GamePackages/ScienceLab.WeightAndMass
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

first commit

Browse Source
This commit is contained in:
Game Master
2026-04-07 03:14:32 +03:00
commit b3992fec6b
1026 changed files with 366769 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

117
Assets/Materials/com.gleechi.unity.virtualgrasp/Samples/Onboarding/Scripts/ManageContainerObject.cs Normal file
View File

@@ -0,0 +1,117 @@
// Copyright (C) 2014-2024 Gleechi Technology AB. All rights reserved.
using System.Collections.Generic;
using UnityEngine;
namespace VirtualGrasp.Onboarding
{
/**
* ManageContainerObject shows as a tutorial on how to use the VG_Controller.OnObjectFullyReleased
* and VG_Controller.OnObjectGrasped combined with Unity's physical joints to manage a
* container object to hold the contained physical objects stably without falling off.
*/
[LIBVIRTUALGRASP_UNITY_SCRIPT]
[HelpURL("https://docs.virtualgrasp.com/unity_vgonboarding_task3." + VG_Version.__VG_VERSION__ + ".html")]
public class ManageContainerObject : MonoBehaviour
{
/// A set off objects that are actively colliding with this one.
private HashSet<Transform> m_collisions = new HashSet<Transform>();
/// A map of objects with ArticulationBody to their original parents.
private Dictionary<Transform, Transform> m_parentCache = new Dictionary<Transform, Transform>();
/// A map of objects with Rigidbody to the fixed joints connecting to this container object
private Dictionary<Transform, FixedJoint> m_attachJoints = new Dictionary<Transform, FixedJoint>();
/// If dot product between velocity and down is large enough (ie. vectors are aligned).
public float m_dropAlignment = 0.8f;
private void Start()
{
// Register the some grasp event listeners
VG_Controller.OnObjectFullyReleased.AddListener(OnObjectFullyReleased);
VG_Controller.OnObjectGrasped.AddListener(OnObjectGrasped);
}
private void OnCollisionEnter(Collision collision)
{
// See if the object in collision is actually held by a hand (and is not a hand itself).
bool valid_object = true;
foreach (VG_HandStatus hand in VG_Controller.GetHands())
{
if (hand.m_hand == collision.transform)
valid_object &= false;
if (hand.m_selectedObject == collision.transform && hand.IsHolding())
valid_object &= false;
}
if (valid_object && // If it's valid ...
(collision.rigidbody != null || collision.gameObject.TryGetComponent(out ArticulationBody ab)) && // and has a rigid body or articulation body ...
Vector3.Dot(collision.relativeVelocity.normalized, Vector3.down) > m_dropAlignment) // .. and if the object is dropped from somewhat above.
{
Attach(collision.transform);
m_collisions.Add(collision.transform);
}
}
private void OnCollisionExit(Collision collision)
{
m_collisions.Remove(collision.transform);
}
private void OnObjectFullyReleased(VG_HandStatus hand)
{
if (m_collisions.Contains(hand.m_selectedObject))
Attach(hand.m_selectedObject);
}
private void OnObjectGrasped(VG_HandStatus hand)
{
Unattach(hand.m_selectedObject);
}
void Attach(Transform attachedObject)
{
if (attachedObject.gameObject.TryGetComponent<Rigidbody>(out Rigidbody rb))
{
if (!attachedObject.gameObject.TryGetComponent<FixedJoint>(out FixedJoint joint))
{
joint = attachedObject.gameObject.AddComponent<FixedJoint>();
m_attachJoints[attachedObject] = joint;
if (transform.gameObject.TryGetComponent<Rigidbody>(out Rigidbody container_rb))
joint.connectedBody = container_rb;
else if (transform.gameObject.TryGetComponent<ArticulationBody>(out ArticulationBody container_ab))
joint.connectedArticulationBody = container_ab;
}
}
else if (attachedObject.gameObject.TryGetComponent<ArticulationBody>(out ArticulationBody ab))
{
if (transform.gameObject.TryGetComponent<ArticulationBody>(out ArticulationBody container_ab))
{
m_parentCache[attachedObject] = attachedObject.parent;
attachedObject.SetParent(transform);
ab.jointType = ArticulationJointType.FixedJoint;
}
else
Debug.LogError("Can not attach object " + attachedObject.name + " with ArticulationBody to " + transform.name + " without ArticulationBody.");
}
}
void Unattach(Transform attachedObject)
{
if (attachedObject.gameObject.TryGetComponent<Rigidbody>(out Rigidbody rb))
{
if (!m_attachJoints.ContainsKey(attachedObject))
return;
DestroyImmediate(m_attachJoints[attachedObject]);
m_attachJoints.Remove(attachedObject);
}
else if (attachedObject.gameObject.TryGetComponent<ArticulationBody>(out ArticulationBody ab))
{
if (!transform.gameObject.TryGetComponent<ArticulationBody>(out ArticulationBody container_ab))
return;
if (attachedObject.parent != transform)
return;
attachedObject.SetParent(m_parentCache[attachedObject]);
}
}
}
}