VR_Dev

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About VR_Dev

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  1. VR_Dev

    [WIP] Unity Controlled Robotic Plugins

    Still hard at work at this. Didn't have much to show on the bridge rework but I've finally optimized it to be as fast as possible, and have begun adding features into the platform. First off is the autopilot from my f-22 drone race. (https://www.youtube.com/watch?v=HEbhV4tjA8E&t=27s). You can input raw steering data or have it match a target. My joystick has never worked in KSP but now I am able to use it through unity. This video is raw control, but soon you will be able to position the second target vessel, and have the real one match its rotation. GenerateCamera() will automatically place a camera in the ksp scene and a render texture in the unity scene. You can also move the camera in unity and it will move in ksp. Render textures can now be sent at 60fps as well. Still need to remove the UI layers from the created camera however. This will be necessary to control the bots in VR, and still see whats happening in the game. As shown in the examples above I can also send the meshes over the bridge to unity. This will be helpful for a visual reference on top of the line skeletons. I have to figure out a way to get the manipulated IR components to look correct however. My next big project is writing a component that will automatically map any IR arm, and automatically calculate it's IK. This will most likely not be easy, but I believe it is doable, and would be the most useful feature to other people. I plan on rebuilding the hexapod with this system, but am also trying to build this. I want a mech that can walk, as well as have VTOL short to medium range capabilities. Also seems like a good stepping stone towards an upright, bidepal mech.
  2. VR_Dev

    Unity Controlled IK Mechs

    Trying to build this. Got an ok start. If any mech builders wanna take a crack at it I'll credit you in all the walking videos. Def want the engines included. https://www.dropbox.com/s/prmmdwlvy8wsp7y/GorillaMech 4.craft?dl=0
  3. VR_Dev

    [WIP] Unity Controlled Robotic Plugins

    Damn dude that thing is slick. Really solid IR skeleton which will work well fully rigged. Also like some of the clipping joints you created. As I'll explain below I've taken a step back form the robotics to rework the bridge, but when I get back at it I'll give yours a test. Yeah dude I hear ya. Everything in this thread right now has the robotics and memory files intertwined. It is also using my old custom process hack. Now that I can get memory files to work in ksp, I am building the whole thing from scratch as two separate projects. The independent memory mapped bridge, and the robotics on top of that. What I am in the process of building are two dlls, one server and one client, that will allow anyone to use this system. I am working hard to make it as easy as possible for people to use by requiring no up front initialization. If I recall correctly in kRPC, you have to declare the variables you want to use at start, which was kind of annoying. Using my method all you have to do is call ReadValue(string Key), and WriteValue(string key, float/vector3 value), and you will be able to access the value from the editor, or a stand alone application. I also plan to build the camera stream feature into the bridge. So it's a giant step back but a huge step forward. Once I get the Memory Mapped plugin working, I will return to the robotics. As for the other questions, it just needs the standard unity editor now, but like I said, it will be supported in stand alone applications just like kRPC, no download now but soon, it the new system will be open and documented, and it should be 1.4 compatible there is nothing limiting it to a certain a ksp version. On a completely separate note looks like someone beat me to native KSP VR. https://www.reddit.com/r/KerbalSpaceProgram/comments/87m019/you_cant_check_the_staging_with_vr/
  4. VR_Dev

    Unity Controlled IK Mechs

    If you take two legs off the hexapod the script automatically switches to quadrapod mode. The leg shape will still be a little dif then an ATAT though. That probably needs a code rework. Tons of people have made walking ATATs though. Check out youtube
  5. Wanted to start a thread to host the craft for my project, and try to keep craft design and mod dev separate. I know nothing about hexapods so the design has lots of room for improvement. Also need a rocket to carry it to other worlds. If your curious about the technique behind the bridge, the thread is here. If you want to try the walking program, know a little about Unity, and have a decent PC, hit me up. Hexapod https://kerbalx.com/VR_Dev/VR_Dev-Hexapod [BDA][Surface Lights] [TweakScale] [IR Rework] Bidedal [Soon]
  6. VR_Dev

    [WIP] Unity Controlled Robotic Plugins

    I don't really have time to write out all the details right now but I got memory files to work between .net 3.4 and 4. While I thought my process trick was pretty clever, this is insanely faster. Here is a render texture captured in ksp, displayed in the unity editor at 20-30 fps. If I limit the texture display frame rate the ksp frame rate improves, but the Unity render texture frame rate drops, which is fine for now. Essentially I have to rebuild the whole system based around the new memory bridge. But I'm going to try and make it a releasable platform for people to use. This was the main problem in my project. Now that I have this figured out I'm gonna build some crazy stuff.
  7. VR_Dev

    [WIP] Unity Controlled Robotic Plugins

    Holy sht I just saw the 1.4 changelog. It claims Unity was updated to 2017. That means I should be able to use memory mapped files in ksp without my third party process. Also makes in game VR much more attainable. If they updated the .net version this could be huge. Edit: Got super excited about this but turns out I was wrong. I knew that would be a huge change but figured all the old mods would still compile in a newer .net version Edit again: Confused cause this code tells me ksp is targeting 4.0, but mmap files don't work still. RegistryKey installed_versions = Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP"); string[] version_names = installed_versions.GetSubKeyNames(); //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture); int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));
  8. Awesome. Glad to see you getting back at it. I can help with any IK you want to incorporate.
  9. VR_Dev

    [WIP] Unity Controlled Robotic Plugins

    Thanks for the hot tip. Haven't even started on the real thing yet so I'll have to hold onto that. The terrain adaptation is actually super easy, gait generation is the tough part for me, so I'd be down to trade secrets. I sent you a pm about the project files. Thanks dude, the friction is surprisingly ok, but I've def had that problem in the past. I've played with adding wheel modules to parts to try and increase their friction but I've never been really able to make it work. I haven't been working on this project lately because I am in the process of moving to a new apartment. What free time I can manage has been going to this guy lately.
  10. VR_Dev

    [WIP] Infernal Robotics - Next

    So I can rig blender models, then deform them via script in Unity. But the spring would be quite a difficult challenge I think to compress it without altering the diameter of the spring. Something like this could be the solution. Also I don't need IR to control any animations, just the bone transforms themselves. Edit : Found a tutorial for spring rigging, if we wanna go that way.
  11. VR_Dev

    [WIP] Infernal Robotics - Next

    My vote is new models. Like you said it will be a much better visual representation of what the parts do. And with big spring shocks we could start making some mad max stuff up in here.
  12. VR_Dev

    [WIP] Infernal Robotics - Next

    Did some simple tests with ModuleWheelSuspension. Duplicated a wheel and took out everything but that module. Also gave it two attachment nodes. Hard to tell if it's working though. Maybe it isn't designed to use with nodes, or I don't fully understand the module settings. Seems like the model just needs a suspensionTransformName in the mesh. This is the documentation. Seems like they already have the re-load situation figured out. https://kerbalspaceprogram.com/api/class_module_wheels_1_1_module_wheel_suspension.html#ac0274b5c097adaa599a366a0240fb8e8
  13. VR_Dev

    [WIP] Unity Controlled Robotic Plugins

    Thanks man. Nothing is tuned right now, so I'm sure with a little love it will be much better. I was gonna send the project out to you and ZodiusInfuser this morning but I remembered I have some file Paths hard coded I'm gonna need you guys to change. So I want that to be as easy as possible. I dont think its a lack of friction between the foot and the ground, as much as the foot bouncing off the ground. Like I explained in the IR next thread, the Servo Speed PID is responsible for slowing the foot down as it gets too the ground. If it hits the ground too hard it explodes, slightly to hard and it bounces back into the air, and if I turn the speed way down, the whole performance suffers. This is why I'm looking forward to trying to build suspension parts. So that the mech leg can hit the ground with some force, and not explode. This would also help increase ground contact. I'm going to draw the ground triangle a different color when all three legs have contact as opposed to just two. This should help debug maintaining ground contact throughout the translation forward. Thanks! I'm really happy with it. I do measure the ground every frame, but it could be done just on contact if need be without much change in performance. If it had to be on contact, I would just set the active balance target once contact was made, instead of throughout the whole stride. I have high hopes for turning. My initial thought is i will rotate a transform in unity that will be the desired vector. Then, if the difference in vectors is less then say 15 degrees, the bot turns the way I have now. Anything higher than that the bot will stop, rotate, then begin walking. Still long way to go on that and I'm out of town all weekend so prob no progress anytime soon. I've also thought about how easy it would be to make a few changes, and make this run stand alone in ksp. My method could be used for development of projects, then when they are done just a few changes will allow them to be run stand alone in ksp. I always thought one of these could get rigged onto an IRL foot.
  14. VR_Dev

    [WIP] Infernal Robotics - Next

    Yeah that's definitely how it should be done. Didn't mean to start a whole suspension discussion. I assumed they fell under the Unity Joint umbrella and would be pretty straightforward to implement in this project. You stick with IR and I can look into suspension.