From 4de07e1988335b7af4c664f37bd26f6fffc552aa Mon Sep 17 00:00:00 2001 From: Redstone1024 <2824517378@qq.com> Date: Sat, 28 Oct 2023 21:30:28 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E5=A7=8B=E5=8C=96=E6=8F=90=E4=BA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 15 ++ .vsconfig | 13 ++ Config/DefaultEditor.ini | 0 Config/DefaultEngine.ini | 207 ++++++++++++++++++ Config/DefaultGame.ini | 3 + Config/DefaultInput.ini | 85 +++++++ Content/BP_Master.uasset | Bin 0 -> 203543 bytes Content/Level.umap | Bin 0 -> 24287 bytes Content/UMG_Master.uasset | Bin 0 -> 504542 bytes MecanumVehicle.py | 171 +++++++++++++++ MecanumVehicle.uproject | 22 ++ Platforms/HoloLens/Config/HoloLensEngine.ini | 32 +++ README.md | 15 ++ Source/MecanumVehicle.Target.cs | 15 ++ Source/MecanumVehicle/MecanumVehicle.Build.cs | 31 +++ Source/MecanumVehicle/MecanumVehicle.cpp | 6 + Source/MecanumVehicle/MecanumVehicle.h | 6 + .../MecanumVehicle/MecanumVehicleAdapter.cpp | 127 +++++++++++ Source/MecanumVehicle/MecanumVehicleAdapter.h | 59 +++++ Source/MecanumVehicleEditor.Target.cs | 15 ++ 20 files changed, 822 insertions(+) create mode 100644 .gitignore create mode 100644 .vsconfig create mode 100644 Config/DefaultEditor.ini create mode 100644 Config/DefaultEngine.ini create mode 100644 Config/DefaultGame.ini create mode 100644 Config/DefaultInput.ini create mode 100644 Content/BP_Master.uasset create mode 100644 Content/Level.umap create mode 100644 Content/UMG_Master.uasset create mode 100644 MecanumVehicle.py create mode 100644 MecanumVehicle.uproject create mode 100644 Platforms/HoloLens/Config/HoloLensEngine.ini create mode 100644 README.md create mode 100644 Source/MecanumVehicle.Target.cs create mode 100644 Source/MecanumVehicle/MecanumVehicle.Build.cs create mode 100644 Source/MecanumVehicle/MecanumVehicle.cpp create mode 100644 Source/MecanumVehicle/MecanumVehicle.h create mode 100644 Source/MecanumVehicle/MecanumVehicleAdapter.cpp create mode 100644 Source/MecanumVehicle/MecanumVehicleAdapter.h create mode 100644 Source/MecanumVehicleEditor.Target.cs diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..93e6106 --- /dev/null +++ b/.gitignore @@ -0,0 +1,15 @@ +Binaries +DerivedDataCache +Intermediate +Saved +Build +.vscode +.vs +*.VC.db +*.opensdf +*.opendb +*.sdf +*.sln +*.suo +*.xcodeproj +*.xcworkspace diff --git a/.vsconfig b/.vsconfig new file mode 100644 index 0000000..1a9d718 --- /dev/null +++ b/.vsconfig @@ -0,0 +1,13 @@ +{ + "version": "1.0", + "components": [ + "Microsoft.Net.Component.4.6.2.TargetingPack", + "Microsoft.VisualStudio.Component.VC.14.36.17.6.x86.x64", + "Microsoft.VisualStudio.Component.VC.Tools.x86.x64", + "Microsoft.VisualStudio.Component.Windows10SDK.22000", + "Microsoft.VisualStudio.Workload.CoreEditor", + "Microsoft.VisualStudio.Workload.ManagedDesktop", + "Microsoft.VisualStudio.Workload.NativeDesktop", + "Microsoft.VisualStudio.Workload.NativeGame" + ] +} diff --git a/Config/DefaultEditor.ini b/Config/DefaultEditor.ini new file mode 100644 index 0000000..e69de29 diff --git a/Config/DefaultEngine.ini b/Config/DefaultEngine.ini new file mode 100644 index 0000000..99e7ea9 --- /dev/null +++ b/Config/DefaultEngine.ini @@ -0,0 +1,207 @@ + + +[/Script/EngineSettings.GameMapsSettings] +GameDefaultMap=/Game/Level.Level +EditorStartupMap=/Game/Level.Level + +[/Script/WindowsTargetPlatform.WindowsTargetSettings] +DefaultGraphicsRHI=DefaultGraphicsRHI_DX12 +-D3D12TargetedShaderFormats=PCD3D_SM5 ++D3D12TargetedShaderFormats=PCD3D_SM6 +-D3D11TargetedShaderFormats=PCD3D_SM5 ++D3D11TargetedShaderFormats=PCD3D_SM5 +Compiler=Default +AudioSampleRate=48000 +AudioCallbackBufferFrameSize=1024 +AudioNumBuffersToEnqueue=1 +AudioMaxChannels=0 +AudioNumSourceWorkers=4 +SpatializationPlugin= +SourceDataOverridePlugin= +ReverbPlugin= +OcclusionPlugin= +CompressionOverrides=(bOverrideCompressionTimes=False,DurationThreshold=5.000000,MaxNumRandomBranches=0,SoundCueQualityIndex=0) +CacheSizeKB=65536 +MaxChunkSizeOverrideKB=0 +bResampleForDevice=False +MaxSampleRate=48000.000000 +HighSampleRate=32000.000000 +MedSampleRate=24000.000000 +LowSampleRate=12000.000000 +MinSampleRate=8000.000000 +CompressionQualityModifier=1.000000 +AutoStreamingThreshold=0.000000 +SoundCueCookQualityIndex=-1 + +[/Script/HardwareTargeting.HardwareTargetingSettings] +TargetedHardwareClass=Desktop +AppliedTargetedHardwareClass=Desktop +DefaultGraphicsPerformance=Scalable +AppliedDefaultGraphicsPerformance=Scalable + +[/Script/Engine.RendererSettings] +r.Mobile.ShadingPath=0 +r.Mobile.SupportGPUScene=False +r.Mobile.AntiAliasing=1 +r.Mobile.FloatPrecisionMode=0 +r.Mobile.AllowDitheredLODTransition=False +r.Mobile.VirtualTextures=False +r.DiscardUnusedQuality=False +r.Shaders.CompressionFormat=2 +r.AllowOcclusionQueries=True +r.MinScreenRadiusForLights=0.030000 +r.MinScreenRadiusForDepthPrepass=0.030000 +r.MinScreenRadiusForCSMDepth=0.010000 +r.PrecomputedVisibilityWarning=False +r.TextureStreaming=True +Compat.UseDXT5NormalMaps=False +r.VirtualTextures=False +r.VT.EnableAutoImport=True +r.VirtualTexturedLightmaps=False +r.VT.AnisotropicFiltering=False +bEnableVirtualTextureOpacityMask=False +r.VT.TileSize=128 +r.VT.TileBorderSize=4 +r.vt.FeedbackFactor=16 +WorkingColorSpaceChoice=sRGB +RedChromaticityCoordinate=(X=0.640000,Y=0.330000) +GreenChromaticityCoordinate=(X=0.300000,Y=0.600000) +BlueChromaticityCoordinate=(X=0.150000,Y=0.060000) +WhiteChromaticityCoordinate=(X=0.312700,Y=0.329000) +r.ClearCoatNormal=False +r.DynamicGlobalIlluminationMethod=1 +r.ReflectionMethod=1 +r.ReflectionCaptureResolution=128 +r.ReflectionEnvironmentLightmapMixBasedOnRoughness=True +r.Lumen.HardwareRayTracing=False +r.Lumen.HardwareRayTracing.LightingMode=0 +r.Lumen.TranslucencyReflections.FrontLayer.EnableForProject=False +r.Lumen.TraceMeshSDFs=1 +r.Shadow.Virtual.Enable=1 +r.RayTracing=False +r.RayTracing.Shadows=False +r.RayTracing.Skylight=False +r.RayTracing.UseTextureLod=False +r.PathTracing=True +r.GenerateMeshDistanceFields=True +r.DistanceFields.DefaultVoxelDensity=0.200000 +r.Nanite.ProjectEnabled=True +r.AllowStaticLighting=True +r.NormalMapsForStaticLighting=False +r.ForwardShading=False +r.VertexFoggingForOpaque=True +r.SeparateTranslucency=True +r.TranslucentSortPolicy=0 +TranslucentSortAxis=(X=0.000000,Y=-1.000000,Z=0.000000) +vr.VRS.HMDFixedFoveationLevel=0 +vr.VRS.HMDFixedFoveationDynamic=False +r.CustomDepth=1 +r.CustomDepthTemporalAAJitter=True +r.PostProcessing.PropagateAlpha=0 +r.DefaultFeature.Bloom=True +r.DefaultFeature.AmbientOcclusion=True +r.DefaultFeature.AmbientOcclusionStaticFraction=True +r.DefaultFeature.AutoExposure=False +r.DefaultFeature.AutoExposure.Method=0 +r.DefaultFeature.AutoExposure.Bias=1.000000 +r.DefaultFeature.AutoExposure.ExtendDefaultLuminanceRange=True +r.DefaultFeature.MotionBlur=False +r.DefaultFeature.LensFlare=False +r.TemporalAA.Upsampling=True +r.AntiAliasingMethod=0 +r.MSAACount=4 +r.DefaultFeature.LightUnits=1 +r.DefaultBackBufferPixelFormat=4 +r.Shadow.UnbuiltPreviewInGame=True +r.StencilForLODDither=False +r.EarlyZPass=3 +r.EarlyZPassOnlyMaterialMasking=False +r.Shadow.CSMCaching=False +r.DBuffer=True +r.ClearSceneMethod=1 +r.VelocityOutputPass=1 +r.Velocity.EnableVertexDeformation=2 +r.SelectiveBasePassOutputs=False +bDefaultParticleCutouts=False +fx.GPUSimulationTextureSizeX=1024 +fx.GPUSimulationTextureSizeY=1024 +r.AllowGlobalClipPlane=False +r.GBufferFormat=1 +r.MorphTarget.Mode=True +r.GPUCrashDebugging=False +vr.InstancedStereo=False +r.MobileHDR=True +vr.MobileMultiView=False +r.Mobile.UseHWsRGBEncoding=False +vr.RoundRobinOcclusion=False +r.MeshStreaming=False +r.HeterogeneousVolumes=True +r.WireframeCullThreshold=5.000000 +r.SupportStationarySkylight=True +r.SupportLowQualityLightmaps=True +r.SupportPointLightWholeSceneShadows=True +r.SupportSkyAtmosphere=True +r.SupportSkyAtmosphereAffectsHeightFog=True +r.SupportCloudShadowOnForwardLitTranslucent=False +r.Shadow.TranslucentPerObject.ProjectEnabled=False +r.Water.SingleLayerWater.SupportCloudShadow=False +r.Substrate=False +r.Substrate.OpaqueMaterialRoughRefraction=False +r.Substrate.Debug.AdvancedVisualizationShaders=False +r.Material.RoughDiffuse=False +r.Material.EnergyConservation=False +r.OIT.SortedPixels=False +r.SkinCache.CompileShaders=False +r.SkinCache.SkipCompilingGPUSkinVF=False +r.SkinCache.DefaultBehavior=1 +r.SkinCache.SceneMemoryLimitInMB=128.000000 +r.Mobile.EnableStaticAndCSMShadowReceivers=True +r.Mobile.EnableMovableLightCSMShaderCulling=True +r.Mobile.Forward.EnableLocalLights=True +r.Mobile.Forward.EnableClusteredReflections=False +r.Mobile.EnableNoPrecomputedLightingCSMShader=False +r.Mobile.AllowDistanceFieldShadows=True +r.Mobile.AllowMovableDirectionalLights=True +r.Mobile.EnableMovableSpotlightsShadow=False +r.GPUSkin.Support16BitBoneIndex=False +r.GPUSkin.Limit2BoneInfluences=False +r.SupportDepthOnlyIndexBuffers=True +r.SupportReversedIndexBuffers=True +r.Mobile.AmbientOcclusion=False +r.GPUSkin.UnlimitedBoneInfluences=False +r.GPUSkin.UnlimitedBoneInfluencesThreshold=8 +DefaultBoneInfluenceLimit=(Default=0,PerPlatform=()) +MaxSkinBones=(Default=65536,PerPlatform=(("Mobile", 256))) +r.Mobile.PlanarReflectionMode=0 +r.Mobile.SupportsGen4TAA=True +bStreamSkeletalMeshLODs=(Default=False,PerPlatform=()) +bDiscardSkeletalMeshOptionalLODs=(Default=False,PerPlatform=()) +VisualizeCalibrationColorMaterialPath=/Engine/EngineMaterials/PPM_DefaultCalibrationColor.PPM_DefaultCalibrationColor +VisualizeCalibrationCustomMaterialPath=None +VisualizeCalibrationGrayscaleMaterialPath=/Engine/EngineMaterials/PPM_DefaultCalibrationGrayscale.PPM_DefaultCalibrationGrayscale + +[/Script/WorldPartitionEditor.WorldPartitionEditorSettings] +CommandletClass=Class'/Script/UnrealEd.WorldPartitionConvertCommandlet' + +[/Script/Engine.UserInterfaceSettings] +bAuthorizeAutomaticWidgetVariableCreation=False + +[/Script/Engine.Engine] ++ActiveGameNameRedirects=(OldGameName="TP_Blank",NewGameName="/Script/MecanumVehicle") ++ActiveGameNameRedirects=(OldGameName="/Script/TP_Blank",NewGameName="/Script/MecanumVehicle") ++ActiveClassRedirects=(OldClassName="TP_BlankGameModeBase",NewClassName="MecanumVehicleGameModeBase") + +[/Script/AndroidFileServerEditor.AndroidFileServerRuntimeSettings] +bEnablePlugin=True +bAllowNetworkConnection=True +SecurityToken=81D630CB419CCE7C987D8C9AF30709C2 +bIncludeInShipping=False +bAllowExternalStartInShipping=False +bCompileAFSProject=False +bUseCompression=False +bLogFiles=False +bReportStats=False +ConnectionType=USBOnly +bUseManualIPAddress=False +ManualIPAddress= + diff --git a/Config/DefaultGame.ini b/Config/DefaultGame.ini new file mode 100644 index 0000000..461d4db --- /dev/null +++ b/Config/DefaultGame.ini @@ -0,0 +1,3 @@ + +[/Script/EngineSettings.GeneralProjectSettings] +ProjectID=EE6145CD461B3A171C8C0AA1AE145861 diff --git a/Config/DefaultInput.ini b/Config/DefaultInput.ini new file mode 100644 index 0000000..4cc3605 --- /dev/null +++ b/Config/DefaultInput.ini @@ -0,0 +1,85 @@ +[/Script/Engine.InputSettings] +-AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f)) +-AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f)) +-AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f)) +-AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f)) +-AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f)) +-AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f)) +-AxisConfig=(AxisKeyName="Mouse2D",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f)) ++AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Mouse2D",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MouseWheelAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_LeftTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_RightTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_Special_Left_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Gamepad_Special_Left_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Vive_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Vive_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Vive_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Vive_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Vive_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="Vive_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="MixedReality_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Left_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Right_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="OculusTouch_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Grip_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Grip_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) ++AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False)) +bAltEnterTogglesFullscreen=True +bF11TogglesFullscreen=True +bUseMouseForTouch=False +bEnableMouseSmoothing=True +bEnableFOVScaling=True +bCaptureMouseOnLaunch=True +bEnableLegacyInputScales=True +bEnableMotionControls=True +bFilterInputByPlatformUser=False +bShouldFlushPressedKeysOnViewportFocusLost=True +bAlwaysShowTouchInterface=False +bShowConsoleOnFourFingerTap=True +bEnableGestureRecognizer=False +bUseAutocorrect=False +DefaultViewportMouseCaptureMode=CapturePermanently_IncludingInitialMouseDown +DefaultViewportMouseLockMode=LockOnCapture +FOVScale=0.011110 +DoubleClickTime=0.200000 +DefaultPlayerInputClass=/Script/EnhancedInput.EnhancedPlayerInput +DefaultInputComponentClass=/Script/EnhancedInput.EnhancedInputComponent +DefaultTouchInterface=/Engine/MobileResources/HUD/DefaultVirtualJoysticks.DefaultVirtualJoysticks 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+motor_pins = [4, 18, 17, 27, 23, 22, 24, 25] +motor_pwms = [] + +def init_motor(): + + GPIO.setup(motor_pins, GPIO.OUT) + + for motor_index in range(0, 8): + + motor_pwms.append(GPIO.PWM(motor_pins[motor_index], 500)) + motor_pwms[motor_index].start(0) + +motor_LF_forward = 0 +motor_LF_reverse = 1 + +motor_RF_forward = 3 +motor_RF_reverse = 2 + +motor_LR_forward = 5 +motor_LR_reverse = 4 + +motor_RR_forward = 6 +motor_RR_reverse = 7 + +def stop_motor(): + + for motor_index in range(0, 8): + + motor_pwms[motor_index].ChangeDutyCycle(0.0) + +def set_motor(motor, speed, is_brake = False): + + motor_forward = -1 + motor_reverse = -1 + + if motor == "LF": + + motor_forward = motor_LF_forward + motor_reverse = motor_LF_reverse + + elif motor == "RF": + + motor_forward = motor_RF_forward + motor_reverse = motor_RF_reverse + + elif motor == "LR": + + motor_forward = motor_LR_forward + motor_reverse = motor_LR_reverse + + else: # motor == "RR" + + motor_forward = motor_RR_forward + motor_reverse = motor_RR_reverse + + if is_brake == True: + + motor_pwms[motor_forward].ChangeDutyCycle(100.0) + motor_pwms[motor_reverse].ChangeDutyCycle(100.0) + + elif speed < 0: + + motor_pwms[motor_forward].ChangeDutyCycle(0.0) + motor_pwms[motor_reverse].ChangeDutyCycle(-speed * 100.0) + + elif speed > 0: + + motor_pwms[motor_forward].ChangeDutyCycle(speed * 100.0) + motor_pwms[motor_reverse].ChangeDutyCycle(0.0) + + else: + + motor_pwms[motor_forward].ChangeDutyCycle(0.0) + motor_pwms[motor_reverse].ChangeDutyCycle(0.0) + +sock = socket.socket() +lasttime = 0 + +def init_udp(): + + global sock + + sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + sock.bind(("0.0.0.0", 6000)) + sock.setblocking(False) + +def hand_udp(): + + global sock + global udp_addr + global lasttime + + try: + + (data, source) = sock.recvfrom(1024) + + udp_addr = source + + if len(data) == 6: + + seq, speed_LF, speed_RF, speed_LR, speed_RR, is_brake = struct.unpack("!Bbbbb?", data) + + set_motor("LF", clamp(speed_LF / 128, -1.0, 1.0), is_brake) + set_motor("RF", clamp(speed_RF / 128, -1.0, 1.0), is_brake) + set_motor("LR", clamp(speed_LR / 128, -1.0, 1.0), is_brake) + set_motor("RR", clamp(speed_RR / 128, -1.0, 1.0), is_brake) + + sock.sendto(struct.pack("!B", seq), udp_addr) + + lasttime = time.time() + + except socket.error: + + pass + + if time.time() - lasttime >= 0.5: + + set_motor("LF", 0.0, True) + set_motor("RF", 0.0, True) + set_motor("LR", 0.0, True) + set_motor("RR", 0.0, True) + +try: + + init_motor() + init_udp() + + while True: + + hand_udp() + + time.sleep(interval) + +except KeyboardInterrupt: + + print("\nKeyboardInterrupt") + +finally: + + stop_motor() + + GPIO.cleanup() + + print("Exit") diff --git a/MecanumVehicle.uproject b/MecanumVehicle.uproject new file mode 100644 index 0000000..dfbbe10 --- /dev/null +++ b/MecanumVehicle.uproject @@ -0,0 +1,22 @@ +{ + "FileVersion": 3, + "EngineAssociation": "5.3", + "Category": "", + "Description": "", + "Modules": [ + { + "Name": "MecanumVehicle", + "Type": "Runtime", + "LoadingPhase": "Default" + } + ], + "Plugins": [ + { + "Name": "ModelingToolsEditorMode", + "Enabled": true, + "TargetAllowList": [ + "Editor" + ] + } + ] +} \ No newline at end of file diff --git a/Platforms/HoloLens/Config/HoloLensEngine.ini b/Platforms/HoloLens/Config/HoloLensEngine.ini new file mode 100644 index 0000000..7a24085 --- /dev/null +++ b/Platforms/HoloLens/Config/HoloLensEngine.ini @@ -0,0 +1,32 @@ + + +[/Script/HoloLensPlatformEditor.HoloLensTargetSettings] +bBuildForEmulation=False +bBuildForDevice=True +bUseNameForLogo=True +bBuildForRetailWindowsStore=False +bAutoIncrementVersion=False +bShouldCreateAppInstaller=False +AppInstallerInstallationURL= +HoursBetweenUpdateChecks=0 +bEnablePIXProfiling=False +TileBackgroundColor=(B=64,G=0,R=0,A=255) +SplashScreenBackgroundColor=(B=64,G=0,R=0,A=255) ++PerCultureResources=(CultureId="",Strings=(PackageDisplayName="",PublisherDisplayName="",PackageDescription="",ApplicationDisplayName="",ApplicationDescription=""),Images=()) +TargetDeviceFamily=Windows.Holographic +MinimumPlatformVersion=10.0.18362.0 +MaximumPlatformVersionTested=10.0.19041.0 +MaxTrianglesPerCubicMeter=500.000000 +SpatialMeshingVolumeSize=20.000000 +CompilerVersion=Default +Windows10SDKVersion=10.0.18362.0 ++CapabilityList=internetClientServer ++CapabilityList=privateNetworkClientServer ++Uap2CapabilityList=spatialPerception +bSetDefaultCapabilities=False +SpatializationPlugin= +SourceDataOverridePlugin= +ReverbPlugin= +OcclusionPlugin= +SoundCueCookQualityIndex=-1 + diff --git a/README.md b/README.md new file mode 100644 index 0000000..62e10dd --- /dev/null +++ b/README.md @@ -0,0 +1,15 @@ +### MecanumVehicle + +> 这是 2023 年山东理工大学 秋名山机器人竞速大赛 的小车 + +MecanumVehicle.py - 树莓派车入口 + +MecanumVehicle.uproject - 控制端入口 + +基于树莓派的简单网络遥控车实现方案。 + +支持使用主流游戏手柄操作，电机功率差速补偿，远程操作。 + +网络协议基于 UDP ，车作为服务端，控制端作为客户端接入。 + +客户端基于 Unreal Engine 5 ，其中控制端在 Windows 11 平台上测试通过。 diff --git a/Source/MecanumVehicle.Target.cs b/Source/MecanumVehicle.Target.cs new file mode 100644 index 0000000..400622b --- /dev/null +++ b/Source/MecanumVehicle.Target.cs @@ -0,0 +1,15 @@ +// Copyright Epic Games, Inc. All Rights Reserved. + +using UnrealBuildTool; +using System.Collections.Generic; + +public class MecanumVehicleTarget : TargetRules +{ + public MecanumVehicleTarget( TargetInfo Target) : base(Target) + { + Type = TargetType.Game; + DefaultBuildSettings = BuildSettingsVersion.V2; + IncludeOrderVersion = EngineIncludeOrderVersion.Unreal5_1; + ExtraModuleNames.Add("MecanumVehicle"); + } +} diff --git a/Source/MecanumVehicle/MecanumVehicle.Build.cs b/Source/MecanumVehicle/MecanumVehicle.Build.cs new file mode 100644 index 0000000..c9984e0 --- /dev/null +++ b/Source/MecanumVehicle/MecanumVehicle.Build.cs @@ -0,0 +1,31 @@ +// Copyright Epic Games, Inc. All Rights Reserved. + +using UnrealBuildTool; + +public class MecanumVehicle : ModuleRules +{ + public MecanumVehicle(ReadOnlyTargetRules Target) : base(Target) + { + PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs; + + PublicDependencyModuleNames.AddRange( + new string[] + { + "Core", + "Engine", + "InputCore" , + "CoreUObject", + } + ); + + PrivateDependencyModuleNames.AddRange( + new string[] + { + "RHI", + "Sockets", + "Networking", + "RenderCore", + } + ); + } +} diff --git a/Source/MecanumVehicle/MecanumVehicle.cpp b/Source/MecanumVehicle/MecanumVehicle.cpp new file mode 100644 index 0000000..f021da3 --- /dev/null +++ b/Source/MecanumVehicle/MecanumVehicle.cpp @@ -0,0 +1,6 @@ +// Copyright Epic Games, Inc. All Rights Reserved. + +#include "MecanumVehicle.h" +#include "Modules/ModuleManager.h" + +IMPLEMENT_PRIMARY_GAME_MODULE( FDefaultGameModuleImpl, MecanumVehicle, "MecanumVehicle" ); diff --git a/Source/MecanumVehicle/MecanumVehicle.h b/Source/MecanumVehicle/MecanumVehicle.h new file mode 100644 index 0000000..677c8e2 --- /dev/null +++ b/Source/MecanumVehicle/MecanumVehicle.h @@ -0,0 +1,6 @@ +// Copyright Epic Games, Inc. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" + diff --git a/Source/MecanumVehicle/MecanumVehicleAdapter.cpp b/Source/MecanumVehicle/MecanumVehicleAdapter.cpp new file mode 100644 index 0000000..c76932f --- /dev/null +++ b/Source/MecanumVehicle/MecanumVehicleAdapter.cpp @@ -0,0 +1,127 @@ +#include "MecanumVehicleAdapter.h" + +#include "Sockets.h" +#include "Networking.h" +#include "Misc/Timespan.h" +#include "SocketSubsystem.h" + +AMecanumVehicleAdapter::AMecanumVehicleAdapter(const FObjectInitializer& ObjectInitializer) +{ + PrimaryActorTick.bCanEverTick = true; +} + +void AMecanumVehicleAdapter::BeginPlay() +{ + Super::BeginPlay(); + + SocketSubsystem = ISocketSubsystem::Get(PLATFORM_SOCKETSUBSYSTEM); + + UDPSocket = SocketSubsystem->CreateSocket(NAME_DGram, TEXT("Raspberry Socket"), FNetworkProtocolTypes::IPv4); + + UDPBuffer.SetNumUninitialized(1024); + + PingTime = 1024.0; + + for (int32 Index = 0; Index < MAX_uint8; ++Index) + { + UDPRecvTime[Index] = FDateTime(0); + } + + UpdataSocket(TEXT("192.168.1.1")); +} + +void AMecanumVehicleAdapter::UpdataCompensation(const TArray& Value) +{ + if (Value.Num() != 8) return; + + SpeedCompensationMax[0] = Value[0]; + SpeedCompensationMax[1] = Value[1]; + SpeedCompensationMax[2] = Value[2]; + SpeedCompensationMax[3] = Value[3]; + + SpeedCompensationMin[0] = Value[4]; + SpeedCompensationMin[1] = Value[5]; + SpeedCompensationMin[2] = Value[6]; + SpeedCompensationMin[3] = Value[7]; + +} + +void AMecanumVehicleAdapter::UpdataSocket(const FString& IP, const int32 Port) +{ + int32 BytesNum = 0; + Addr = SocketSubsystem->CreateInternetAddr(); + + bool bIsValid; + Addr->SetIp(TEXT("192.168.1.1"), bIsValid); + Addr->SetIp(*IP, bIsValid); + Addr->SetPort(Port); +} + +void AMecanumVehicleAdapter::UpdataInput(const FVector Value, const bool bIsBrake) +{ + ++UDPSequenceIndex; + + UDPSequenceIndex %= MAX_uint8; + + UDPRecvTime[UDPSequenceIndex] = FDateTime::UtcNow(); + + double SpeedLF = 0.0f; + double SpeedRF = 0.0f; + double SpeedLR = 0.0f; + double SpeedRR = 0.0f; + + SpeedLF += Value.X; + SpeedRF += Value.X; + SpeedLR += Value.X; + SpeedRR += Value.X; + + SpeedLF += Value.Y; + SpeedRF -= Value.Y; + SpeedLR -= Value.Y; + SpeedRR += Value.Y; + + SpeedLF += Value.Z; + SpeedRF -= Value.Z; + SpeedLR += Value.Z; + SpeedRR -= Value.Z; + + UDPBuffer[0] = UDPSequenceIndex; + UDPBuffer[1] = (int8)(FMath::Clamp(FMath::Sign(SpeedLF) * FMath::Lerp(SpeedCompensationMin[0], SpeedCompensationMax[0], FMath::Abs(SpeedLF)) * 128.0, MIN_int8, MAX_int8)); + UDPBuffer[2] = (int8)(FMath::Clamp(FMath::Sign(SpeedRF) * FMath::Lerp(SpeedCompensationMin[1], SpeedCompensationMax[1], FMath::Abs(SpeedRF)) * 128.0, MIN_int8, MAX_int8)); + UDPBuffer[3] = (int8)(FMath::Clamp(FMath::Sign(SpeedLR) * FMath::Lerp(SpeedCompensationMin[2], SpeedCompensationMax[2], FMath::Abs(SpeedLR)) * 128.0, MIN_int8, MAX_int8)); + UDPBuffer[4] = (int8)(FMath::Clamp(FMath::Sign(SpeedRR) * FMath::Lerp(SpeedCompensationMin[3], SpeedCompensationMax[3], FMath::Abs(SpeedRR)) * 128.0, MIN_int8, MAX_int8)); + UDPBuffer[5] = bIsBrake; + + int32 BytesNum = 0; + UDPSocket->SendTo(UDPBuffer.GetData(), 6, BytesNum, *Addr); +} + +void AMecanumVehicleAdapter::Tick(float DeltaTime) +{ + Super::Tick(DeltaTime); + + int32 BytesNum = 0; + TSharedRef Source = SocketSubsystem->CreateInternetAddr(); + + uint32 PendingDataSize; + while (UDPSocket->HasPendingData(PendingDataSize)) + { + UDPSocket->RecvFrom(UDPBuffer.GetData(), UDPBuffer.Num(), BytesNum, *Source); + + if (BytesNum == 1) + { + uint8 Index = UDPBuffer[0]; + PingTime = (FDateTime::UtcNow() - UDPRecvTime[Index]).GetTotalMilliseconds(); + } + else continue; + + UDPLastTime = FDateTime::UtcNow(); + } + + PingTime = FMath::Max(PingTime, (FDateTime::UtcNow() - UDPLastTime).GetTotalMilliseconds()); +} + +void AMecanumVehicleAdapter::EndPlay(const EEndPlayReason::Type EndPlayReason) +{ + Super::EndPlay(EndPlayReason); +} diff --git a/Source/MecanumVehicle/MecanumVehicleAdapter.h b/Source/MecanumVehicle/MecanumVehicleAdapter.h new file mode 100644 index 0000000..60bea85 --- /dev/null +++ b/Source/MecanumVehicle/MecanumVehicleAdapter.h @@ -0,0 +1,59 @@ +#pragma once + +#include "CoreMinimal.h" +#include "GameFramework/Actor.h" +#include "MecanumVehicleAdapter.generated.h" + +class FSocket; +class ISocketSubsystem; + +UCLASS() +class MECANUMVEHICLE_API AMecanumVehicleAdapter : public AActor +{ + GENERATED_BODY() + +public: + + AMecanumVehicleAdapter(const FObjectInitializer& ObjectInitializer); + + UPROPERTY(BlueprintReadOnly) + double PingTime; + + UFUNCTION(BlueprintCallable) + void UpdataCompensation(const TArray& Value); + + UFUNCTION(BlueprintCallable) + void UpdataSocket(const FString& IP, const int32 Port = 6000); + + UFUNCTION(BlueprintCallable) + void UpdataInput(const FVector Value, const bool bIsBrake); + + UFUNCTION(BlueprintCallable) + + //~ Begin AActor Interface. + virtual void BeginPlay() override; + virtual void Tick(float DeltaSeconds) override; + virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override; + //~ End AActor Interface. + +private: + + ISocketSubsystem* SocketSubsystem; + + FSocket* UDPSocket; + + TSharedPtr Addr; + + TArray UDPBuffer; + + int32 UDPSequenceIndex = 0; + + FDateTime UDPLastTime; + + FDateTime UDPRecvTime[(int32)MAX_uint8 + 1]; + + double SpeedCompensationMax[4] = { 1.0, 1.0, 1.0, 1.0 }; + + double SpeedCompensationMin[4] = { 0.0, 0.0, 0.0, 0.0 }; + +}; diff --git a/Source/MecanumVehicleEditor.Target.cs b/Source/MecanumVehicleEditor.Target.cs new file mode 100644 index 0000000..ec7bb26 --- /dev/null +++ b/Source/MecanumVehicleEditor.Target.cs @@ -0,0 +1,15 @@ +// Copyright Epic Games, Inc. All Rights Reserved. + +using UnrealBuildTool; +using System.Collections.Generic; + +public class MecanumVehicleEditorTarget : TargetRules +{ + public MecanumVehicleEditorTarget( TargetInfo Target) : base(Target) + { + Type = TargetType.Editor; + DefaultBuildSettings = BuildSettingsVersion.V2; + IncludeOrderVersion = EngineIncludeOrderVersion.Unreal5_1; + ExtraModuleNames.Add("MecanumVehicle"); + } +}