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+++ b/arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs @@ -421,7 +421,7 @@ private void OnSceneBaseUpdated(object sender, BareSceneEventArgs args) { /// /// Who invoked event. /// Robot joints data - private async void RobotJointsUpdated(object sender, RobotJointsUpdatedEventArgs args) { + public async void RobotJointsUpdated(object sender, RobotJointsUpdatedEventArgs args) { // if initializing or deinitializing scene OR scene is not started, dont update robot joints if (!Valid || !SceneStarted) return; @@ -439,7 +439,7 @@ private async void RobotJointsUpdated(object sender, RobotJointsUpdatedEventArgs /// /// /// Robot ee data - private async void RobotEefUpdated(object sender, RobotEefUpdatedEventArgs args) { + public async void RobotEefUpdated(object sender, RobotEefUpdatedEventArgs args) { if (!RobotsEEVisible || !Valid) { return; } diff --git a/arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotActionObject.cs b/arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotActionObject.cs index 6296bf19d..996df2ce8 100644 --- a/arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotActionObject.cs +++ b/arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotActionObject.cs @@ -9,6 +9,7 @@ using RosSharp.Urdf; using TMPro; using UnityEngine; +using static UnityEditor.Recorder.OutputPath; namespace Base { @@ -386,6 +387,26 @@ public override void SetVisibility(float value, bool forceShaderChange = false) UpdateColor(); } + public void EnableStandardShader() { + foreach (Renderer i in robotRenderers) { + if (i.materials.Length == 3) { + i.materials[1].shader = Shader.Find("Standard"); + } else { + i.material.shader = Shader.Find("Standard"); + } + } + } + + public void EnableInvalidShader() { + foreach (Renderer i in robotRenderers) { + if (i.materials.Length == 3) { + i.materials[1].shader = Shader.Find("InvalidPose"); + } else { + i.material.shader = Shader.Find("InvalidPose"); + } + } + } + public async Task> GetEndEffectorIds(string arm_id = null) { await LoadResources(); diff --git a/arcor2_AREditor/Assets/DraggablePoint.cs b/arcor2_AREditor/Assets/DraggablePoint.cs new file mode 100644 index 000000000..3ef1c3d24 --- /dev/null +++ b/arcor2_AREditor/Assets/DraggablePoint.cs @@ -0,0 +1,35 @@ +/* + * DraggablePoint + * Author: Timotej Halenár + * Login: xhalen00 + * Bachelor's Thesis + * VUT FIT 2024 + * + * */ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class DraggablePoint : MonoBehaviour +{ + [SerializeField] private OutlineOnClick outline; + // Start is called before the first frame update + void Start() + { + + } + + public void Highlight() { + outline.Highlight(); + } + + public void Unhighlight() { + outline.UnHighlight(); + } + + // Update is called once per frame + void Update() + { + + } +} diff --git a/arcor2_AREditor/Assets/DraggablePoint.cs.meta b/arcor2_AREditor/Assets/DraggablePoint.cs.meta new file mode 100644 index 000000000..128a7df4d --- /dev/null +++ b/arcor2_AREditor/Assets/DraggablePoint.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1011c4e4d6a31e141987b651a208ba56 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/arcor2_AREditor/Assets/GizmoVariant.cs b/arcor2_AREditor/Assets/GizmoVariant.cs new file mode 100644 index 000000000..b367339af --- /dev/null +++ b/arcor2_AREditor/Assets/GizmoVariant.cs @@ -0,0 +1,149 @@ +/* + * GizmoVariant + * Author: Timotej Halenár + * Login: xhalen00 + * Bachelor's Thesis + * VUT FIT 2024 + * + * */ + +using System; +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Animations; + +public class GizmoVariant : MonoBehaviour +{ + public OutlineOnClick XYOutline; + public OutlineOnClick XZOutline; + public OutlineOnClick YZOutline; + + public GameObject XYPlaneMesh; + public GameObject XZPlaneMesh; + public GameObject YZPlaneMesh; + + public GameObject XAxis; + public GameObject YAxis; + public GameObject ZAxis; + + public GameObject XCone; + public GameObject YCone; + public GameObject ZCone; + + public GameObject ClippingPlane; + + public bool Flipped = false; + + // Start is called before the first frame update + void Start() + { + + } + + // Update is called once per frame + void Update() + { + + } + + public void HighlightXY() { + XYOutline.Highlight(); + XZOutline.UnHighlight(); + YZOutline.UnHighlight(); + } + + public void HighlightXZ() { + XZOutline.Highlight(); + XYOutline.UnHighlight(); + YZOutline.UnHighlight(); + } + + public void HighlightYZ() { + YZOutline.Highlight(); + XYOutline.UnHighlight(); + XZOutline.UnHighlight(); + } + + public void UnhighlightAll() { + XYOutline.UnHighlight(); + XZOutline.UnHighlight(); + YZOutline.UnHighlight(); + XCone.SetActive(true); + YCone.SetActive(true); + ZCone.SetActive(true); + } + + public void HideXCone() { + XCone.SetActive(false); + } + + public void HideYCone() { + YCone.SetActive(false); + } + + public void HideZCone() { + ZCone.SetActive(false); + } + + public void SetXZClippingPlane() { + ClippingPlane.transform.SetParent(XZPlaneMesh.transform); + ClippingPlane.transform.position = Vector3.zero; + ClippingPlane.transform.rotation = Quaternion.Euler(0f, -90f, -90f); + } + + public void SetYZClippingPlane() { + ClippingPlane.transform.SetParent(YZPlaneMesh.transform); + ClippingPlane.transform.position = Vector3.zero; + ClippingPlane.transform.rotation = Quaternion.Euler(0f, -180f, -180f); + } + + public void SetXYClippingPlane() { + ClippingPlane.transform.SetParent(XYPlaneMesh.transform); + ClippingPlane.transform.position = Vector3.zero; + ClippingPlane.transform.rotation = Quaternion.Euler(0f, -180f, -180f); + } + + public void AddMaterial(Material material) { + ClippingPlane.GetComponent().Materials.Add(material); + } + + public void RemoveMaterial(Material material) { + ClippingPlane.GetComponent().Materials.Remove(material); + } + + public void FlipX(bool flip) { + Vector3 scale = gameObject.transform.localScale; + if (flip) { + scale.x = -Math.Abs(scale.x); + } else { + scale.x = Math.Abs(scale.x); + } + gameObject.transform.localScale = scale; + } + + public void FlipY(bool flip) { + Vector3 scale = gameObject.transform.localScale; + if (flip) { + scale.y = -Math.Abs(scale.y); + } else { + scale.y = Math.Abs(scale.y); + } + gameObject.transform.localScale = scale; + } + + public void FlipZ(bool flip) { + Vector3 scale = gameObject.transform.localScale; + if (flip) { + scale.z = -Math.Abs(scale.z); + } else { + scale.z = Math.Abs(scale.z); + } + gameObject.transform.localScale = scale; + } + + public void RotateTo(float angle) { + gameObject.transform.rotation = Quaternion.Euler(0f, angle, 0f); + } + +} diff --git a/arcor2_AREditor/Assets/GizmoVariant.cs.meta b/arcor2_AREditor/Assets/GizmoVariant.cs.meta new file mode 100644 index 000000000..27252ffa5 --- /dev/null +++ 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event OnUnlocked OnUnlockedEvent; + + public void ChangeToLocked() { + GetComponent().sprite = Locked; + isLocked = true; + OnLockedEvent(); + } + + public void ChangeToUnlocked() { + GetComponent().sprite = Unlocked; + isLocked = false; + OnUnlockedEvent(); + } + + public void OnButtonClick() { + if (isLocked) { + ChangeToUnlocked(); + } else { + ChangeToLocked(); + } + } + + + // Start is called before the first frame update + void Start() + { + + } + + // Update is called once per frame + void Update() + { + + } +} diff --git a/arcor2_AREditor/Assets/LockButton.cs.meta b/arcor2_AREditor/Assets/LockButton.cs.meta new file mode 100644 index 000000000..cac3a3208 --- /dev/null +++ b/arcor2_AREditor/Assets/LockButton.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4a4a1a3c9480e9a4bb5190fa58828577 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/arcor2_AREditor/Assets/SensitivitySlider.cs b/arcor2_AREditor/Assets/SensitivitySlider.cs new file mode 100644 index 000000000..fbd538955 --- /dev/null +++ b/arcor2_AREditor/Assets/SensitivitySlider.cs @@ -0,0 +1,51 @@ +/* + * SensitivitySlider + * Author: Timotej Halenár + * Login: xhalen00 + * Bachelor's Thesis + * VUT FIT 2024 + * + * */ + +using System.Collections; +using System.Collections.Generic; +using TMPro; +using UnityEngine; +using UnityEngine.UI; + +public class SensitivitySlider : MonoBehaviour +{ + [SerializeField] private Slider slider; + [SerializeField] private TextMeshProUGUI text; + [SerializeField] private string format = "0.00"; + private float sliderMin; + private float sliderMax; + [SerializeField] private float newMin; + [SerializeField] private float newMax; + + // Start is called before the first frame update + void Start() + { + sliderMin = slider.minValue; + sliderMax = slider.maxValue; + setText(slider.value); + + + 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plane.distance); + + //pass vector to shader + foreach (Material material in Materials) { + material.SetVector("_Plane", planeRepresentation); + } + + } +} diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/ClippingPlane.cs.meta b/arcor2_AREditor/Assets/TABLET/Scripts/ClippingPlane.cs.meta new file mode 100644 index 000000000..156081025 --- /dev/null +++ b/arcor2_AREditor/Assets/TABLET/Scripts/ClippingPlane.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ef7bab2be847c6a4e96296d074f2a76d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Gizmo.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Gizmo.cs index 96b967abb..b8b1998cb 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Gizmo.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/Gizmo.cs @@ -66,6 +66,12 @@ public void HiglightAxis(Axis axis) { } + public void UnhighlightAllAxis() { + XAxisOutline.UnHighlight(); + YAxisOutline.UnHighlight(); + ZAxisOutline.UnHighlight(); + } + private string FormatValue(float value) { if (Mathf.Abs(value) < 0.000099f) return $"0cm"; diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ModelPositioningMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ModelPositioningMenu.cs new file mode 100644 index 000000000..6fa14d712 --- /dev/null +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ModelPositioningMenu.cs @@ -0,0 +1,820 @@ +/* + * ModelPositioningMenu + * Author: Timotej Halenár + * Login: xhalen00 + * Bachelor's Thesis + * VUT FIT 2024 + * + * */ + +using System; +using System.Collections; +using System.Collections.Generic; +using System.Threading.Tasks; +using Base; +using IO.Swagger.Model; +using TMPro; +using Unity.Mathematics; +using UnityEditor; +using UnityEngine; + +public class ModelPositioningMenu : RightMenu { + private RobotActionObject robot; + private RobotEE endEffector; + + private Gizmo gizmo; + public GameObject GizmoPrefab; + public GameObject SceneOrigin; + + private GameObject pointInstance; + private DraggablePoint draggablePoint; + public GameObject PointPrefab; + + public GameObject DistanceControl; + public GameObject LeftMenu; + public GameObject LeftMenuScene; + public GameObject LeftMenuProject; + public GameObject OnlineButton; + public GameObject SelectionText; + public GameObject ButtonHintText; + public GameObject ExitDialog; + public GameObject ConfirmPoseDialog; + public GameObject ConfirmButtonDisable; + public GameObject RevertButtonDisable; + public GameObject CoordsToggle; + public GameObject CoordsToggleDisable; + public GameObject LockButton; + public GameObject ImpossiblePoseNotification; + public UnityEngine.UI.Slider SensitivitySlider; + public UnityEngine.UI.Slider UpDownSensitivitySlider; + public UnityEngine.UI.Button SelectButton; + public GameObject XYPlaneMesh; + public GameObject XZPlaneMesh; + public GameObject YZPlaneMesh; + public GameObject XAxis; + public GameObject YAxis; + public GameObject ZAxis; + public Material ClippingMaterial; + + private Vector3 OrigPlaneScale; + private Vector3 HiddenPlaneScale = Vector3.zero; + + private Vector3 OrigAxisScale; + private Vector3 ActiveAxisScale; + private Vector3 HiddenAxisScale; + + private float pointDistance = 0.5f; + private float DragMultiplier = 1.0f * 0.03f; + private float ForwardBackwardMultiplier = 0.003f; + private Vector3 fallbackEEPosition; + private Vector3 originalPointPosition; + private Vector3 originalRayPoint; + + private Vector3 pointPosition; + + private Dictionary pointPositions = new Dictionary(); + + private Vector3 lastValidPosition; + + private Vector3 forwardBackwardAdjust = Vector3.zero; + + private GameObject dummy; + private GameObject lastValidTransform; + + private bool transformSet = false; + + private enum Selection { + none, + x, + y, + z, + ee, + XY, + XZ, + YZ + } + + private enum ShaderEnabled { + standard, + clipping, + invalid + } + + private ShaderEnabled shaderEnabled = ShaderEnabled.standard; + + private Selection selection = Selection.none; + + private bool isMoving = false; + private bool moveForwardHeld = false; + private bool moveBackwardHeld = false; + + private bool isWaiting = false; + private bool cameraCoord = false; + + private void Start() { + SensitivitySlider.onValueChanged.AddListener(UpdateSensitivity); + UpDownSensitivitySlider.onValueChanged.AddListener(UpdateUpDownSensitivity); + LockButton.GetComponent().OnUnlockedEvent += OnUnlockUserSystem; + LockButton.GetComponent().OnLockedEvent += OnLockUserSystem; + } + + public async Task TurnOn() { + if (GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor) { + LeftMenu = LeftMenuScene; + } else if (GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor) { + LeftMenu = LeftMenuProject; + } + robot = (RobotActionObject) SceneManager.Instance.GetRobot(SceneManager.Instance.SelectedRobot.GetId()); + robot.SetVisibility(1.0f); + robot.GetComponent().UnHighlight(); + robot.GetComponent().Enabled = false; + await robot.DisableVisualisationOfEE(); + + dummy = new GameObject(); + + WebsocketManager.Instance.OnRobotEefUpdated -= SceneManager.Instance.RobotEefUpdated; + WebsocketManager.Instance.OnRobotJointsUpdated -= SceneManager.Instance.RobotJointsUpdated; + + List EEIDs = await robot.GetEndEffectorIds(); + string EEID = EEIDs[0]; + List armsIDs = await robot.GetArmsIds(); + string armID = armsIDs[0]; + + endEffector = await robot.GetEE(EEID, armID); + + fallbackEEPosition = endEffector.transform.position; + + if (pointPositions.TryGetValue(robot.GetId(), out Vector3 outValue)) { + pointPosition = outValue; + } else { + pointPosition = Vector3.zero; + } + + if (endEffector.transform.position == pointPosition || pointPosition == Vector3.zero) { + ConfirmPoseDialog.SetActive(false); + } else { + ConfirmPoseDialog.SetActive(true); + } + + lastValidTransform = new GameObject(); + + if (pointPosition != Vector3.zero) { + pointInstance = Instantiate(PointPrefab, pointPosition, Quaternion.identity, SceneOrigin.transform); + MoveHereModel(SceneManager.Instance.SceneOrigin.transform.parent.InverseTransformPoint(pointInstance.transform.position), lastValidTransform.transform); + + } else { + pointInstance = Instantiate(PointPrefab, endEffector.transform.position, Quaternion.identity, SceneOrigin.transform); + } + + + lastValidTransform.transform.position = pointInstance.transform.position; + transformSet = true; + + draggablePoint = pointInstance.GetComponent(); + + gizmo = Instantiate(GizmoPrefab).GetComponent(); + gizmo.transform.rotation = Quaternion.identity; + gizmo.transform.SetParent(pointInstance.transform); + gizmo.transform.localPosition = Vector3.zero; + + XYPlaneMesh = gizmo.GetComponent().XYPlaneMesh; + XZPlaneMesh = gizmo.GetComponent().XZPlaneMesh; + YZPlaneMesh = gizmo.GetComponent().YZPlaneMesh; + + XAxis = gizmo.GetComponent().XAxis; + YAxis = gizmo.GetComponent().YAxis; + ZAxis = gizmo.GetComponent().ZAxis; + + OrigPlaneScale = XYPlaneMesh.transform.localScale; + + OrigAxisScale = XAxis.transform.localScale; + ActiveAxisScale = XAxis.transform.localScale; + ActiveAxisScale.z = 10f; + + HiddenAxisScale = XAxis.transform.localScale; + HiddenAxisScale.z = 0.0f; + + ImpossiblePoseNotify(false, true); + } + + + + public async Task TurnOff(bool reset = false) { + transformSet = false; + + CoordsToggle.GetComponent().SwitchToLeft(); + LockButton.SetActive(false); + + pointPositions[robot.GetId()] = lastValidTransform.transform.position; + + SceneManager.Instance?.GetActionObject(SceneManager.Instance.SelectedRobot.GetId()).SetVisibility(0.0f); + + robot.GetComponent().Enabled = true; + + await robot.EnableVisualisationOfEE(); + + Destroy(gizmo); + Destroy(pointInstance); + Destroy(dummy); + Destroy(lastValidTransform); + + WebsocketManager.Instance.OnRobotEefUpdated += SceneManager.Instance.RobotEefUpdated; + WebsocketManager.Instance.OnRobotJointsUpdated += SceneManager.Instance.RobotJointsUpdated; + gameObject.SetActive(false); + } + + private void Update() { + //user-space gizmo rotation + //https://discussions.unity.com/t/lookat-to-only-rotate-on-y-axis-how/10895/3 + if (cameraCoord && !isMoving) { + Vector3 targetPosition = new Vector3( + Camera.main.transform.position.x, + pointInstance.transform.position.y, + Camera.main.transform.position.z); + pointInstance.transform.LookAt(targetPosition); + } + + //gizmo flipping + Vector3 localCamPos = Camera.main.transform.position; + localCamPos = pointInstance.transform.InverseTransformPoint(localCamPos); + + if (!isMoving && !cameraCoord) { + if (localCamPos.x > 0) { + gizmo.GetComponent().FlipX(true); + } else { + gizmo.GetComponent().FlipX(false); + } + + if (localCamPos.z < 0) { + gizmo.GetComponent().FlipZ(true); + } else { + gizmo.GetComponent().FlipZ(false); + } + + if (localCamPos.y < 0) { + gizmo.GetComponent().FlipY(true); + } else { + gizmo.GetComponent().FlipY(false); + } + } + + //clipping plane flipping + if (selection == Selection.XY) { + if (localCamPos.z > 0) { + gizmo.gameObject.GetComponent().ClippingPlane.transform.rotation = Quaternion.Euler(0f, 90f + pointInstance.transform.rotation.eulerAngles.y, 90f); + } else { + gizmo.gameObject.GetComponent().ClippingPlane.transform.rotation = Quaternion.Euler(0f, 90f + pointInstance.transform.rotation.eulerAngles.y, -90f); + } + } + if (selection == Selection.YZ) { + if (localCamPos.x > 0) { + gizmo.gameObject.GetComponent().ClippingPlane.transform.rotation = Quaternion.Euler(90f, 90f + pointInstance.transform.rotation.eulerAngles.y, 0f); + } else { + gizmo.gameObject.GetComponent().ClippingPlane.transform.rotation = Quaternion.Euler(-90f, 90f + pointInstance.transform.rotation.eulerAngles.y, 0f); + } + } + if (selection == Selection.XZ) { + if (localCamPos.y > 0) { + gizmo.gameObject.GetComponent().ClippingPlane.transform.rotation = Quaternion.Euler(0f, 0f, 0f); + } else { + gizmo.gameObject.GetComponent().ClippingPlane.transform.rotation = Quaternion.Euler(180f, 0f, 0f); + } + } + + //movement + if (isMoving && pointInstance != null && dummy != null) { + Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f)); + + Vector3 rayPoint = ray.GetPoint(pointDistance); + + //Forward/Backward adjust + if (moveForwardHeld) { + Vector3 dir = pointInstance.transform.position - Camera.main.transform.position; + dir = Vector3.Normalize(dir); + forwardBackwardAdjust.x += dir.x * ForwardBackwardMultiplier; + forwardBackwardAdjust.z += dir.z * ForwardBackwardMultiplier; + } + if (moveBackwardHeld) { + Vector3 dir = Camera.main.transform.position - pointInstance.transform.position; + dir = Vector3.Normalize(dir); + forwardBackwardAdjust.x += dir.x * ForwardBackwardMultiplier; + forwardBackwardAdjust.z += dir.z * ForwardBackwardMultiplier; + } + rayPoint.x += forwardBackwardAdjust.x; + rayPoint.z += forwardBackwardAdjust.z; + + dummy.transform.position = rayPoint; + + Vector3 difference = rayPoint - originalRayPoint; + + difference = pointInstance.transform.InverseTransformVector(difference); + + //Debug: draw difference vector + //draggablePoint.GetComponent().SetPosition(0, rayPoint); + //draggablePoint.GetComponent().SetPosition(1, originalRayPoint); + + dummy.transform.position = originalPointPosition; + dummy.transform.rotation = pointInstance.transform.rotation; + + if (selection == Selection.ee) { + dummy.transform.Translate(difference * DragMultiplier); + + } else if (selection == Selection.x) { + dummy.transform.Translate(0f, 0f, difference.z * DragMultiplier); + + } else if (selection == Selection.y) { + dummy.transform.Translate(difference.x * DragMultiplier, 0f, 0f); + + } else if (selection == Selection.z) { + dummy.transform.Translate(0f, difference.y * DragMultiplier, 0f); + + } else if (selection == Selection.XY) { + dummy.transform.Translate(0f, difference.y * DragMultiplier, difference.z * DragMultiplier); + + } else if (selection == Selection.XZ) { + dummy.transform.Translate(difference.x * DragMultiplier, 0f, difference.z * DragMultiplier); + + } else if (selection == Selection.YZ) { + dummy.transform.Translate(difference.x * DragMultiplier, difference.y * DragMultiplier, 0f); + } + + pointInstance.transform.position = dummy.transform.position; + + if (!isWaiting) { + isWaiting = true; + MoveHereModel(SceneManager.Instance.SceneOrigin.transform.parent.InverseTransformPoint(pointInstance.transform.position), dummy.transform); + } + + } + + } + private void FixedUpdate() { + //Axis selection + Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f)); + RaycastHit[] hits = Physics.RaycastAll(ray.origin, ray.direction); + if (hits.Length > 0) { + foreach (RaycastHit hit in hits) { + if (hit.collider.gameObject.CompareTag("draggable_point")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.ee); + break; + } + + else if (hit.collider.gameObject.CompareTag("xy_plane")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.XY); + return; + } + + else if (hit.collider.gameObject.CompareTag("xz_plane")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.XZ); + return; + } + + else if (hit.collider.gameObject.CompareTag("yz_plane")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.YZ); + return; + } + + else if (hit.collider.gameObject.CompareTag("gizmo_x")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.x); + return; + } + + else if (hit.collider.gameObject.CompareTag("gizmo_y")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.y); + return; + } + + else if (hit.collider.gameObject.CompareTag("gizmo_z")) { + if (!isMoving) { + pointDistance = Vector3.Distance(hit.transform.position, ray.origin); + } + + Select(Selection.z); + return; + } + } + } + + } + + + public void ToggleMove(bool forceStop = false) { + isMoving = !isMoving; + + if (forceStop) { + isMoving = false; + } + + Ray ray = Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2, Screen.height / 2, 0f)); + + if (isMoving) { + originalPointPosition = pointInstance.transform.position; + originalRayPoint = ray.GetPoint(pointDistance); + + OnMove(); + } else { + OnStopMove(); + } + } + + private void OnMove() { + CoordsToggleDisable.SetActive(true); + ConfirmPoseDialog.SetActive(true); + ConfirmButtonDisable.SetActive(true); + RevertButtonDisable.SetActive(true); + forwardBackwardAdjust = Vector3.zero; + LeftMenu.SetActive(false); + OnlineButton.SetActive(false); + ButtonHintText.GetComponent().text = ""; + + StopAllCoroutines(); + StartCoroutines(selection); + + DistanceControl.SetActive(true); + + gizmo.gameObject.GetComponent().UnhighlightAll(); + gizmo.gameObject.GetComponent().HideXCone(); + gizmo.gameObject.GetComponent().HideYCone(); + gizmo.gameObject.GetComponent().HideZCone(); + } + private void OnStopMove() { + OnlineButton.SetActive(true); + CoordsToggleDisable.SetActive(false); + + if (ImpossiblePoseNotification.active == true) { + ImpossiblePoseNotify(false, true); + + pointInstance.transform.position = lastValidTransform.transform.position; + MoveHereModel(SceneManager.Instance.SceneOrigin.transform.parent.InverseTransformPoint(pointInstance.transform.position), lastValidTransform.transform); + + } else { + lastValidTransform.transform.position = pointInstance.transform.position; + } + + //Makes me angry that this has to be here, but the notification won't disappear otherwise + + //ImpossiblePoseNotify should take care of this, but it just disables the red material and + //leaves the notification active for some reason + ImpossiblePoseNotification.SetActive(false); + + ConfirmButtonDisable.SetActive(false); + RevertButtonDisable.SetActive(false); + + LeftMenu.SetActive(true); + ButtonHintText.GetComponent().text = "Hold to drag"; + gizmo.GetComponent().UnhighlightAll(); + + StopAllCoroutines(); + ShowAllAxisAndPlanes(); + + DistanceControl.SetActive(false); + + EnableStandardShader(); + } + + private void Select(Selection value) { + if (isMoving) { + return; + } + + gizmo.gameObject.GetComponent().UnhighlightAll(); + gizmo.UnhighlightAllAxis(); + draggablePoint.Unhighlight(); + + selection = value; + + if (value == Selection.x || value == Selection.y || value == Selection.z) { + SelectionText.GetComponent().text = value.ToString().ToUpper() + " Axis"; + if (value == Selection.x) { + gizmo.HiglightAxis(Gizmo.Axis.X); + } else if (value == Selection.y) { + gizmo.HiglightAxis(Gizmo.Axis.Y); + } else if (value == Selection.z) { + gizmo.HiglightAxis(Gizmo.Axis.Z); + } + + } else if (value == Selection.XY || value == Selection.XZ || value == Selection.YZ) { + SelectionText.GetComponent().text = value.ToString() + " Plane"; + if (value == Selection.XY) { + gizmo.gameObject.GetComponent().HighlightXY(); + } else if (value == Selection.XZ) { + gizmo.gameObject.GetComponent().HighlightXZ(); + } else if (value == Selection.YZ) { + gizmo.gameObject.GetComponent().HighlightYZ(); + } + } else if (value == Selection.ee) { + SelectionText.GetComponent().text = "End-Effector"; + draggablePoint.Highlight(); + } + } + + private async void MoveHereModel(Vector3 position, Transform dummyTransform, bool avoid_collision = true) { + List modelJoints; //joints to move the model to + + Orientation orientation = new Orientation(w: (decimal) 0.0, x: (decimal) 0.0, y: (decimal) 1.0, z: (decimal) 0.0); + + try { + IO.Swagger.Model.Pose pose = new IO.Swagger.Model.Pose(orientation: orientation, position: DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(position))); + List startJoints = SceneManager.Instance.SelectedRobot.GetJoints(); + + modelJoints = await WebsocketManager.Instance.InverseKinematics(SceneManager.Instance.SelectedRobot.GetId(), SceneManager.Instance.SelectedEndEffector.GetName(), true, pose, startJoints); + + } catch (ItemNotFoundException ex) { + ImpossiblePoseNotify(true, false); + isWaiting = false; + return; + + } catch (RequestFailedException ex) { + isWaiting = false; + ImpossiblePoseNotify(true, false); + return; + } + + foreach (IO.Swagger.Model.Joint joint in modelJoints) { + SceneManager.Instance.SelectedRobot.SetJointValue(joint.Name, (float) joint.Value); + } + + isWaiting = false; + + ImpossiblePoseNotify(false, false); + } + + private GameObject SelectionToGameObject(Selection selection) { + switch (selection) { + case Selection.x: + return XAxis; + case Selection.y: + return YAxis; + case Selection.z: + return ZAxis; + case Selection.XY: + return XYPlaneMesh; + case Selection.XZ: + return XZPlaneMesh; + case Selection.YZ: + return YZPlaneMesh; + default: + throw new NotImplementedException(); + + } + } + + private void ImpossiblePoseNotify(bool isImpossible, bool force) { + if (!(isMoving || force)) { + return; + } + + if (isImpossible) { + EnableInvalidShader(); + ImpossiblePoseNotification.SetActive(true); + } else { + EnableStandardShader(); + ImpossiblePoseNotification.SetActive(false); + } + + + } + + #region SCALING COROUTINES + private void StartCoroutines(Selection selected) { + if (selected == Selection.ee) { + HideAllAxisAndPlanes(); + return; + } + + if (selected == Selection.XZ) { + StartCoroutine(AxisScale(XAxis, ActiveAxisScale)); + StartCoroutine(AxisScale(ZAxis, HiddenAxisScale)); + StartCoroutine(AxisScale(YAxis, ActiveAxisScale)); + + StartCoroutine(AxisScale(XYPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(XZPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(YZPlaneMesh, HiddenPlaneScale)); + return; + } + + if (selected == Selection.YZ) { + StartCoroutine(AxisScale(XAxis, HiddenAxisScale)); + StartCoroutine(AxisScale(ZAxis, ActiveAxisScale)); + StartCoroutine(AxisScale(YAxis, ActiveAxisScale)); + + StartCoroutine(AxisScale(XYPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(XZPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(YZPlaneMesh, HiddenPlaneScale)); + return; + } + + if (selected == Selection.XY) { + StartCoroutine(AxisScale(XAxis, ActiveAxisScale)); + StartCoroutine(AxisScale(ZAxis, ActiveAxisScale)); + StartCoroutine(AxisScale(YAxis, HiddenAxisScale)); + + StartCoroutine(AxisScale(XYPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(XZPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(YZPlaneMesh, HiddenPlaneScale)); + return; + } + + foreach (Selection i in Enum.GetValues(typeof(Selection))) { + if (i == Selection.x || i == Selection.y || i == Selection.z) { + if (i == selected) { + StartCoroutine(AxisScale(SelectionToGameObject(i), ActiveAxisScale)); + Debug.Log("Selected: " + i.ToString()); + } else { + StartCoroutine(AxisScale(SelectionToGameObject(i), HiddenAxisScale)); + } + } else if (i == Selection.XY || i == Selection.XZ || i == Selection.YZ) { + if (i == selected) { + //StartCoroutine(AxisScale(SelectionToGameObject(i), ActivePlaneScale)); + Debug.Log("Selected: " + i.ToString()); + } else { + StartCoroutine(AxisScale(SelectionToGameObject(i), HiddenPlaneScale)); + } + } + } + } + + private void HideAllAxisAndPlanes() { + StartCoroutine(AxisScale(XAxis, HiddenAxisScale)); + StartCoroutine(AxisScale(YAxis, HiddenAxisScale)); + StartCoroutine(AxisScale(ZAxis, HiddenAxisScale)); + StartCoroutine(AxisScale(XYPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(XZPlaneMesh, HiddenPlaneScale)); + StartCoroutine(AxisScale(YZPlaneMesh, HiddenPlaneScale)); + } + + private void ShowAllAxisAndPlanes() { + StartCoroutine(AxisScale(XAxis, OrigAxisScale)); + StartCoroutine(AxisScale(YAxis, OrigAxisScale)); + StartCoroutine(AxisScale(ZAxis, OrigAxisScale)); + StartCoroutine(AxisScale(XYPlaneMesh, OrigPlaneScale)); + StartCoroutine(AxisScale(XZPlaneMesh, OrigPlaneScale)); + StartCoroutine(AxisScale(YZPlaneMesh, OrigPlaneScale)); + } + + private IEnumerator AxisScale(GameObject axis, Vector3 scale) { + while (Vector3.Distance(axis.transform.localScale, scale) > 0.01f) { + axis.transform.localScale = Vector3.Lerp(axis.transform.localScale, scale, 0.25f); + yield return null; + } + axis.transform.localScale = scale; + } + + #endregion SCALING COROUTINES + + #region SENSITIVITY SLIDERS + private void UpdateSensitivity(float value) { + DragMultiplier = value * 0.03f; + } + + private void UpdateUpDownSensitivity(float value) { + ForwardBackwardMultiplier = value; + } + + #endregion SENSITIVITY SLIDERS + + #region MATERIALS + private void EnableStandardShader() { + shaderEnabled = ShaderEnabled.standard; + robot.EnableStandardShader(); + } + + private void EnableInvalidShader() { + shaderEnabled = ShaderEnabled.invalid; + robot.EnableInvalidShader(); + } + + #endregion MATERIALS + + #region MAIN BUTTONS + public void OnSelectButtonClick() { +#if AR_ON + return; +#endif + + ToggleMove(); + + } + public void OnSelectButtonHold() { +#if !AR_ON + return; +#endif + + ToggleMove(); + } + public void OnSelectButtonRelease() { +#if !AR_ON + return; +#endif + + ToggleMove(true); + } + public void OnUpButtonHold() { + moveForwardHeld = true; + } + public void OnUpButtonRelease() { + moveForwardHeld = false; + } + public void OnDownButtonHold() { + moveBackwardHeld = true; + } + public void OnDownButtonRelease() { + moveBackwardHeld = false; + } + + #endregion MAIN BUTTONS + + #region COORD SYSTEM BUTTONS + public void OnWorldSystemButtonClick() { + cameraCoord = false; + pointInstance.transform.rotation = Quaternion.Euler(0, 0, 0); + } + + public void OnUserSystemButtonClick() { + cameraCoord = true; + gizmo.GetComponent().FlipX(false); + gizmo.GetComponent().FlipY(false); + gizmo.GetComponent().FlipZ(false); + + LockButton.GetComponent().ChangeToUnlocked(); + } + + public void OnLockUserSystem() { + cameraCoord = false; + } + + public void OnUnlockUserSystem() { + cameraCoord = true; + } + + #endregion COORD SYSTEM BUTTONS + + #region CONFIRM DIALOG + public async void OnConfirmButtonClick() { + Position position = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(SceneManager.Instance.SceneOrigin.transform.parent.InverseTransformPoint(pointInstance.transform.position))); + Orientation orientation = new Orientation(w: (decimal) 0.0, x: (decimal) 0.0, y: (decimal) 1.0, z: (decimal) 0.0); + + await WebsocketManager.Instance.MoveToPose( + robotId: SceneManager.Instance.SelectedRobot.GetId(), + endEffectorId: endEffector.EEId, + speed: (decimal) 0.5, + position: position, + orientation: orientation); + + endEffector.transform.position = pointInstance.transform.position; + + ConfirmPoseDialog.SetActive(false); + } + + public void OnRevertButtonClick() { + pointInstance.transform.position = endEffector.transform.position; + lastValidTransform.transform.position = endEffector.transform.position; + MoveHereModel(SceneManager.Instance.SceneOrigin.transform.parent.InverseTransformPoint(pointInstance.transform.position), lastValidTransform.transform); + + + ConfirmPoseDialog.SetActive(false); + } + + #endregion CONFIRM DIALOG + + #region DEBUG BUTTONS + public void OnFirstButtonClick() { + + EnableInvalidShader(); + + } + + public void OnSecondButtonClick() { + pointInstance.transform.position = lastValidTransform.transform.position; + } + + public async void OnThirdButtonClick() { + } + + #endregion DEBUG BUTTONS + +} diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ModelPositioningMenu.cs.meta b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ModelPositioningMenu.cs.meta new file mode 100644 index 000000000..687c83720 --- /dev/null +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/ModelPositioningMenu.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0c8eba64af9390545aa58fdc642aa491 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs index 81ce5c172..c6c84f9f1 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/OrientationJointsDetailMenu.cs @@ -35,8 +35,8 @@ public class OrientationJointsDetailMenu : MonoBehaviour, IMenu { public GameObject JointsDynamicList; public ConfirmationDialog ConfirmationDialog; - private NamedOrientation orientation; - private ProjectRobotJoints joints; + public NamedOrientation orientation; + public ProjectRobotJoints joints; private bool isOrientationDetail; //true for orientation, false for joints //visibility of robot model backup: Dictionary @@ -329,7 +329,7 @@ public async void MoveHereModel(bool avoid_collision = true) { if (!avoid_collision) { Notifications.Instance.ShowNotification("The model is in a collision with other object!", ""); } - } catch(ItemNotFoundException ex) { + } catch (ItemNotFoundException ex) { Notifications.Instance.ShowNotification("Unable to move here model", ex.Message); return; } catch (RequestFailedException ex) { diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/TwoStatesToggleNew.cs b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/TwoStatesToggleNew.cs index 0d449d874..283e95a0d 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/GUI/TwoStatesToggleNew.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/GUI/TwoStatesToggleNew.cs @@ -4,13 +4,19 @@ public class TwoStatesToggleNew : MonoBehaviour { + public bool DefaultLeft = false; + public enum States { Left, Right } private void Awake() { - CurrentState = States.Right; + if (DefaultLeft) { + CurrentState = States.Left; + } else { + CurrentState = States.Right; + } } public Image LeftImage, RightImage; private Sprite icon1, icon2; diff --git a/arcor2_AREditor/Assets/TABLET/Scripts/LeftMenu.cs b/arcor2_AREditor/Assets/TABLET/Scripts/LeftMenu.cs index 2e57a4061..d9089e15a 100644 --- a/arcor2_AREditor/Assets/TABLET/Scripts/LeftMenu.cs +++ b/arcor2_AREditor/Assets/TABLET/Scripts/LeftMenu.cs @@ -3,8 +3,10 @@ using System.Threading.Tasks; using Base; using IO.Swagger.Model; +using Newtonsoft.Json; using UnityEngine; using UnityEngine.Events; +using UnityEngine.EventSystems; using UnityEngine.UI; using static Base.GameManager; @@ -15,7 +17,7 @@ public abstract class LeftMenu : MonoBehaviour { public Button FavoritesButton, RobotButton, AddButton, UtilityButton, HomeButton; public ButtonWithTooltip MoveButton, MoveButton2, RemoveButton, RenameButton, CalibrationButton, - OpenMenuButton, RobotSelectorButton, RobotSteppingButton, CloseButton, SaveButton, MainSettingsButton, CopyButton; //Buttons with number 2 are duplicates in favorites submenu + OpenMenuButton, RobotSelectorButton, RobotSteppingButton, ModelPositioningButton, CloseButton, SaveButton, MainSettingsButton, CopyButton; //Buttons with number 2 are duplicates in favorites submenu public GameObject FavoritesButtons, HomeButtons, UtilityButtons, AddButtons, RobotButtons; public RenameDialog RenameDialog; public RobotSelectorDialog RobotSelector; @@ -37,6 +39,7 @@ public abstract class LeftMenu : MonoBehaviour { private const string OPEN_MENU_BTN_LABEL = "Open menu"; private const string ROBOT_STEPPING_MENU_BTN_LABEL = "Robot stepping menu"; private const string ROBOT_SELECTOR_MENU_BTN_LABEL = "Select robot"; + private const string MODEL_STEPPING_MENU_BTN_LABEL = "Model stepping menu"; protected const string COPY_LABEL = "Duplicate object"; protected virtual void Start() { @@ -58,6 +61,12 @@ protected virtual void Start() { RobotSteppingButton.SetDescription(ROBOT_STEPPING_MENU_BTN_LABEL); if (RobotSelectorButton != null) RobotSelectorButton.SetDescription(ROBOT_SELECTOR_MENU_BTN_LABEL); + if (ModelPositioningButton != null) + ModelPositioningButton.SetDescription(MODEL_STEPPING_MENU_BTN_LABEL); + + + ModelPositioningMenu.Instance.gameObject.SetActive(false); + } protected virtual void Awake() { @@ -178,8 +187,13 @@ private void UpdateRobotSelectorAndSteppingButtons() { RobotSteppingButton.SetInteractivity(SceneManager.Instance.SceneStarted && !SceneManager.Instance.GetActionObject(SceneManager.Instance.SelectedRobot.GetId()).IsLockedByOtherUser, SceneManager.Instance.SceneStarted ? $"{ROBOT_STEPPING_MENU_BTN_LABEL}\n(robot used by {SceneManager.Instance.SelectedRobot.LockOwner()})" : $"{ROBOT_STEPPING_MENU_BTN_LABEL}\n(scene offline)"); + ModelPositioningButton.SetInteractivity(SceneManager.Instance.SceneStarted && + !SceneManager.Instance.GetActionObject(SceneManager.Instance.SelectedRobot.GetId()).IsLockedByOtherUser, + SceneManager.Instance.SceneStarted ? $"{MODEL_STEPPING_MENU_BTN_LABEL}\n(robot used by {SceneManager.Instance.SelectedRobot.LockOwner()})" : $"{MODEL_STEPPING_MENU_BTN_LABEL}\n(scene offline)"); } else { RobotSteppingButton.SetInteractivity(SceneManager.Instance.SceneStarted, $"{ROBOT_STEPPING_MENU_BTN_LABEL}\n(scene offline)"); + + ModelPositioningButton?.SetInteractivity(SceneManager.Instance.SceneStarted, $"{MODEL_STEPPING_MENU_BTN_LABEL}\n(scene offline)"); } RobotSelectorButton.SetInteractivity(SceneManager.Instance.SceneStarted, $"{ROBOT_SELECTOR_MENU_BTN_LABEL}\n(scene offline)"); } @@ -365,8 +379,31 @@ private async Task ValidateEndEffector(object selectedInput) { } } + public async void ModelPositioningButtonClick() { + if (!SceneManager.Instance.SceneStarted) { + Notifications.Instance.ShowNotification("Failed to open model manipulation menu", "Scene offline"); + return; + } else if (!SceneManager.Instance.IsRobotAndEESelected()) { + OpenRobotSelector(ModelPositioningButtonClick); + return; + } - + //if the menu is active, turn off and enable selector menu + if (ModelPositioningMenu.Instance.isActiveAndEnabled) { + await ModelPositioningMenu.Instance.TurnOff(); + SelectorMenu.Instance.gameObject.SetActive(true); + //otherwise, make sure robot stepping menu is disabled and enable the positioning menu + } else { + RobotSteppingButton.GetComponent().enabled = false; + await RobotSteppingMenu.Instance.Hide(); + await ModelPositioningMenu.Instance.TurnOn(); + ModelPositioningMenu.Instance.gameObject.SetActive(true); + SelectorMenu.Instance.gameObject.SetActive(false); + + } + + } + public async void RobotSteppingButtonClick() { // Scene offline if (!SceneManager.Instance.SceneStarted) { @@ -403,6 +440,9 @@ public async void RobotSteppingButtonClick() { RobotSteppingButton.GetComponent().enabled = true; SelectorMenu.Instance.gameObject.SetActive(false); RobotSteppingMenu.Instance.Show(); + if (ModelPositioningMenu.Instance.isActiveAndEnabled) { + ModelPositioningMenu.Instance.TurnOff(); + } } } } @@ -580,7 +620,7 @@ public virtual void DeactivateAllSubmenus() { RenameDialog.Cancel(); TransformMenu.Instance.Hide(); RobotSteppingMenu.Instance.Hide(); - + ModelPositioningMenu.Instance.TurnOff(); MainSettingsMenu.Instance.Hide(); ActionObjectMenu.Instance.Hide(); diff --git a/arcor2_AREditor/ProjectSettings/ProjectSettings.asset b/arcor2_AREditor/ProjectSettings/ProjectSettings.asset index a984f4c07..0a11678d2 100644 --- a/arcor2_AREditor/ProjectSettings/ProjectSettings.asset +++ b/arcor2_AREditor/ProjectSettings/ProjectSettings.asset @@ -943,10 +943,10 @@ PlayerSettings: PointOfService: False RecordedCallsFolder: False Contacts: False - Proximity: False InternetClient: True CodeGeneration: False BackgroundMediaPlayback: False + Proximity: False metroTargetDeviceFamilies: Desktop: False Holographic: True diff --git a/scripts/build_models.sh b/scripts/build_models.sh old mode 100755 new mode 100644 index f4b587b8c..0779eaaa6 --- a/scripts/build_models.sh +++ b/scripts/build_models.sh @@ -48,6 +48,8 @@ sed -i'' 's/DataMember(Name="cylinder", EmitDefaultValue=true)/DataMember(Name=" sed -i'' 's/DataMember(Name="mesh", EmitDefaultValue=true)/DataMember(Name="mesh", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/ObjectModel.cs sed -i'' 's/DataMember(Name="sphere", EmitDefaultValue=true)/DataMember(Name="sphere", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/ObjectModel.cs sed -i'' 's/DataMember(Name="type", EmitDefaultValue=true)/DataMember(Name="type", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/ObjectModel.cs +sed -i'' 's/DataMember(Name="arm_id", EmitDefaultValue=true)/DataMember(Name="arm_id", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/InverseKinematicsRequestArgs.cs +sed -i'' 's/DataMember(Name="data", EmitDefaultValue=true)/DataMember(Name="data", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/InverseKinematicsRequest.cs sed -i'' 's/DataMember(Name="object_model", EmitDefaultValue=true)/DataMember(Name="object_model", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/ObjectTypeMeta.cs sed -i'' 's/DataMember(Name="needs_parent_type", EmitDefaultValue=true)/DataMember(Name="needs_parent_type", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/ObjectTypeMeta.cs sed -i'' 's/DataMember(Name="settings", EmitDefaultValue=true)/DataMember(Name="settings", EmitDefaultValue=false)/' ./"$tmpoutput"/src/IO.Swagger/Model/ObjectTypeMeta.cs @@ -96,7 +98,7 @@ mv "$tmpoutput"/bin/* "$output" rm -rf "$tmpoutput" -#rm "$tmpfile" +rm "$tmpfile" echo "Models in directory $output"