Python-Unity Network
Robotic Arm Digital Twin(DT)
Posted Updated Notea minute read (About 192 words)

Robotic Arm Digital Twin(DT)

Robotic Arm Digital Twin(DT)

机械臂 DT 需要的功能：

  • 有和现实机械臂相似的模型外观
  • 有碰撞箱
  • 有基本的关节旋转控制脚本
  • 接受路径规划单元传来的控制数据

模型外观

三个模型资产，分别从

导入。

碰撞箱

主要由 capsule collider 构成。整个 DT 的 layer 属于 RobotArm

关节控制脚本

挂载在 robotarm 物体上，用于控制各个关节旋转的角度

其中 RotateDir 为一次性配置，Joint 会自动检测进行配置

控制时只需要更改 Rotate 的值即可（runtime）

IK Path Planning
Posted Updated Note3 minutes read (About 425 words)

IK Path Planning

IK Path Planning

IK Solver

用于将关键点数据转化为关节动作（各关节旋转角度）

希望机械臂的末端始终竖直。方便夹取。

Unity IK: https://github.com/2000222/Robotic-Arm-IK-in-Unity

自定义自由度，非常好用，基于关节梯度迭代的方法

由这个 IK 算法负责机械臂前三个 joint 的旋转，确保 j4 的 anchor（红点）处于物体后上方的特定位置。

j4 位置的计算方法：

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public Vector3 GetPositionForJ4(Vector3 pos)
    {
        Vector3 forward = pos - Joints[0].transform.position;
        forward.y = 0;
        float angle = Mathf.Acos(0.1148f / forward.magnitude);
        Vector3 left = Quaternion.AngleAxis(-angle * 180f/Mathf.PI, Vector3.up) * forward;
        left = left.normalized * 0.1148f;
        Vector3 offset = forward - left;
        offset = offset.normalized * 0.1175f;
        return pos + Vector3.up * 0.2446f - offset;
    }

之后由向量计算得出 j4 应该旋转的角度，以确保末端竖直。

j5 不旋转，j6 的旋转角度由物体朝向决定。

Router

Route

一条路径由若干个关键点构成，在构建路径时只需输入若干 turning point，就会自行生成路径中的关键点。

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public class KeyPoint
{
    public Vector3 pos = Vector3.zero;
    public bool grab = false;
    public bool wait = false;
    public KeyPoint(Vector3 pos, bool grab = false, bool wait = false)
    {
        this.pos = pos;
        this.grab = grab;
        this.wait = wait;
    }
}

public class Route
{
    public List<KeyPoint> routes = new List<KeyPoint>();
    public Route(List<KeyPoint> turningPoints)
    {
        if (turningPoints.Count < 2)
        {
            return;
        }
        for (int i = 1; i < turningPoints.Count; i++)
        {
            KeyPoint start = turningPoints[i-1];
            KeyPoint end = turningPoints[i];
            float dist = (start.pos - end.pos).magnitude;
            int sigment = (int)(dist * 20f);
            for (int j = 0; j <= sigment; j++)
            {
                routes.Add(new KeyPoint(start.pos + ((float)j) / sigment * (end.pos - start.pos), start.grab));
            }
        }
    }
}

IK 只需要获取关键点的坐标信息就可以生成各个关节旋转的数据。

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InverseKinematics(GetPositionForJ4(position));
JustWork 参考文档
Posted Updated Notea few seconds read (About 78 words)

JustWork 参考文档

Unity 本体

新的Input System:https://gamedevbeginner.com/input-in-unity-made-easy-complete-guide-to-the-new-system/#how_to_manage_input

物理引擎

目前的想法是将unity的physx和mujoco结合在一起，简化physx的对于相对运动很少的刚体间的物理解算。
Mujoco:https://mujoco.readthedocs.io/en/latest/unity.html

Game Principle of <JustWork>
Posted Updated Note2 minutes read (About 363 words)

Game Principle of <JustWork>

参考

Besiege

核心功能

机械建造

需要更高的建造自由度：例如刚体零件的顶点自定义，3轴移动，3轴旋转，3轴缩放。
可视化内容更丰富：例如碰撞箱，连接点。

物理优化

目前还是使用phsX引擎，考虑一下GPU加速这块功能。
零件之间的连接考虑使用joint以外的方式，特别是某些刚性连接。

逻辑电路体系

参考我写的BesiegeModern Mod

零件材质自定义

{金属，木，玻璃}
需要自己写shader material实现该功能。

次要功能

更好的机械破坏系统

譬如撞击变形，高速击穿之类的
很难
在已有父刚体在运行中，更改碰撞箱布置是非常耗费性能的。

场景建造

自定义场景元素

教程系统

参考mc机械动力模组的“思索”
animation制作

故事模式

起部分教程作用，添加沉浸感，吸引一些非硬核玩家

三渲二

难，可能对电脑性能有较高要求。

目前需要的技术栈

unity shader
unity animation
美术相关工具
物理引擎Game Physics Engine Development
unity URP

ONI Modding
Posted Updated Note3 minutes read (About 490 words)

ONI Modding

Basic

Useful tools

  • Dnspy: decompile the runtime library of ONI
  • Visual Studio (though it’s too fat)
  • Poedit: read the .po file for zh-en translation

Hello world

Apply patches on the Initialize() method in Db class.

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public class Patches
    {
        [HarmonyPatch(typeof(Db))]
        [HarmonyPatch("Initialize")]
        public class Db_Initialize_Patch
        {
            public static void Prefix()
            {
                Debug.Log("Hello! Welcome to CuppyUniverse! [before Db.Initialize]");
            }

            public static void Postfix()
            {
                Debug.Log("CuppyUniverse initialized! [after Db.Initialize]");
            }
        }
        [HarmonyPatch(typeof(ElectrolyzerConfig))]
        [HarmonyPatch("CreateBuildingDef")]
        public class ElectrolyzerConfig_Patch
        {
            public static void Postfix(ref BuildingDef __result)
            {
                __result.EnergyConsumptionWhenActive = 114f;
            }
        }
    }

Add new building

Take gold washer (just like water purifier but output small amount of gold) as an example.

  1. Find the source code for water purifier.
    i.e.
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    using System;
    using TUNING;
    using UnityEngine;

    // Token: 0x0200039A RID: 922
    public class WaterPurifierConfig : IBuildingConfig
    {
    	// Token: 0x06001314 RID: 4884 RVA: 0x000665C4 File Offset: 0x000647C4
    	public override BuildingDef CreateBuildingDef()
    	{
    		string id = "WaterPurifier";
    		int width = 4;
    		int height = 3;
    		string anim = "waterpurifier_kanim";
    		int hitpoints = 100;
    		float construction_time = 30f;
    		float[] tier = BUILDINGS.CONSTRUCTION_MASS_KG.TIER3;
    		string[] all_METALS = MATERIALS.ALL_METALS;
    		float melting_point = 800f;
    		BuildLocationRule build_location_rule = BuildLocationRule.OnFloor;
    		EffectorValues tier2 = NOISE_POLLUTION.NOISY.TIER3;
    		BuildingDef buildingDef = BuildingTemplates.CreateBuildingDef(id, width, height, anim, hitpoints, construction_time, tier, all_METALS, melting_point, build_location_rule, BUILDINGS.DECOR.PENALTY.TIER2, tier2, 0.2f);
    		...
    		return buildingDef;
    	}

    	// Token: 0x06001315 RID: 4885 RVA: 0x000666A8 File Offset: 0x000648A8
    	public override void ConfigureBuildingTemplate(GameObject go, Tag prefab_tag)
    	{
    		...
    	}

    	// Token: 0x06001316 RID: 4886 RVA: 0x0006688B File Offset: 0x00064A8B
    	public override void DoPostConfigureComplete(GameObject go)
    	{
    		...
    	}

    	// Token: 0x04000A88 RID: 2696
    	public const string ID = "WaterPurifier";

    	// Token: 0x04000A89 RID: 2697
    	private const float FILTER_INPUT_RATE = 1f;

    	// Token: 0x04000A8A RID: 2698
    	private const float DIRTY_WATER_INPUT_RATE = 5f;

    	// Token: 0x04000A8B RID: 2699
    	private const float FILTER_CAPACITY = 1200f;

    	// Token: 0x04000A8C RID: 2700
    	private const float USED_FILTER_OUTPUT_RATE = 0.2f;

    	// Token: 0x04000A8D RID: 2701
    	private const float CLEAN_WATER_OUTPUT_RATE = 5f;

    	// Token: 0x04000A8E RID: 2702
    	private const float TARGET_OUTPUT_TEMPERATURE = 313.15f;
    }

Create a new csharp class file in VS and copy the content into it.
Remember to rename

  • the class name
  • id in method CreateBuildingDef()
  • ID in class
    In this example change them to GoldWasher
  1. Add GoldWasher to build menu.
    create a new patch for GeneratedBuildings
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    using System;
    using HarmonyLib;

    namespace ONI_CuppyUniverse_Mod
    {
        [HarmonyPatch(typeof(GeneratedBuildings), "LoadGeneratedBuildings")]
        public class GeneratedBuildings_LoadGeneratedBuildings
        {
            public static void Prefix()
            {
                Strings.Add(new string[] { 
                    "STRINGS.BUILDINGS.PREFABS.GOLDWASHER.NAME",
                    "淘金器"
                });
                Strings.Add(new string[] {
                    "STRINGS.BUILDINGS.PREFABS.GOLDWASHER.EFFECT",
                    "从纯净水中淘取黄金"
                });
                Strings.Add(new string[] {
                    "STRINGS.BUILDINGS.PREFABS.GOLDWASHER.DESC",
                    "你是信无中生有的"
                });
                ModUtil.AddBuildingToPlanScreen("Food", "GoldWasher");
            }
        }
    }

Reference

Aircraft control policy
Posted Updated 5 minutes read (About 821 words)

Aircraft control policy

Aircraft control policy

State Variable

Intuitive

  • Aircraft
    • Rotation (in euler angle: x,y,z)
    • Position (In the world coordinate system:x,y,z)
    • Linear velocity (In the world coordinate system: x,y,z)
    • Angular velocity (In the world coordinate system: x,y,z)
    • Acceleration (In the world coordinate system:x,y,z)
  • Carrier Vessel Landing Runway
    • Position
    • Rotation (fixed)
    • Velocity (fixed)

Extensive

  • Aircraft
    • AoA (angle of attack 攻角)

Decision Variable

  • Aircraft
    • Pitch angle (control aircraft’s rotation along x axis)
    • Roll angle (control aircraft’s rotation along z axis)
    • Yaw angle (control aircraft’s rotation along y axis)
    • Throttle (control thrust)

Level 1 (Basic) Policy

Only contain the control over control surface (on control over throttle)

Attitude Control/Maintainance

Pitch（俯仰角） C/M

Function: KeepPitch()

Control the angle of horizontal tail (elevator)

  1. First keep the angle of elevator same with AoA(攻角), to avoid the disturbance of the horizontal tail on the attitide of the aircraft.

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    aircraft.PitchAngle = aircraft.AoA;

    这里的aircraft.PitchAngle指的是飞机升降舵的角度(下片为正)

  2. 根据当前俯仰角，俯仰速度，和目标俯仰角，调整升降舵面的角度

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    aircraft.PitchAngle += 5 * (p - aircraft.Pitch) / Mathf.Exp(10 * aircraft.PitchSpeed * Mathf.Sign(p - aircraft.Pitch));

Other Attitude C/M

与俯仰角类似（分别控制滚转舵面以及偏航舵面），不过不需要第一步

Level 2 Policy

Velocity Direction Control/Maintainance

Gliding Angle (下滑角)

Control the thrust of aircraft to change the angle of gliding

  1. 保持飞机的俯仰角不变(5度仰角)

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    KeepPitch(5f);

  2. 计算当前下滑角

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    float velAngle = 90 - Vector3.Angle(aircraft.rb.velocity, Vector3.up);

  3. 根据下滑角更改油门大小

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    aircraft.Thrust += (p - velAngle)/500f;

Level 3 Policy

Follow Trajectory

Vertical Approaching (竖直平面上接近预定下滑道)

通过调整飞机的下滑角来使飞机在竖直面上接近并维持在理想的下滑道

  1. 计算偏差对应的向量
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    Vector3 approachDirection = Vector3.ProjectOnPlane(route.Destination - transform.position, route.direction);
  2. 根据偏差值调整下滑角的大小（-3为目标下滑轨道的下滑角）
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    ThrustKeepGliding(-3 + Mathf.Clamp(approachDirection.y / 10f, -5,5));

Horizontal Approaching (水平面上接近预定下滑道)

通过调整飞机的偏航舵面角度（进而影响飞机的y轴rotation）来使飞机在水平面上接近并维持在理想的航道上

  1. 计算偏差对应的向量
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    Vector3 approachDirection = Vector3.ProjectOnPlane(route.Destination - transform.position, route.direction);
    float distance = 0;

    if (Vector3.Angle(approachDirection, transform.right) < 90)
    {
    	distance = Vector3.ProjectOnPlane(approachDirection, Vector3.up).magnitude;
    }
    else
    {
    	distance = -Vector3.ProjectOnPlane(approachDirection, Vector3.up).magnitude;
    }
  2. 根据偏差值调整飞机的目标偏航角度（-8为目标下滑轨道的偏航角度）
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    KeepYaw(-8 + Mathf.Clamp(distance / 10f, -50, 50));

Get the ideal trajectory（补充）

基本的策略以及阐述完毕，那么所谓的理想下滑道到底应该怎么得到呢？
理想下滑道是一个射线，包含一个终点（飞机着陆的终点）和一个方向（飞机接近的方向）

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public class Target_Route
{
	public Vector3 Destination;
	public Vector3 direction;
}

理想航道的偏航角和下滑角已知（分别为-8（平行于着陆跑道）和-3）
通过迭代飞机着陆所需时间来求得下滑道终点的位置

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route.Destination = CV.transform.position;
route.direction = new Vector3(-0.14f, -0.05f, 0.99f).normalized;
// 获取飞机速度在下滑道方向上投影的大小
float axialVel = Vector3.Dot(aircraft.rb.velocity, route.direction);

// calculate precise destination
float FlightTime = 0;
for (int i = 0; i < 10; i++)
{
	FlightTime = Vector3.Dot(route.Destination - aircraft.transform.position,route.direction) / axialVel;// 获取预计到达终点需要的时间
	route.Destination = CV.transform.position + 15 * FlightTime * Vector3.forward; // 其中15是航母的速度，Vector3.forward是航母前进方向
}
WoodOxen M1
Posted Updated 5 minutes read (About 766 words)

WoodOxen M1

Task

  • Load car configuration from .json file
  • Compose DevDocs
  • Investigate csharp comment documentation
  • use assimp to load .glb model

Vehicle Physics Pro

Starting point
The unity’s build-in physics engine PhysX is far from being precise enough for a vehicle simulator.

Needs

  • Closer to reality vehicle physics
  • Runtime performance
  • Not so complicated to config so that the composition of the savings and editor will not be a headache

Official

Install

Through Asset Store

GLTFUtility

Starting point
The car model should be customizable, i.e. the user drag a car model into a directory and the game should be able to load it.
Filetype .glb is nice but unity doesn’t have build-in support

Needs

  • Runtime import
  • support mesh and material

GLTFUtility

Install

In tactics project:

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git submodule add https://github.com/Siccity/GLTFUtility.git ./Tactics/Assets/ThirdParty/GLTFUtility

Runtime API

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using Siccity.GLTFUtility

// Single thread
void ImportGLTF(string filepath){
    GameObject res = Importer.LoadFromFile(filepath);
}

// Multi thread
void ImportGLTFAsync(string filepath){
    Importer.ImportGLTFAsync(filepath, new ImportSettings(), OnFinish);
}
void OnFinish(){
    ...
}

here I use Application.streamingAssetsPath+"/Model/"+JsonReader.vehicle.model.carBody[0].dir as filepath

Trouble shooting

  1. In the built game, encounter ArgumentNullException: Value cannot be null. Parameter name: shader
    Github Issue
  2. The file management of the game changed after being built. How to determine where to place the Save and Model folders?
    Use Application.streamingAssetsPath, stands for Assets/StreamingAssets in Unity editor and Game_Data/StreamingAssets in exported game.

Csharp’s interpretation of Json

First construct the structure of the json file in c#.
Notice: the name of the member variable should be the same with those in json file 

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[System.Serializable]
public class VehiclePhysicsPara
{
    public float bodyMass;
    public Vector3 centerOfMass;
    public List<BodyColliderPara> collider;
    public List<WheelColliderPara> wheel;
}

[System.Serializable]
public class BodyColliderPara
{
    public string type; // box | sphere
    public Vector3 position;
    public Vector3 eulerRotation;
    public Vector3 scale;
}
[System.Serializable]
public class SteeringWheelTypePara
{
    public bool use;
    public bool inverse;
}
[System.Serializable]
public class WheelTypePara
{
    public bool powered;
    public SteeringWheelTypePara steering;
}
[System.Serializable]
public class WheelSuspensionPara
{
    public float spring;
    public float damper;
    public float distance;
    public float initialPosition;
}
[System.Serializable]
public class WheelFrictionPara
{
    public float extremumSlip;
    public float extremumValue;
    public float AsymptoteSlip;
    public float AsymptoteValue;
}

[System.Serializable]
public class WheelColliderPara
{
    public WheelTypePara type;
    public float mass;
    public float radius;
    public Vector3 position;
    public WheelSuspensionPara suspension;
    public WheelFrictionPara forwardFriction;
    public WheelFrictionPara sidewayFriction;
}

[System.Serializable]
public class VehicleModelPara
{
    public List<CarBodyPara> carBody;
    public List<WheelModelPara> wheel;
}
[System.Serializable]
public class CarBodyPara
{
    public string name;
    public string dir;
    public Vector3 position;
    public Vector3 eulerRotation;
    public Vector3 scale;
    public string shader;
}
[System.Serializable]
public class WheelModelPara
{
    public string name;
    public string dir;
    public Vector3 scale;
    public string shader;
}
[System.Serializable]
public class VehiclePara
{
    public VehicleModelPara model;
    public VehiclePhysicsPara physics;  
}

Notice: [System.Serializable] is for serialized display in Unity editor.

Then, directly use build-in json loader:

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VehiclePara vehicle;
vehicle = JsonUtility.FromJson<VehiclePara>(textJson.text);

All the parameters will be stored in the instance vehicle .

vehiclePara

Abstract the vehicle as a Json structure

Graph

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flowchart RL
    Main
    Model --> Main
    Physics --> Main
    Controller --> Main
    carBody --> Model
    subgraph bodyPart
    part1
    part2
    end
    bodyPart --> carBody
    wheelVis --> Model
    wheelVisGroup --> wheelVis
    subgraph bodyCollider
        boxCol
        sphereCol
    end
    bodyCollider --> collider
    collider --> Physics
    massProperty --> Physics
    wheelProperty --> Physics
    wheelColGroup --> wheelProperty
    subgraph wheelVisGroup
        tyreVis1
        tyreVis2
        tyreVis3
        tyreVis4
    end
    subgraph wheelColGroup
        wheelCol1 
        wheelCol2 
        wheelCol3 
        wheelCol4 
    end
    wheelVisGroup -- oneToOne --> wheelColGroup

Json example

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{
    "model":{
        "carBody":[
            {
                "name":"body1",
                "dir":"./CustomModel/car1/body1.obj",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0},
                "shader":"Standard"
            },
            {
                "name":"body2",
                "dir":"./CustomModel/car1/body2.obj",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0},
                "shader":"Standard"
            }
        ],
        "wheel":[
            {
                "name":"wheel1",
                "dir":"./CustomModel/car1/wheel1.obj",
                "scale":{"x":0,"y":0,"z":0},
                "shader":"Standard"
            }
        ]
    },
    "physics":{
        "collider":[
            {
                "type":"box",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0}
            },
            {
                "type":"sphere",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0}
            }
        ],
        "centerOfMass":{"x":0,"y":0,"z":0},
        "bodyMass":700,
        "wheel":[
            {
                "type":{"powered":true,"steering":{"use":true,"inverse":false}},
                "mass":7,
                "radius":0.5,
                "position":{"x":0,"y":0,"z":0},
                "suspension":{
                    "spring":25000,
                    "damper":9000,
                    "distance":0.3,
                    "initialPosition":0.5
                },
                "forwardFriction":{
                    "extremumSlip":0.1,
                    "extremumValue:":1,
                    "AsymptoteSlip":0.2,
                    "AsymptoteValue":0.8
                },
                "sidewayFriction":{
                    "extremumSlip":0.05,
                    "extremumValue:":1,
                    "AsymptoteSlip":0.2,
                    "AsymptoteValue":0.8
                }
            }
        ]
    }
}
Posted Updated Note2 minutes read (About 264 words)

Besiege mod "ModernAirCombat"

mod name: ModernAirCombat

Setup of mod

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$createmod "ModernAirCombat"

modify ./Mod.xml

  • Author
  • Description
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$createblock "ModernAirCombat" "SRAAM"
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mkdir ./Resources/SRAAM

add assets of SRAAM block r73.obj, r73.png

modify ./Mod.xml

  • Add resources
    1
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    <Mesh name="SRAAM Mesh" path="SRAAM\r73.obj"/>
    <Texture name="SRAAM Texture" path="SRAAM\r73.png"/>
    SRAAM-apppearance

modify ./SRAAM.xml

  • Mass
  • Mesh name
  • Texture name
  • Icon
  • Colliders
  • Points

create assembly for scripts

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createassembly "ModernAirCombat" compiled MacAssembly ModernAirCombat forceUnityTools

open project with VStudio

edit ModernAirCombat.cs

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using System;
using Modding;
using UnityEngine;

namespace ModernAirCombat
{
    public enum BlockList
    {
        SRAAM = 1,
        MRAAM = 2,
        LRAAM = 3
    }
    public class ModernAirCombat : ModEntryPoint
    {
        public static GameObject Mod;
        public override void OnLoad()
		    {
            Mod = new GameObject("Morden Firearm Kit Mod");
            UnityEngine.Object.DontDestroyOnLoad(Mod); \\avoid destroy mod instance when changing levels
            Debug.Log("Hello, this is Modern Air Combat！");
            // Called when the mod is loaded.
        }
    }
}

Write Block Scripts

add a block class SRAAM.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Xml.Serialization;
using System.Collections;

using Modding.Modules;
using Modding;
using Modding.Blocks;
using UnityEngine;

namespace ModernAirCombat
{
    class SRAAMBlock : BlockScript
    {
        public MToggle IFF;
        public MSlider detectAngleSlider;
        private Transform myTransform;      //实例化Transform对象
        private Rigidbody myRigidbody;

        public override void SafeAwake()
        {
            IFF = AddToggle("开启友伤", "IFF", true);
            detectAngleSlider = AddSlider("探测角度", "detection angle", 45.0f, 0.0f, 150.0f);
        }
        private void Start()
        {
            myTransform = gameObject.GetComponent<Transform>();        //获取相应对象的引用
            myRigidbody = gameObject.GetComponent<Rigidbody>();
            myRigidbody.drag = 2;
            myRigidbody.angularDrag = 4;
        }

        public override void OnSimulateStart()
        {
            base.OnSimulateStart();
        }

        public override void OnSimulateStop()
        {
            base.OnSimulateStop();
        }

        private void Update() {
            myRigidbody.AddRelativeForce(new Vector3(0, 1, 0), ForceMode.Impulse);
        }
    }
}

modify SRAAM.xml

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<Script>ModernAirCombat.SRAAMBlock</Script>
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