Digital Manufacturing (2025)

// Digital Manufacturing (2025)



// Script 1: RobotController

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class RobotController : MonoBehaviour
{
    [Serializable]
    public class JointData
    {
        public Transform transform;

        public float velocity = 30f;
        public float currentAngle = 0f;
        public float minAngle = -90f;
        public float maxAngle = 90f;
    }

    public List<JointData> joints = new List<JointData>();
    public int selectedJointIndex = 0;

    private bool shouldMoveLeft = false;
    private bool shouldMoveRight = false;

    public JointData SelectedJoint => joints[selectedJointIndex];

    // Update is called once per frame
    void Update()
    {
        float angleDelta = 0f;

        angleDelta = ApplyKeyboardInputs(angleDelta);
        angleDelta = ApplyUiInputs(angleDelta);
        angleDelta = ApplyJointLimits(angleDelta);

        SelectedJoint.transform.Rotate(0f, 0f, angleDelta);
        SelectedJoint.currentAngle += angleDelta;
    }

    private float ApplyKeyboardInputs(float angleDelta)
    {
        bool isLeftPressed = Input.GetKey(KeyCode.LeftArrow);
        if (isLeftPressed)
        {
            angleDelta = SelectedJoint.velocity * Time.deltaTime;
        }

        bool isRightPressed = Input.GetKey(KeyCode.RightArrow);
        if (isRightPressed)
        {
            angleDelta = -SelectedJoint.velocity * Time.deltaTime;
        }

        bool isSpacePressed = Input.GetKeyDown(KeyCode.Space);
        if (isSpacePressed)
        {
            SelectNextJoint();
        }

        return angleDelta;
    }

    private float ApplyUiInputs(float angleDelta)
    {
        if (shouldMoveLeft)
        {
            angleDelta = SelectedJoint.velocity * Time.deltaTime;
        }

        if (shouldMoveRight)
        {
            angleDelta = -SelectedJoint.velocity * Time.deltaTime;
        }

        return angleDelta;
    }

    private float ApplyJointLimits(float angleDelta)
    {
        if (SelectedJoint.currentAngle + angleDelta < SelectedJoint.minAngle)
        {
            angleDelta = SelectedJoint.minAngle - SelectedJoint.currentAngle;
        }

        if (SelectedJoint.currentAngle + angleDelta > SelectedJoint.maxAngle)
        {
            angleDelta = SelectedJoint.maxAngle - SelectedJoint.currentAngle;
        }

        return angleDelta;
    }

    public void SelectNextJoint()
    {
        selectedJointIndex += 1;

        if (selectedJointIndex >= joints.Count)
        {
            selectedJointIndex = 0;
        }
    }

    public void StartMovingLeft()
    {
        shouldMoveLeft = true;
        shouldMoveRight = false;
    }

    public void StartMovingRight()
    {
        shouldMoveLeft = false;
        shouldMoveRight = true;
    }

    public void Stop()
    {
        shouldMoveLeft = false;
        shouldMoveRight = false;
    }
}



// XR Packages
// VR:
//   Tilia Spatial Simulator: https://github.com/ExtendRealityLtd/Tilia.CameraRigs.SpatialSimulator.Unity