mirror of
https://github.com/BotChain-Robots/ui.git
synced 2026-07-08 15:07:22 +02:00
Leo Qu
585
Assets/IK/ModulePositionController.cs
Normal file
585
Assets/IK/ModulePositionController.cs
Normal file
@@ -0,0 +1,585 @@
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using UnityEngine;
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using UnityEngine.EventSystems;
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using UnityEngine.UI;
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using System.Collections.Generic;
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public class ModulePositionController : MonoBehaviour
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{
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[Header("References")]
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public Camera mainCamera;
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public InverseKinematicsController ikController;
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public LayerMask moduleLayer = -1; // All layers by default
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[Header("Position Control Settings")]
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public float positionStepSize = 0.1f; // How much to move per button click
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public float positionChangeThreshold = 0.01f; // Minimum position change to trigger IK solve
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[Header("Visual Feedback")]
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public Color selectedColor = new Color(0f, 0.8f, 1f, 1f); // Cyan color
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[Header("Selected Module Transparency (IK View)")]
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[Tooltip("If enabled, the currently selected module becomes transparent in IK view.")]
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public bool makeSelectedModuleTransparent = true;
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[Range(0.05f, 1f)]
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public float selectedModuleAlpha = 0.25f;
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[Header("UI References")]
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public Button xPlusButton;
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public Button xMinusButton;
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public Button yPlusButton;
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public Button yMinusButton;
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public Button zPlusButton;
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public Button zMinusButton;
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[Header("Gizmo")]
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public PositionControlGizmo gizmo;
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[HideInInspector] public ModuleBase selectedModule;
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private Vector3 targetPosition;
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private Vector3 lastSuccessfulPosition;
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private bool[] axisLimitReached = new bool[3];
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private int[] axisLimitDirection = new int[3];
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private bool gizmoWasClicked = false;
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// Critical: modules are parented; apply transparency only to renderers owned by the selected module.
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private readonly Dictionary<Renderer, Material[]> _originalSharedMaterialsByRenderer = new();
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private readonly List<Renderer> _transparentRenderers = new();
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void Start()
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{
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if (mainCamera == null)
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{
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mainCamera = Camera.main;
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if (mainCamera == null)
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{
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mainCamera = FindObjectOfType<Camera>();
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}
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}
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if (ikController == null)
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{
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ikController = GetComponentInParent<InverseKinematicsController>();
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if (ikController == null)
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{
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ikController = FindObjectOfType<InverseKinematicsController>();
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}
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}
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if (gizmo == null)
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{
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gizmo = GetComponentInChildren<PositionControlGizmo>();
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if (gizmo == null)
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{
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gizmo = FindObjectOfType<PositionControlGizmo>();
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}
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if (gizmo != null && gizmo.positionController == null)
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{
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gizmo.positionController = this;
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}
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}
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SetupUIButtons();
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}
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void SetupUIButtons()
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{
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if (xPlusButton != null) xPlusButton.onClick.RemoveAllListeners();
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if (xMinusButton != null) xMinusButton.onClick.RemoveAllListeners();
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if (yPlusButton != null) yPlusButton.onClick.RemoveAllListeners();
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if (yMinusButton != null) yMinusButton.onClick.RemoveAllListeners();
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if (zPlusButton != null) zPlusButton.onClick.RemoveAllListeners();
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if (zMinusButton != null) zMinusButton.onClick.RemoveAllListeners();
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if (xPlusButton != null)
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{
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xPlusButton.onClick.AddListener(() => AdjustPositionAxis(0, 1));
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}
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if (xMinusButton != null)
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{
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xMinusButton.onClick.AddListener(() => AdjustPositionAxis(0, -1));
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}
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if (yPlusButton != null)
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{
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yPlusButton.onClick.AddListener(() => AdjustPositionAxis(1, 1));
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}
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if (yMinusButton != null)
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{
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yMinusButton.onClick.AddListener(() => AdjustPositionAxis(1, -1));
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}
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if (zPlusButton != null)
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{
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zPlusButton.onClick.AddListener(() => AdjustPositionAxis(2, 1));
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}
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if (zMinusButton != null)
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{
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zMinusButton.onClick.AddListener(() => AdjustPositionAxis(2, -1));
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}
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}
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public void AdjustPositionAxis(int axis, int sign)
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{
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if (selectedModule == null)
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{
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return;
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}
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if (ikController == null)
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{
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return;
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}
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Vector3 currentActualPosition = selectedModule.transform.position;
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// Critical: preserve user intent on the other axes when adjusting only one axis.
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float targetOtherAxisX = targetPosition.x;
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float targetOtherAxisY = targetPosition.y;
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float targetOtherAxisZ = targetPosition.z;
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Vector3 positionBeforeIK = currentActualPosition;
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Vector3 newTargetPosition = targetPosition;
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switch (axis)
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{
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case 0: // X axis
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newTargetPosition.x += sign * positionStepSize;
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break;
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case 1: // Y axis
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newTargetPosition.y += sign * positionStepSize;
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break;
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case 2: // Z axis
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newTargetPosition.z += sign * positionStepSize;
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break;
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}
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float currentAxisValue = 0f;
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float newAxisValue = 0f;
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switch (axis)
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{
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case 0:
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currentAxisValue = positionBeforeIK.x;
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newAxisValue = newTargetPosition.x;
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break;
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case 1:
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currentAxisValue = positionBeforeIK.y;
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newAxisValue = newTargetPosition.y;
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break;
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case 2:
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currentAxisValue = positionBeforeIK.z;
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newAxisValue = newTargetPosition.z;
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break;
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}
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targetPosition = newTargetPosition;
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if (ikController != null)
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{
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ikController.ResetSmoothing();
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}
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bool success = false;
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if (ikController != null)
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{
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success = ikController.SolveIK(targetPosition);
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}
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Vector3 positionAfterIK = selectedModule.transform.position;
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float axisMovement = 0f;
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float axisValueBefore = 0f;
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float axisValueAfter = 0f;
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switch (axis)
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{
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case 0: // X axis
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axisValueBefore = positionBeforeIK.x;
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axisValueAfter = positionAfterIK.x;
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axisMovement = Mathf.Abs(axisValueAfter - axisValueBefore);
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break;
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case 1: // Y axis
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axisValueBefore = positionBeforeIK.y;
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axisValueAfter = positionAfterIK.y;
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axisMovement = Mathf.Abs(axisValueAfter - axisValueBefore);
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break;
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case 2: // Z axis
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axisValueBefore = positionBeforeIK.z;
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axisValueAfter = positionAfterIK.z;
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axisMovement = Mathf.Abs(axisValueAfter - axisValueBefore);
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break;
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}
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bool movementInCorrectDirection = false;
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switch (axis)
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{
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case 0: // X axis
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movementInCorrectDirection = (sign > 0 && axisValueAfter > axisValueBefore) || (sign < 0 && axisValueAfter < axisValueBefore);
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break;
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case 1: // Y axis
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movementInCorrectDirection = (sign > 0 && axisValueAfter > axisValueBefore) || (sign < 0 && axisValueAfter < axisValueBefore);
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break;
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case 2: // Z axis
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movementInCorrectDirection = (sign > 0 && axisValueAfter > axisValueBefore) || (sign < 0 && axisValueAfter < axisValueBefore);
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break;
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}
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// Critical: prevent target drift when constraints move opposite the user's intent.
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bool shouldUpdateTarget = (success || axisMovement >= positionChangeThreshold) && movementInCorrectDirection;
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Vector3 updatedTargetPosition = targetPosition;
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if (shouldUpdateTarget)
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{
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updatedTargetPosition = targetPosition;
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switch (axis)
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{
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case 0:
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updatedTargetPosition.x = positionAfterIK.x;
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updatedTargetPosition.y = targetOtherAxisY;
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updatedTargetPosition.z = targetOtherAxisZ;
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break;
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case 1:
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updatedTargetPosition.x = targetOtherAxisX;
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updatedTargetPosition.y = positionAfterIK.y;
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updatedTargetPosition.z = targetOtherAxisZ;
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break;
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case 2:
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updatedTargetPosition.x = targetOtherAxisX;
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updatedTargetPosition.y = targetOtherAxisY;
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updatedTargetPosition.z = positionAfterIK.z;
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break;
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}
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targetPosition = updatedTargetPosition;
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}
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else
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{
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switch (axis)
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{
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case 0:
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targetPosition.x = targetOtherAxisX;
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break;
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case 1:
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targetPosition.y = targetOtherAxisY;
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break;
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case 2:
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targetPosition.z = targetOtherAxisZ;
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break;
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}
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updatedTargetPosition = targetPosition;
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if (axisMovement >= positionChangeThreshold && !movementInCorrectDirection)
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{
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if (ikController != null)
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{
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ikController.ResetSmoothing();
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}
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}
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}
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lastSuccessfulPosition = positionAfterIK;
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axisLimitReached[axis] = false;
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axisLimitDirection[axis] = 0;
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}
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void LateUpdate()
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{
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HandleSelection();
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}
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void HandleSelection()
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{
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if (EventSystem.current != null && EventSystem.current.IsPointerOverGameObject())
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return;
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if (Input.GetMouseButtonDown(0))
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{
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gizmoWasClicked = false;
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if (gizmo != null && gizmo.enabled && gizmo.WasGizmoClicked())
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{
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gizmoWasClicked = true;
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return; // Don't process selection/deselection when gizmo arrow is clicked
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}
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if (gizmoWasClicked)
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{
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return;
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}
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if (mainCamera == null)
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{
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mainCamera = Camera.main;
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if (mainCamera == null)
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{
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mainCamera = FindObjectOfType<Camera>();
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}
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if (mainCamera == null)
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{
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return;
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}
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}
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Ray ray = mainCamera.ScreenPointToRay(Input.mousePosition);
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RaycastHit hit;
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if (Physics.Raycast(ray, out hit, Mathf.Infinity, moduleLayer))
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{
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ModuleBase hitModule = hit.collider.GetComponentInParent<ModuleBase>();
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if (hitModule != null && IsPartOfGeneratedTopology(hitModule.transform))
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{
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SelectModule(hitModule);
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}
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else
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{
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DeselectModule();
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}
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}
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else
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{
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if (!gizmoWasClicked)
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{
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DeselectModule();
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}
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}
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}
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}
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public void OnGizmoClicked()
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{
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gizmoWasClicked = true;
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}
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void SelectModule(ModuleBase module)
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{
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if (selectedModule != null && selectedModule != module)
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{
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DeselectModule();
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}
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ServoMotorModule.selectedModule = null;
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ObjectSelector.selectedObject = null;
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selectedModule = module;
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targetPosition = selectedModule.transform.position;
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lastSuccessfulPosition = selectedModule.transform.position;
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axisLimitReached[0] = false;
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axisLimitReached[1] = false;
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axisLimitReached[2] = false;
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axisLimitDirection[0] = 0;
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axisLimitDirection[1] = 0;
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axisLimitDirection[2] = 0;
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ServoMotorModule servoModule = module.GetComponent<ServoMotorModule>();
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if (servoModule != null)
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{
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ServoMotorModule.selectedModule = servoModule;
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}
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else
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{
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ObjectSelector.selectedObject = module.gameObject;
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}
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if (gizmo != null)
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{
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gizmo.enabled = true;
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gizmo.RefreshGizmoVisibility();
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}
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if (ikController != null)
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{
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bool chainBuilt = ikController.BuildKinematicChain(selectedModule.transform);
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if (chainBuilt)
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{
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if (ikController.IsAnchorPoint(selectedModule.transform))
|
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{
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DeselectModule();
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||||
return;
|
||||
}
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}
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ikController.ResetSmoothing();
|
||||
}
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if (makeSelectedModuleTransparent)
|
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{
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ApplyTransparencyToSelectedModule();
|
||||
}
|
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}
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|
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public void DeselectModule()
|
||||
{
|
||||
RestoreTransparency();
|
||||
|
||||
if (selectedModule != null)
|
||||
{
|
||||
ServoMotorModule.selectedModule = null;
|
||||
ObjectSelector.selectedObject = null;
|
||||
}
|
||||
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selectedModule = null;
|
||||
|
||||
if (gizmo != null)
|
||||
{
|
||||
gizmo.enabled = false;
|
||||
gizmo.RefreshGizmoVisibility();
|
||||
}
|
||||
}
|
||||
|
||||
private void ApplyTransparencyToSelectedModule()
|
||||
{
|
||||
RestoreTransparency();
|
||||
|
||||
if (selectedModule == null) return;
|
||||
|
||||
// Critical: don't descend into other ModuleBase subtrees (child modules).
|
||||
foreach (var r in GetRenderersOwnedByModule(selectedModule))
|
||||
{
|
||||
if (!_originalSharedMaterialsByRenderer.ContainsKey(r))
|
||||
{
|
||||
_originalSharedMaterialsByRenderer[r] = r.sharedMaterials;
|
||||
}
|
||||
|
||||
Material[] mats = r.materials;
|
||||
for (int i = 0; i < mats.Length; i++)
|
||||
{
|
||||
var m = mats[i];
|
||||
if (m == null) continue;
|
||||
ConfigureMaterialForTransparency(m, selectedModuleAlpha);
|
||||
}
|
||||
|
||||
_transparentRenderers.Add(r);
|
||||
}
|
||||
}
|
||||
|
||||
private static IEnumerable<Renderer> GetRenderersOwnedByModule(ModuleBase rootModule)
|
||||
{
|
||||
if (rootModule == null) yield break;
|
||||
|
||||
Transform root = rootModule.transform;
|
||||
var stack = new Stack<Transform>();
|
||||
stack.Push(root);
|
||||
|
||||
while (stack.Count > 0)
|
||||
{
|
||||
Transform t = stack.Pop();
|
||||
if (t == null) continue;
|
||||
|
||||
if (t != root)
|
||||
{
|
||||
ModuleBase other = t.GetComponent<ModuleBase>();
|
||||
if (other != null && other != rootModule)
|
||||
continue;
|
||||
}
|
||||
|
||||
foreach (var r in t.GetComponents<Renderer>())
|
||||
{
|
||||
if (r != null)
|
||||
yield return r;
|
||||
}
|
||||
|
||||
for (int i = 0; i < t.childCount; i++)
|
||||
{
|
||||
stack.Push(t.GetChild(i));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private static void ConfigureMaterialForTransparency(Material m, float alpha)
|
||||
{
|
||||
alpha = Mathf.Clamp01(alpha);
|
||||
|
||||
if (m.HasProperty("_Surface"))
|
||||
{
|
||||
m.SetFloat("_Surface", 1f);
|
||||
|
||||
if (m.HasProperty("_Blend")) m.SetFloat("_Blend", 0f);
|
||||
if (m.HasProperty("_AlphaClip")) m.SetFloat("_AlphaClip", 0f);
|
||||
|
||||
m.EnableKeyword("_SURFACE_TYPE_TRANSPARENT");
|
||||
m.DisableKeyword("_SURFACE_TYPE_OPAQUE");
|
||||
|
||||
m.SetOverrideTag("RenderType", "Transparent");
|
||||
if (m.HasProperty("_SrcBlend")) m.SetFloat("_SrcBlend", (float)UnityEngine.Rendering.BlendMode.SrcAlpha);
|
||||
if (m.HasProperty("_DstBlend")) m.SetFloat("_DstBlend", (float)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
|
||||
if (m.HasProperty("_ZWrite")) m.SetFloat("_ZWrite", 0f);
|
||||
m.renderQueue = (int)UnityEngine.Rendering.RenderQueue.Transparent;
|
||||
}
|
||||
else if (m.HasProperty("_Mode"))
|
||||
{
|
||||
m.SetFloat("_Mode", 3f);
|
||||
m.SetOverrideTag("RenderType", "Transparent");
|
||||
if (m.HasProperty("_SrcBlend")) m.SetFloat("_SrcBlend", (float)UnityEngine.Rendering.BlendMode.SrcAlpha);
|
||||
if (m.HasProperty("_DstBlend")) m.SetFloat("_DstBlend", (float)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
|
||||
if (m.HasProperty("_ZWrite")) m.SetFloat("_ZWrite", 0f);
|
||||
m.DisableKeyword("_ALPHATEST_ON");
|
||||
m.EnableKeyword("_ALPHABLEND_ON");
|
||||
m.DisableKeyword("_ALPHAPREMULTIPLY_ON");
|
||||
m.renderQueue = (int)UnityEngine.Rendering.RenderQueue.Transparent;
|
||||
}
|
||||
else
|
||||
{
|
||||
m.SetOverrideTag("RenderType", "Transparent");
|
||||
if (m.HasProperty("_SrcBlend")) m.SetFloat("_SrcBlend", (float)UnityEngine.Rendering.BlendMode.SrcAlpha);
|
||||
if (m.HasProperty("_DstBlend")) m.SetFloat("_DstBlend", (float)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
|
||||
if (m.HasProperty("_ZWrite")) m.SetFloat("_ZWrite", 0f);
|
||||
m.renderQueue = (int)UnityEngine.Rendering.RenderQueue.Transparent;
|
||||
}
|
||||
|
||||
if (m.HasProperty("_BaseColor"))
|
||||
{
|
||||
Color c = m.GetColor("_BaseColor");
|
||||
c.a = alpha;
|
||||
m.SetColor("_BaseColor", c);
|
||||
}
|
||||
if (m.HasProperty("_Color"))
|
||||
{
|
||||
Color c = m.GetColor("_Color");
|
||||
c.a = alpha;
|
||||
m.SetColor("_Color", c);
|
||||
}
|
||||
}
|
||||
|
||||
private void RestoreTransparency()
|
||||
{
|
||||
if (_transparentRenderers.Count == 0 && _originalSharedMaterialsByRenderer.Count == 0) return;
|
||||
|
||||
foreach (var r in _transparentRenderers)
|
||||
{
|
||||
if (r == null) continue;
|
||||
if (_originalSharedMaterialsByRenderer.TryGetValue(r, out var shared))
|
||||
{
|
||||
r.sharedMaterials = shared;
|
||||
}
|
||||
}
|
||||
|
||||
_transparentRenderers.Clear();
|
||||
_originalSharedMaterialsByRenderer.Clear();
|
||||
}
|
||||
|
||||
bool IsPartOfGeneratedTopology(Transform moduleTransform)
|
||||
{
|
||||
Transform current = moduleTransform;
|
||||
while (current != null)
|
||||
{
|
||||
if (current.name == "GeneratedTopology")
|
||||
{
|
||||
return true;
|
||||
}
|
||||
current = current.parent;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void OnDisable()
|
||||
{
|
||||
DeselectModule();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user