiplyPoint3x4(leftWheel.Anchor).z >= comZ) {
+ frontLeft.Add(leftWheel);
+ } else {
+ backLeft.Add(leftWheel);
+ }
+ }
+
+ foreach (var rightWheel in wheels.Value.rightWheels) {
+ if (GroundedNode.transform.worldToLocalMatrix.MultiplyPoint3x4(rightWheel.Anchor).z >= comZ) {
+ frontRight.Add(rightWheel);
+ } else {
+ backRight.Add(rightWheel);
+ }
+ }
+
+ if (!frontLeft.Any() || !frontRight.Any() || !backRight.Any() || !backLeft.Any()) {
+ if (!frontLeft.Any())
+ Logger.Log("No front-left wheels", LogLevel.Debug);
+ if (!frontRight.Any())
+ Logger.Log("No front-right wheels", LogLevel.Debug);
+ if (!backLeft.Any())
+ Logger.Log("No back-left wheels", LogLevel.Debug);
+ if (!backRight.Any())
+ Logger.Log("No back-right wheels", LogLevel.Debug);
+ return false;
+ }
+
+ var mecanumBehaviour = new MecanumDriveBehaviour(this, frontLeft, frontRight, backRight, backLeft);
+ DriveBehaviour = mecanumBehaviour;
+
+ SimulationManager.AddBehaviour(Name, mecanumBehaviour);
+
+ return true;
+ }
+
+ private void ConfigureOmniDrivetrain() {
+ var wheels = SimulationManager.Drivers[Name].OfType().ToList();
+
+ var omniBehaviour = new OmniDriveBehaviour(this, wheels);
+ DriveBehaviour = omniBehaviour;
+
+ SimulationManager.AddBehaviour(Name, omniBehaviour);
+ }
+
public static void SpawnRobot(
MixAndMatchRobotData mixAndMatchRobotData, bool spawnGizmo = true, string? filePath = null) {
SpawnRobot(mixAndMatchRobotData, new Vector3(0f, 0.5f, 0f), Quaternion.identity, spawnGizmo, filePath);
@@ -826,10 +890,12 @@ public void End(TransformData data) {
[JsonObject(MemberSerialization.OptIn)]
public struct DrivetrainType {
- public static readonly DrivetrainType NONE = new(0, "None");
- public static readonly DrivetrainType TANK = new(1, "Tank");
- public static readonly DrivetrainType ARCADE = new(2, "Arcade");
- public static readonly DrivetrainType SWERVE = new(3, "Swerve");
+ public static readonly DrivetrainType NONE = new(0, "None");
+ public static readonly DrivetrainType TANK = new(1, "Tank");
+ public static readonly DrivetrainType ARCADE = new(2, "Arcade");
+ public static readonly DrivetrainType SWERVE = new(3, "Swerve");
+ public static readonly DrivetrainType MECANUM = new(4, "Mecanum");
+ public static readonly DrivetrainType OMNI = new(5, "Omni");
[JsonProperty]
private string _name;
@@ -842,10 +908,22 @@ private DrivetrainType(int val, string name) {
_value = val;
_name = name;
}
+
+ public override bool Equals(object obj) {
+ if (!(obj is DrivetrainType))
+ return false;
+
+ var o = (DrivetrainType) obj;
+ return o._value == _value && o._name.Equals(_name);
+ }
+
+ public override int GetHashCode() {
+ return _name.GetHashCode() * 345345234 + _value * 678465890;
+ }
}
public static readonly DrivetrainType[] DRIVETRAIN_TYPES = { DrivetrainType.NONE, DrivetrainType.TANK,
- DrivetrainType.ARCADE, DrivetrainType.SWERVE };
+ DrivetrainType.ARCADE, DrivetrainType.SWERVE, DrivetrainType.MECANUM, DrivetrainType.OMNI };
public struct IntakeTriggerData {
public string NodeName;
@@ -876,14 +954,27 @@ public class RobotRemoveEvent : IEvent {
public void CreateDrivetrainTooltip() {
string MiraId = MainHUD.SelectedRobot.RobotGUID;
- int inputCount = 3; // for drive, intake, and eject
- if (ConfiguredDrivetrainType.Name.Equals("Swerve"))
- inputCount++; // for turn
+ int inputCount = 2; // for intake, and eject
+ if (!ConfiguredDrivetrainType.Equals(DrivetrainType.NONE)) {
+ inputCount++;
+
+ if (ConfiguredDrivetrainType.Equals(DrivetrainType.SWERVE) ||
+ ConfiguredDrivetrainType.Equals(DrivetrainType.MECANUM) ||
+ ConfiguredDrivetrainType.Equals(DrivetrainType.OMNI)) {
+ inputCount++; // for turn
+ }
+ }
+
MainHUD.SelectedRobot.GetAllReservedInputs().ForEach(input => {
if (!input.displayName.Contains("Arcade") &&
(!input.displayName.Contains("Swerve") || input.displayName.Contains("Reset Forward")) &&
- !input.displayName.Contains("Tank"))
+ !input.displayName.Contains("Tank") &&
+ (!input.displayName.Contains("Mecanum") || input.displayName.Contains("Reset Forward") ||
+ input.displayName.Contains("Toggle Field Centric")) &&
+ (!input.displayName.Contains("Omni") || input.displayName.Contains("Reset Forward") ||
+ input.displayName.Contains("Toggle Field Centric"))) {
inputCount++;
+ }
});
(string, string)[] inputs = new(string key, string input)[inputCount];
int i = 0;
@@ -916,11 +1007,39 @@ public void CreateDrivetrainTooltip() {
inputs[1] = (lturn + " " + rturn, "Turn");
i++;
break;
+ case "Mecanum":
+ f = GetTooltipOutput(MiraId + "Mecan Forward", "W");
+ b = GetTooltipOutput(MiraId + "Mecan Backward", "S");
+ l = GetTooltipOutput(MiraId + "Mecan Left", "A");
+ r = GetTooltipOutput(MiraId + "Mecan Right", "D");
+ inputs[0] = (f + b + l + r, "Drive");
+ i++;
+ lturn = GetTooltipOutput(MiraId + "Mecan Turn Left", "LeftArrow");
+ rturn = GetTooltipOutput(MiraId + "Mecan Turn Right", "RightArrow");
+ inputs[1] = (lturn + " " + rturn, "Turn");
+ i++;
+ break;
+ case "Omni":
+ f = GetTooltipOutput(MiraId + "Omni Forward", "W");
+ b = GetTooltipOutput(MiraId + "Omni Backward", "S");
+ l = GetTooltipOutput(MiraId + "Omni Left", "A");
+ r = GetTooltipOutput(MiraId + "Omni Right", "D");
+ inputs[0] = (f + b + l + r, "Drive");
+ i++;
+ lturn = GetTooltipOutput(MiraId + "Omni Turn Left", "LeftArrow");
+ rturn = GetTooltipOutput(MiraId + "Omni Turn Right", "RightArrow");
+ inputs[1] = (lturn + " " + rturn, "Turn");
+ i++;
+ break;
}
foreach (var inputKey in MainHUD.SelectedRobot.GetAllReservedInputs()) {
if (!inputKey.displayName.Contains("Arcade") &&
(!inputKey.displayName.Contains("Swerve") || inputKey.displayName.Contains("Reset Forward")) &&
- !inputKey.displayName.Contains("Tank")) {
+ !inputKey.displayName.Contains("Tank") &&
+ (!inputKey.displayName.Contains("Mecanum") || inputKey.displayName.Contains("Reset Forward") ||
+ inputKey.displayName.Contains("Toggle Field Centric")) &&
+ (!inputKey.displayName.Contains("Omni") || inputKey.displayName.Contains("Reset Forward") ||
+ inputKey.displayName.Contains("Toggle Field Centric"))) {
inputs[i] = (InputManager.MappedValueInputs[inputKey.key].Name, inputKey.displayName);
i++;
}
@@ -934,6 +1053,7 @@ public void CreateDrivetrainTooltip() {
OUTTAKE_GAMEPIECES, new Digital("Q", context: SimulationRunner.RUNNING_SIM_CONTEXT)))
.Name,
"Eject");
+
TooltipManager.CreateTooltip(inputs);
}
diff --git a/engine/Assets/Scripts/UI/Dynamic/Modals/MixAndMatch/MixAndMatchModal.cs b/engine/Assets/Scripts/UI/Dynamic/Modals/MixAndMatch/MixAndMatchModal.cs
index f19f10556a..051af2c4a1 100644
--- a/engine/Assets/Scripts/UI/Dynamic/Modals/MixAndMatch/MixAndMatchModal.cs
+++ b/engine/Assets/Scripts/UI/Dynamic/Modals/MixAndMatch/MixAndMatchModal.cs
@@ -223,7 +223,8 @@ private void CreateChoosePartFileModal(string fileName) {
AcceptButton
.AddOnClickedEvent(
- _ => OpenPartEditor(MixAndMatchSaveUtil.CreateNewPart(fileName, files[dropdown.Value])))
+ _ => OpenPartEditor(
+ MixAndMatchSaveUtil.CreateNewPart(fileName, Path.GetFileName(files[dropdown.Value]))))
.StepIntoLabel(l => l.SetText("Select"))
.RootGameObject.SetActive(true);
}
diff --git a/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/PartEditorPanel.cs b/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/PartEditorPanel.cs
index ea29454653..2899b08bb7 100644
--- a/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/PartEditorPanel.cs
+++ b/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/PartEditorPanel.cs
@@ -114,12 +114,12 @@ private void AddScrollViewEntry(GameObject point) {
/// Instantiates the main part object
private GameObject InstantiatePartGameObject() {
- if (!File.Exists(_partData.MirabufPartFile)) {
- Logger.Log($"Part file {_partData.MirabufPartFile} not found!", LogLevel.Error);
+ if (!File.Exists(_partData.MirabufPartFilePath)) {
+ Logger.Log($"Part file {_partData.MirabufPartFilePath} not found!", LogLevel.Error);
return null;
}
- MirabufLive miraLive = new MirabufLive(_partData.MirabufPartFile);
+ MirabufLive miraLive = new MirabufLive(_partData.MirabufPartFilePath);
GameObject assemblyObject = new GameObject(miraLive.MiraAssembly.Info.Name);
miraLive.GenerateDefinitionObjects(assemblyObject, false, false);
diff --git a/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/RobotEditorPanel.cs b/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/RobotEditorPanel.cs
index 1d61a1bec7..e92601218c 100644
--- a/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/RobotEditorPanel.cs
+++ b/engine/Assets/Scripts/UI/Dynamic/Panels/MixAndMatch/RobotEditorPanel.cs
@@ -144,7 +144,7 @@ private void InstantiatePartGameObject(LocalPartData localPartData) {
return;
}
- MirabufLive miraLive = new MirabufLive(loadPartData.MirabufPartFile);
+ MirabufLive miraLive = new MirabufLive(loadPartData.MirabufPartFilePath);
GameObject partObj = new GameObject(loadPartData.Name);
Transform partTrf = partObj.transform;
diff --git a/engine/ProjectSettings/ProjectSettings.asset b/engine/ProjectSettings/ProjectSettings.asset
index d17a4b5e21..f4824db613 100644
--- a/engine/ProjectSettings/ProjectSettings.asset
+++ b/engine/ProjectSettings/ProjectSettings.asset
@@ -135,7 +135,7 @@ PlayerSettings:
vulkanEnableLateAcquireNextImage: 0
vulkanEnableCommandBufferRecycling: 1
loadStoreDebugModeEnabled: 0
- bundleVersion: 6.0.0
+ bundleVersion: 6.1.0
preloadedAssets: []
metroInputSource: 0
wsaTransparentSwapchain: 0
diff --git a/exporter/SynthesisFusionAddin/proto/deps.py b/exporter/SynthesisFusionAddin/proto/deps.py
index 76bdd7912f..e5208aa31e 100644
--- a/exporter/SynthesisFusionAddin/proto/deps.py
+++ b/exporter/SynthesisFusionAddin/proto/deps.py
@@ -1,18 +1,67 @@
+import os
import platform, subprocess
from pathlib import Path
-from os import __file__, path
+
+from src.general_imports import INTERNAL_ID;
import adsk.core, adsk.fusion
+system = platform.system()
+
+def getPythonFolder() -> str:
+ """Retreives the folder that contains the Autodesk python executable
+
+ Raises:
+ ImportError: Unrecognized Platform
+
+ Returns:
+ str: The path that contains the Autodesk python executable
+ """
+
+ # Thank you Kris Kaplan
+ import sys
+ import importlib.machinery
+ osPath = importlib.machinery.PathFinder.find_spec('os', sys.path).origin
+
+ # The location of the python executable is found relative to the location of the os module in each operating system
+ if system == "Windows":
+ pythonFolder = Path(osPath).parents[1]
+ elif system == "Darwin":
+ pythonFolder = f'{Path(osPath).parents[2]}/bin'
+ else:
+ raise ImportError('Unsupported platform! This add-in only supports windows and macos')
+
+ logging.getLogger(f'{INTERNAL_ID}').debug(f'Python Folder -> {pythonFolder}')
+ return pythonFolder
+
+def executeCommand(command: tuple) -> int:
+ """Abstracts the execution of commands to account for platform differences
+
+ Args:
+ command (tuple): Tuple starting with command, and each indice having the arguments for said command
+
+ Returns:
+ int: Exit code of the process
+ """
+ if system == "Windows":
+ executionResult = subprocess.call(
+ command,
+ bufsize=1,
+ creationflags=subprocess.CREATE_NO_WINDOW,
+ shell=False
+ )
+ else:
+ # Uses os.system because I was unable to get subprocess.call to work on MacOS
+ executionResult = os.system(str.join(' ', command))
+
+ return executionResult
+
def installCross(pipDeps: list) -> bool:
"""Attempts to fetch pip script and resolve dependencies with less user interaction
Args:
pipDeps (list): List of all string imports
- Raises:
- ImportError: Unrecognized Platform
-
Returns:
bool: Success
@@ -31,65 +80,45 @@ def installCross(pipDeps: list) -> bool:
progressBar = ui.createProgressDialog()
progressBar.isCancelButtonShown = False
progressBar.reset()
- progressBar.show("Unity Addin", f"Installing dependencies...", 0, 4, 0)
+ progressBar.show("Synthesis", f"Installing dependencies...", 0, len(pipDeps), 0)
# this is important to reduce the chance of hang on startup
adsk.doEvents()
- system = platform.system()
+ try:
+ pythonFolder = getPythonFolder()
+ except ImportError as e:
+ logging.getLogger(f'{INTERNAL_ID}').error(f'Failed to download dependencies: {e.msg}')
+ return False
- if system == "Windows":
- pythonFolder = Path(__file__).parents[
- 1
- ] # Assumes the location of the fusion python executable is two folders up from the os lib location
- elif system == "Darwin": # macos
- pythonFolder = Path(__file__).parents[2] / "bin"
- progressBar.message = f"Fetching pip..."
- adsk.doEvents()
+ if system == "Darwin": # macos
# if nothing has previously fetched it
- if (not path.exists({pythonFolder / 'get-pip.py'})) :
- subprocess.call(
- f"curl https://bootstrap.pypa.io/get-pip.py -o \"{pythonFolder / 'get-pip.py'}\"",
- bufsize=1,
- creationflags=subprocess.CREATE_NO_WINDOW,
- shell=False,
- )
-
-
- subprocess.call(
- f"\"{pythonFolder / 'python'}\" \"{pythonFolder / 'get-pip.py'}\"",
- bufsize=1,
- creationflags=subprocess.CREATE_NO_WINDOW,
- shell=False,
- )
- else:
- raise ImportError(
- f"Unsupported platform! This add-in only supports windows and macos"
- )
+ if (not os.path.exists(f'{pythonFolder}/get-pip.py')) :
+ executeCommand(['curl', 'https://bootstrap.pypa.io/get-pip.py', '-o', f'"{pythonFolder}/get-pip.py"'])
+
+ executeCommand([f'"{pythonFolder}/python"', f'"{pythonFolder}/get-pip.py"'])
for depName in pipDeps:
progressBar.progressValue += 1
progressBar.message = f"Installing {depName}..."
adsk.doEvents()
- subprocess.call(
- f"\"{pythonFolder / 'python'}\" -m pip install {depName}",
- bufsize=1,
- creationflags=subprocess.CREATE_NO_WINDOW,
- shell=False
- )
+ # os.path.join needed for varying system path separators
+ installResult = executeCommand([os.path.join(pythonFolder, 'python'), '-m', 'pip', 'install', depName])
+ if installResult != 0:
+ logging.getLogger(f'{INTERNAL_ID}').warn(f'Dep installation "{depName}" exited with code "{installResult}"')
if system == "Darwin":
pipAntiDeps = ["dataclasses", "typing"]
+ progressBar.progressValue = 0
+ progressBar.maximumValue = len(pipAntiDeps)
for depName in pipAntiDeps:
progressBar.message = f"Uninstalling {depName}..."
+ progressBar.progressValue += 1
adsk.doEvents()
- subprocess.call(
- f"\"{pythonFolder / 'python'}\" -m pip uninstall {depName} -y",
- bufsize=1,
- creationflags=subprocess.CREATE_NO_WINDOW,
- shell=False,
- )
+ uninstallResult = executeCommand([os.path.join(pythonFolder, 'python'), '-m', 'pip', 'uninstall', f'{depName}', '-y'])
+ if uninstallResult != 0:
+ logging.getLogger(f'{INTERNAL_ID}').warn(f'AntiDep uninstallation "{depName}" exited with code "{uninstallResult}"')
progressBar.hide()
@@ -112,14 +141,7 @@ def _checkDeps() -> bool:
import google.protobuf
import pkg_resources
- #logging.getLogger("deps").error()
-
from .proto_out import joint_pb2, assembly_pb2, types_pb2, material_pb2
except ImportError or ModuleNotFoundError:
- # Version 1 with built in Pip - cannot check if it works on OSX right now.
- # Works with fusion debug builds
installCross(["protobuf==4.23.3"])
from .proto_out import joint_pb2, assembly_pb2, types_pb2, material_pb2
-
- # Version 2 with no shell and fetched pip
- # NOTE: This does NOT work on dev streamer since it looks for installed fusion
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ParseOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ParseOptions.py
index 5a9e821bd1..73394c9093 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ParseOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ParseOptions.py
@@ -25,7 +25,6 @@ class JointParentType: # validate for unique key and value
class WheelType:
STANDARD = 0
OMNI = 1
- MECANUM = 2
class SignalType:
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
index ad7a70ca5a..199a9b0770 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
@@ -210,6 +210,7 @@ def _addJointInstance(
for wheel in options.wheels:
if wheel.joint_token == joint.entityToken:
joint_definition.user_data.data["wheel"] = "true"
+ joint_definition.user_data.data["wheelType"] = str(wheel.wheelType)
# if it exists get it and overwrite the signal type
if joint_instance.signal_reference:
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index a51f9717d0..12af72d976 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -210,13 +210,16 @@ def getMaterialAppearance(
if matModelType == 0:
baseColor = properties.itemById("opaque_albedo").value
- baseColor.opacity = 255
+ if baseColor:
+ baseColor.opacity = 255
elif matModelType == 1:
baseColor = properties.itemById("metal_f0").value
- baseColor.opacity = 255
+ if baseColor:
+ baseColor.opacity = 255
elif matModelType == 2:
baseColor = properties.itemById("layered_diffuse").value
- baseColor.opacity = 255
+ if baseColor:
+ baseColor.opacity = 255
elif matModelType == 3:
baseColor = properties.itemById("transparent_color").value
transparent_distance = properties.itemById("transparent_distance").value
@@ -228,7 +231,9 @@ def getMaterialAppearance(
opac = 255
elif opac < 0:
opac = 0
- baseColor.opacity = int(round(opac))
+
+ if baseColor:
+ baseColor.opacity = int(round(opac))
if baseColor:
color.R = baseColor.red
diff --git a/exporter/SynthesisFusionAddin/src/Resources/AutoCalcWeight_icon/32x32-disabled.png b/exporter/SynthesisFusionAddin/src/Resources/AutoCalcWeight_icon/32x32-disabled.png
new file mode 100644
index 0000000000..bf50acc0d6
Binary files /dev/null and b/exporter/SynthesisFusionAddin/src/Resources/AutoCalcWeight_icon/32x32-disabled.png differ
diff --git a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
index e57a5dd2a4..37c387f5e6 100644
--- a/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
+++ b/exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
@@ -1251,7 +1251,7 @@ def notify(self, args):
else:
savepath = (
home
- + "/.config/Autodesk/Synthesis/Mira/Fields"
+ + "/.config/Autodesk/Synthesis/Mira/Fields/"
+ processedFileName
+ ".mira"
)
@@ -2604,7 +2604,6 @@ def addWheelToTable(wheel: adsk.fusion.Joint) -> None:
)
wheelType.listItems.add("Standard", True, "")
wheelType.listItems.add("Omni", False, "")
- wheelType.listItems.add("Mecanum", False, "")
wheelType.tooltip = "Wheel type"
wheelType.tooltipDescription = "
Omni-directional wheels can be used just like regular drive wheels but they have the advantage of being able to roll freely perpendicular to the drive direction."
wheelType.toolClipFilename = OsHelper.getOSPath(
diff --git a/installer/OSX-DMG/.gitignore b/installer/OSX-DMG/.gitignore
new file mode 100644
index 0000000000..5ddb15821b
--- /dev/null
+++ b/installer/OSX-DMG/.gitignore
@@ -0,0 +1,9 @@
+source_folder/Synthesis.app/
+exporter_source_folder/
+Synthesis-Installer.dmg
+create-dmg/
+addins-folder-link
+
+exporter-install-instructions.pdf
+
+*.dmg
diff --git a/installer/OSX-DMG/README.md b/installer/OSX-DMG/README.md
new file mode 100644
index 0000000000..18cd11dd1c
--- /dev/null
+++ b/installer/OSX-DMG/README.md
@@ -0,0 +1,25 @@
+# Synthesis OSX Installer (DMG Version)
+
+## Setup
+1. Install `create-dmg`:
+```
+$ git clone git@github.com:create-dmg/create-dmg.git
+```
+
+2. Copy the signed Synthesis app into source_folder:
+```
+$ cp -r [Location of app] ./source_folder/Synthesis.app
+```
+
+2. Compile the `exporter-install-instructions.md` into a PDF. I recommend using the Yzane extension in VSCode.
+
+## Create Disk Image
+Run the `make-installer.sh` shell script:
+```
+$ ./make-installer.sh
+```
+
+Disk Image will be created at `/installer/OSX-DMG/Synthesis-Installer.dmg`
+
+## Notes
+Update `source_folder/license.html` as needed as well as settings for the `create-dmg` command inside of `make-installer.sh`. See [create-dmg repository](https://github.com/create-dmg/create-dmg) for configuration information.
\ No newline at end of file
diff --git a/installer/OSX-DMG/SynthesisMacInstallerBackground.png b/installer/OSX-DMG/SynthesisMacInstallerBackground.png
new file mode 100644
index 0000000000..0d4d27e9a1
Binary files /dev/null and b/installer/OSX-DMG/SynthesisMacInstallerBackground.png differ
diff --git a/installer/OSX-DMG/exporter-install-instructions.md b/installer/OSX-DMG/exporter-install-instructions.md
new file mode 100644
index 0000000000..2b99e16696
--- /dev/null
+++ b/installer/OSX-DMG/exporter-install-instructions.md
@@ -0,0 +1,12 @@
+# MacOS Exporter Installation Instructions
+## Requirements
+- Fusion 360 installed on your system.
+
+## Copy the Files
+Move the `Exporter` folder, located in the installer pointing to this file, into the following directory:
+```
+~/Library/Application Support/Autodesk/Autodesk Fusion 360/API/AddIns/
+```
+
+## Usage
+Upon opening Fusion 360, the exporter should automatically run and be made available in the `UTILITIES` tab. If not, please open the add-ins panel and manually run it.
\ No newline at end of file
diff --git a/installer/OSX-DMG/license.txt b/installer/OSX-DMG/license.txt
new file mode 100755
index 0000000000..4704a010d5
--- /dev/null
+++ b/installer/OSX-DMG/license.txt
@@ -0,0 +1,188 @@
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+"License" shall mean the terms and conditions for use, reproduction,
+and distribution as defined by Sections 1 through 9 of this document.
+
+"Licensor" shall mean the copyright owner or entity authorized by
+the copyright owner that is granting the License.
+
+"Legal Entity" shall mean the union of the acting entity and all
+other entities that control, are controlled by, or are under common
+control with that entity. For the purposes of this definition,
+"control" means (i) the power, direct or indirect, to cause the
+direction or management of such entity, whether by contract or
+otherwise, or (ii) ownership of fifty percent (50%) or more of the
+outstanding shares, or (iii) beneficial ownership of such entity.
+
+"You" (or "Your") shall mean an individual or Legal Entity
+exercising permissions granted by this License.
+
+"Source" form shall mean the preferred form for making modifications,
+including but not limited to software source code, documentation
+source, and configuration files.
+
+"Object" form shall mean any form resulting from mechanical
+transformation or translation of a Source form, including but
+not limited to compiled object code, generated documentation,
+and conversions to other media types.
+
+"Work" shall mean the work of authorship, whether in Source or
+Object form, made available under the License, as indicated by a
+copyright notice that is included in or attached to the work
+(an example is provided in the Appendix below).
+
+"Derivative Works" shall mean any work, whether in Source or Object
+form, that is based on (or derived from) the Work and for which the
+editorial revisions, annotations, elaborations, or other modifications
+represent, as a whole, an original work of authorship. For the purposes
+of this License, Derivative Works shall not include works that remain
+separable from, or merely link (or bind by name) to the interfaces of,
+the Work and Derivative Works thereof.
+
+"Contribution" shall mean any work of authorship, including
+the original version of the Work and any modifications or additions
+to that Work or Derivative Works thereof, that is intentionally
+submitted to Licensor for inclusion in the Work by the copyright owner
+or by an individual or Legal Entity authorized to submit on behalf of
+the copyright owner. For the purposes of this definition, "submitted"
+means any form of electronic, verbal, or written communication sent
+to the Licensor or its representatives, including but not limited to
+communication on electronic mailing lists, source code control systems,
+and issue tracking systems that are managed by, or on behalf of, the
+Licensor for the purpose of discussing and improving the Work, but
+excluding communication that is conspicuously marked or otherwise
+designated in writing by the copyright owner as "Not a Contribution."
+
+"Contributor" shall mean Licensor and any individual or Legal Entity
+on behalf of whom a Contribution has been received by Licensor and
+subsequently incorporated within the Work.
+
+2. Grant of Copyright License. Subject to the terms and conditions of
+this License, each Contributor hereby grants to You a perpetual,
+worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+copyright license to reproduce, prepare Derivative Works of,
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+Work and such Derivative Works in Source or Object form.
+
+3. Grant of Patent License. Subject to the terms and conditions of
+this License, each Contributor hereby grants to You a perpetual,
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+granted to You under this License for that Work shall terminate
+as of the date such litigation is filed.
+
+4. Redistribution. You may reproduce and distribute copies of the
+Work or Derivative Works thereof in any medium, with or without
+modifications, and in Source or Object form, provided that You
+meet the following conditions:
+
+(a) You must give any other recipients of the Work or
+Derivative Works a copy of this License; and
+
+(b) You must cause any modified files to carry prominent notices
+stating that You changed the files; and
+
+(c) You must retain, in the Source form of any Derivative Works
+that You distribute, all copyright, patent, trademark, and
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+
+(d) If the Work includes a "NOTICE" text file as part of its
+distribution, then any Derivative Works that You distribute must
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+APPENDIX: How to apply the Apache License to your work.
+
+Copyright 2021 Autodesk inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
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diff --git a/installer/OSX-DMG/make-installer.sh b/installer/OSX-DMG/make-installer.sh
new file mode 100755
index 0000000000..e153bd8614
--- /dev/null
+++ b/installer/OSX-DMG/make-installer.sh
@@ -0,0 +1,22 @@
+#!/bin/sh
+test -f Synthesis-Installer.dmg && rm Synthesis-Installer.dmg
+./create-dmg/create-dmg \
+ --volname "Synthesis Installer" \
+ --background "SynthesisMacInstallerBackground.png" \
+ --window-pos 200 120 \
+ --window-size 375 320 \
+ --text-size 12 \
+ --icon-size 60 \
+ --icon "Synthesis.app" 85 80 \
+ --add-file Instructions.pdf exporter-install-instructions.pdf 288 190 \
+ --add-file Exporter ../../exporter/SynthesisFusionAddin 85 190 \
+ --hide-extension "Synthesis.app" \
+ --app-drop-link 288 80 \
+ --eula "license.txt" \
+ --text-size 10 \
+ "Synthesis-Installer.dmg" \
+ "source_folder/"
+
+# --volicon "synthesis-icon.icns" \
+# --background "installer_background.png" \
+# --background "Synthesis-Background.png" \
diff --git a/tutorials/ConfigMode.md b/tutorials/ConfigMode.md
index c6bf576432..1bd43d53a4 100644
--- a/tutorials/ConfigMode.md
+++ b/tutorials/ConfigMode.md
@@ -13,11 +13,7 @@ feedback link: https://github.com/Autodesk/synthesis/issues
Configure Mode allows you to change and fine tune aspects of your robot to better test and simulate its behavior on the field. Configure Mode is available in both Practice and Match Modes and is accessible via the side panel.
-<<<<<<< Updated upstream
-[
](img/synthesis/config-mode.png)
-=======
->>>>>>> Stashed changes
In each configuration panel, you will be able to cancel and save your modifications. You will also be given the option to `Session Save`, saving your changes until you quit the session. If you want the changes you make to that robot to be saved permanently, hit the `Save` button on the far right.
@@ -56,6 +52,8 @@ The drivetrains available on Synthesis are as the following:
* **Tank**: A direct-drive control where each joystick is used for one side of the drivetrain
* **Arcade**: A control scheme in which one single joystick controls both the robot’s forward and backward movement, as well as its turning.
* **Swerve**: A specialized drivetrain that allows each wheel to move and rotate independently.
+* **Mecanum**: An omnidirectional drivetrain. When using mecanum drive, wheels will switch to a mecanum wheel model. When switching back, the wheels will revert back to standard or omni wheels (whichever you've selected during exportation).
+* **Omni**: A general purpose, omnidirectional drivetrain. This includes Kiwi and H drives. All wheels will switch to an omni wheel model while using this drivetrain model.
### Compatibility
diff --git a/tutorials/FusionExporter.md b/tutorials/FusionExporter.md
index 4e67c937e6..93c75a6c90 100644
--- a/tutorials/FusionExporter.md
+++ b/tutorials/FusionExporter.md
@@ -39,6 +39,8 @@ This is where you will do most of your configuring. Here is a basic overview of
- Note: The weight can either be measured in `lbs` or `kgs`.
- Wheel Configuration:
- This is where you will select all of your drivetrain wheels on your robot.
+ - Use the wheel type to decide between standard or omni wheels (mecanum drive can be used with either in the engine)
+ - Change the signal type of the joint (PWN, CAN for simulation. Passive to not be controlled)
- Joint Configuration:
- This is where you will select all other moving joints on your robot that are not a part of your drivetrain. All joints are automatically added to this list. If you want to remove it either suppress it, or manually remove it from the list.