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432 lines
12 KiB
432 lines
12 KiB
4 years ago
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/*
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* 程序功能：
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* 设置手臂的行为 action
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* 设置手臂的帧序列 frameIndex
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*/
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using System;
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using UnityEngine;
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/// <summary>
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/// 手臂动作帧
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/// </summary>
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public class ArmActionFrame : MonoBehaviour
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{
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//动作类型
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public ActionType action = ActionType.RotateToTarget;
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//序列
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public int FrameIndex;
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//动作完成
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public Action OnFinished;
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//模型轴向错误
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public bool IsOpposite = false;
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//手臂长度偏移量
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public int ArmLenthOffset = 16;
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//x轴旋转的最大角度
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public float MaxRotateX = 0;
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public float MinRotateX = -84f;
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//臂长
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public float Maxlength = 15.8f;
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public float Minlength = 0.01634139f;
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//动作是否完成
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private bool IsFinished = true;
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//动作速度
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public float Speed = 20;
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//目标点
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private Vector3 targetPosition;
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//旋转的向量
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private Vector3 newDir;
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//旋转量
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private Quaternion quaternion;
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//根据距离旋转高度
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public int Distance = 20;
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#region 移动的变量
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//当前高度
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private ArmAction manager;
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private void Awake()
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{
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manager = GetComponentInParent<ArmAction>();
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}
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public float CurrentHeight
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{
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set
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{
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if (value >= Maxlength)
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{
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value = Maxlength;
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Finished();
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}
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if (value <= Minlength)
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{
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value = Minlength;
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Finished();
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}
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transform.localPosition = new Vector3(transform.localPosition.x, transform.localPosition.y, value);
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#if UNITY_EDITOR
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Debug.DrawLine(manager.EndTrans.position, targetPosition, Color.yellow);
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#endif
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}
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get { return transform.localPosition.z; }
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}
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#endregion
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/// <summary>
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/// 根据坐标行动作
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/// </summary>
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/// <param name="position">坐标</param>
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public void Init(Vector3 position, bool isRest)
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{
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//停止当前动作
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Stop();
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//设置目标点，初始化信息
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targetPosition = position;
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isRestPosition = isRest;
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switch (action)
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{
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case ActionType.RotateToTarget:
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InitAllDir();
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break;
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case ActionType.RotateToTargetVertacal:
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InitVetacalDir();
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break;
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case ActionType.RotateToTargetHorizatal:
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InitHorizatalDir();
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break;
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case ActionType.TranlateToForward:
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InitTarnslateToForward();
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break;
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case ActionType.RotateVertacalWithDistance:
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InitVetacalDistance();
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break;
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}
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//动作开始
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IsFinished = false;
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}
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private Vector3 resetPosition;
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private Quaternion resetRotation;
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private bool isRestPosition = false;
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private void Start()
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{
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//记录初始臂长
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//resetPosition = transform.position;
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//记录初始水平角度
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resetRotation = transform.localRotation;
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}
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public void Play(Vector3 position)
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{
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Init(position, false);
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}
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public void Play()
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{
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Init(manager.targetPosition, false);
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}
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/// <summary>
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/// 复位
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/// </summary>
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public void ResetArm()
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{
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Init(Vector3.zero, true);
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}
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/// <summary>
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/// 停止动作
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/// </summary>
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public void Stop()
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{
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IsFinished = true;
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}
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/// <summary>
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/// 动作完成，执行下一个动作
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/// </summary>
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public void Finished()
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{
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Stop();
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if (OnFinished != null)
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{
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OnFinished();
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}
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}
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/// <summary>
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/// 帧更新
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/// </summary>
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void Update()
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{
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if (!IsFinished)
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{
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Move();
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}
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}
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/// <summary>
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///
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/// </summary>
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private void Move()
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{
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if (action == ActionType.TranlateToForward)
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{
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//臂长
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float d2E = Mathf.FloorToInt(Vector3.Distance(manager.EndTrans.position, manager.StartTrans.position)) + ArmLenthOffset;
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float d2T = Mathf.FloorToInt(Vector3.Distance(manager.StartTrans.position, targetPosition));//臂底端到目标的距离
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if (d2E < d2T)
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{
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CurrentHeight += Time.deltaTime * Speed;
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}
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else if (d2E > d2T)
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{
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CurrentHeight -= Time.deltaTime * Speed;
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}
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else
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{
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Finished();
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}
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}
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else if (action == ActionType.RotateVertacalWithDistance)
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{
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//复位
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if (isRestPosition)
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{
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transform.localRotation = Quaternion.RotateTowards(transform.localRotation, quaternion, Time.deltaTime * Speed * 2);
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if (transform.localRotation == quaternion)
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{
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Finished();
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}
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}
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else
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{
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//检查尾端与目标点距离
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float distance = Mathf.Round(Vector3.Distance(manager.EndTrans.position, targetPosition));
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float targetDistance = ArmLenthOffset + Distance;
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//Debug.Log(string.Format("距离：{0}-目标距离：{1}", distance, targetDistance));
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//距离小的时候抬高
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if (distance < targetDistance)
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{
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Raise(Time.deltaTime * Speed * 2);
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//Debug.Log("需要抬高");
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}
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else if (distance > targetDistance)
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{
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Decline(Time.deltaTime * Speed * 2);
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//Debug.Log("需要降低");
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}
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float x = CheckValue(transform.localEulerAngles.x);
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if (distance == targetDistance || x == MinRotateX || x == MaxRotateX)
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{
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Finished();
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}
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}
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}
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else
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{
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//复位
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if (isRestPosition)
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{
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transform.localRotation = Quaternion.RotateTowards(transform.localRotation, quaternion, Time.deltaTime * Speed * 2);
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if (transform.localRotation == quaternion)
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{
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Finished();
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}
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}
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else
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{
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transform.rotation = Quaternion.RotateTowards(transform.rotation, quaternion, Time.deltaTime * Speed * 2);
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float x = CheckValue(transform.localEulerAngles.x);
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if (x < MinRotateX && !IsOpposite)
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{
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transform.localEulerAngles = new Vector3(MinRotateX, transform.localEulerAngles.y, transform.localEulerAngles.z);
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Finished();
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return;
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}
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if (x > MaxRotateX & !IsOpposite)
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{
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transform.localEulerAngles = new Vector3(MaxRotateX, transform.localEulerAngles.y, transform.localEulerAngles.z);
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Finished();
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return;
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}
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if (transform.rotation == quaternion)
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{
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Finished();
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}
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}
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//Debug
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#if UNITY_EDITOR
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switch (action)
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{
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case ActionType.RotateToTarget:
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Debug.DrawRay(transform.position, newDir, Color.blue);
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break;
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case ActionType.RotateToTargetVertacal:
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Debug.DrawRay(transform.position, newDir, Color.green);
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break;
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case ActionType.RotateToTargetHorizatal:
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Debug.DrawRay(transform.position, newDir, Color.red);
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break;
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}
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#endif
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}
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}
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/// <summary>
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/// 向下降低Bi1
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/// </summary>
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/// <param name="speed"></param>
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public void Decline(float speed)
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{
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float x = transform.localEulerAngles.x;
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float y = transform.localEulerAngles.y;
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x = CheckValue(x);
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x += speed;
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x = Mathf.Clamp(x, MinRotateX, MaxRotateX);//模型穿插，调整模型预设后，这里参数也跟着修改。
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transform.localEulerAngles = new Vector3(x, y, 0);
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}
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/// <summary>
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/// 向上抬起Bi1
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/// </summary>
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/// <param name="speed"></param>
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public void Raise(float speed)
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{
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float x = transform.localEulerAngles.x;
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float y = transform.localEulerAngles.y;
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x = CheckValue(x);
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x -= speed;
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x = Mathf.Clamp(x, MinRotateX, MaxRotateX);//模型穿插，调整模型预设后，这里参数也跟着修改。
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transform.localEulerAngles = new Vector3(x, y, 0);
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}
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/// <summary>
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/// 初始化所有方位的旋转量
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/// </summary>
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private void InitAllDir()
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{
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if (isRestPosition)
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{
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quaternion = resetRotation;
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}
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else
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{
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var targetDir = targetPosition - transform.position;
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var forward = transform.forward;
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newDir = targetDir;
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quaternion = Quaternion.LookRotation(newDir);
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}
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}
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/// <summary>
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/// 初始化垂直方向旋转量
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/// </summary>
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private void InitVetacalDir()
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{
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if (isRestPosition)
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{
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quaternion = resetRotation;
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}
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else
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{
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Vector3 hightOffSetPosition = new Vector3(targetPosition.x, targetPosition.y, targetPosition.z);
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Vector3 targetDir = hightOffSetPosition - transform.position;
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newDir = targetDir - Vector3.Dot(targetDir, transform.right) * transform.right;
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if (IsOpposite)
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{
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float temp = Vector3.Angle(newDir, transform.forward);
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if (temp > 90f)
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{
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quaternion = Quaternion.LookRotation(-newDir, transform.up);
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}
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else
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{
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quaternion = Quaternion.LookRotation(-newDir, -transform.up);
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}
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}
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else
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{
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quaternion = Quaternion.LookRotation(newDir, transform.up);
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}
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}
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}
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public void InitVetacalDistance()
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{
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if (isRestPosition)
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{
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quaternion = resetRotation;
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}
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}
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/// <summary>
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/// 初始化水平方向旋转量
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/// </summary>
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private void InitHorizatalDir()
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{
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if (isRestPosition)
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{
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quaternion = resetRotation;
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}
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else
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{
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// 底臂part1到目标位置的向量
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Vector3 targetDir = targetPosition - transform.position;
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//【BiTar在底臂forward方向上的分向量】 = 【BiTar向量】 - 【BiTar在底臂up方向上的分向量】
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newDir = targetDir - Vector3.Dot(targetDir, transform.up) * transform.up;
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//由BiTar的【forward分向量】和【up分向量组成的】 旋转量Quaternion
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if (IsOpposite)
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{
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float temp = Vector3.Angle(newDir, transform.forward);
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if (temp > 90f)
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{
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quaternion = Quaternion.LookRotation(-newDir, transform.up);
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}
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else
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{
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quaternion = Quaternion.LookRotation(-newDir, -transform.up);
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}
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}
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else
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{
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quaternion = Quaternion.LookRotation(newDir, transform.up);
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}
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}
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}
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/// <summary>
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/// 初始化移动信息
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/// </summary>
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private void InitTarnslateToForward()
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{
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if (isRestPosition)
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{
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targetPosition = transform.position;
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}
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}
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/// <summary>
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/// 验证旋转角度
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/// </summary>
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/// <param name="x"></param>
|
||
|
|
/// <returns></returns>
|
||
|
|
protected float CheckValue(float x)
|
||
|
|
{
|
||
|
|
if (x >= 180 && x <= 360)
|
||
|
|
{
|
||
|
|
x = x - 360;
|
||
|
|
}
|
||
|
|
return x;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
/// <summary>
|
||
|
|
/// 动作类型
|
||
|
|
/// </summary>
|
||
|
|
public enum ActionType
|
||
|
|
{
|
||
|
|
/// <summary>
|
||
|
|
/// 朝向举臂
|
||
|
|
/// </summary>
|
||
|
|
RotateToTarget,
|
||
|
|
/// <summary>
|
||
|
|
/// 垂直举臂
|
||
|
|
/// </summary>
|
||
|
|
RotateToTargetVertacal,
|
||
|
|
/// <summary>
|
||
|
|
/// 水平举臂
|
||
|
|
/// </summary>
|
||
|
|
RotateToTargetHorizatal,
|
||
|
|
/// <summary>
|
||
|
|
/// 伸缩举臂
|
||
|
|
/// </summary>
|
||
|
|
TranlateToForward,
|
||
|
|
/// <summary>
|
||
|
|
/// 根据距离旋转高度
|
||
|
|
/// </summary>
|
||
|
|
RotateVertacalWithDistance
|
||
|
|
}
|