fixed depth camera

Author: micahpearlman

Editor/CustomEditors/ZOSpotControllerEditor.cs

@@ -10,7 +10,7 @@
 
 namespace ZO.Editor {
 
-    [CustomEditor(typeof(ZOSpotController))]
+    [CustomEditor(typeof(ZOSpotROSController))]
     public class ZOSpotControllerEditor : UnityEditor.Editor {
 
         /// <summary>

Runtime/Scripts/Controllers/Robots/Spot/ZOSpotJoystickCmdVel.cs

@@ -4,7 +4,7 @@
 namespace ZO {
     public class ZOSpotJoystickCmdVel : MonoBehaviour {
 
-        public ZOSpotCharacterController _spotCharacterController;
+        public ZOSpotUnityCharacterController _spotCharacterController;
 
 
         // Start is called before the first frame update

Runtime/Scripts/Controllers/Robots/Spot/ZOSpotJoystickCmdVel.cs.meta

@@ -16,8 +16,8 @@
 namespace ZO.Controllers {
 
     [RequireComponent(typeof(ZOROSJointStatesPublisher))]
-    [RequireComponent(typeof(ZOSpotCharacterController))]
-    public class ZOSpotController : ZOROSUnityGameObjectBase {
+    [RequireComponent(typeof(ZOSpotUnityCharacterController))]
+    public class ZOSpotROSController : ZOROSUnityGameObjectBase {
 
 
         public string _TwistTopicSubscription = "/cmd_vel";

…trollers/Robots/Spot/ZOSpotController.cs …llers/Robots/Spot/ZOSpotROSController.csRuntime/Scripts/Controllers/Robots/Spot/ZOSpotController.cs renamed to Runtime/Scripts/Controllers/Robots/Spot/ZOSpotROSController.cs Runtime/Scripts/Controllers/Robots/Spot/ZOSpotController.cs renamed to Runtime/Scripts/Controllers/Robots/Spot/ZOSpotROSController.cs

@@ -7,9 +7,9 @@ namespace ZO {
     /// <summary>
     /// Handles all the Unity specific "Character Control" stuff like movement and animation.
     /// </summary>
-    public class ZOSpotCharacterController : MonoBehaviour {
+    public class ZOSpotUnityCharacterController : MonoBehaviour {
 
-        public Rigidbody _rigidBody;
+        public Rigidbody _torsoRigidBody;
         public Transform _frontCollider = null;
 
         public CapsuleCollider FrontColliderCapsule {
@@ -114,25 +114,25 @@ public enum StateEnum {
             Error
         }
 
-        public ZOSpotCharacterController.StateEnum State {
+        public ZOSpotUnityCharacterController.StateEnum State {
             get;
             private set;
-        } = ZOSpotCharacterController.StateEnum.Off;
+        } = ZOSpotUnityCharacterController.StateEnum.Off;
 
         public enum ErrorEnum {
             Ok,
             GeneralError,
             ErrorShutdown
         }
 
-        public ZOSpotCharacterController.ErrorEnum Error {
+        public ZOSpotUnityCharacterController.ErrorEnum Error {
             get;
             private set;
-        } = ZOSpotCharacterController.ErrorEnum.Ok;
+        } = ZOSpotUnityCharacterController.ErrorEnum.Ok;
 
 
 
-        public delegate void SpotControllerStatusDelegate(ZOSpotCharacterController thisClass, Vector2 linearVelocity, float turnVelocityDegreesPerSecond, float orientationDegrees, ZOSpotCharacterController.StateEnum state, ZOSpotCharacterController.ErrorEnum error);
+        public delegate void SpotControllerStatusDelegate(ZOSpotUnityCharacterController thisClass, Vector2 linearVelocity, float turnVelocityDegreesPerSecond, float orientationDegrees, ZOSpotUnityCharacterController.StateEnum state, ZOSpotUnityCharacterController.ErrorEnum error);
         private event SpotControllerStatusDelegate _spotControllerStatusDelegate;
         public event SpotControllerStatusDelegate SpotControllerStatus {
             add {
@@ -162,22 +162,22 @@ void FixedUpdate() {
 
             if (IsFrontGrounded || IsRearGrounded) {
 
-                Vector3 angularVelocity = _rigidBody.angularVelocity;
+                Vector3 angularVelocity = _torsoRigidBody.angularVelocity;
                 float torqueYaw = (_targetTurnVelocityDegreesPerSecond * Mathf.Deg2Rad) - angularVelocity.y;
-                _rigidBody.AddRelativeTorque(new Vector3(0, torqueYaw, 0), ForceMode.VelocityChange);
+                _torsoRigidBody.AddRelativeTorque(new Vector3(0, torqueYaw, 0), ForceMode.VelocityChange);
 
-                Vector3 localVelocity = _rigidBody.transform.InverseTransformDirection(_rigidBody.velocity);
+                Vector3 localVelocity = _torsoRigidBody.transform.InverseTransformDirection(_torsoRigidBody.velocity);
                 Vector3 targetVelocity = new Vector3(_targetVelocity.x, 0, _targetVelocity.y);
                 Vector3 deltaVelocity = targetVelocity - localVelocity;
-                deltaVelocity = _rigidBody.transform.TransformDirection(deltaVelocity);
-                _rigidBody.AddForce(deltaVelocity, ForceMode.VelocityChange);
+                deltaVelocity = _torsoRigidBody.transform.TransformDirection(deltaVelocity);
+                _torsoRigidBody.AddForce(deltaVelocity, ForceMode.VelocityChange);
 
 
             }
 
 
             if (_spotControllerStatusDelegate != null) {
-                _spotControllerStatusDelegate.Invoke(this, new Vector2(_rigidBody.velocity.x, _rigidBody.velocity.z), _rigidBody.angularVelocity.y * Mathf.Rad2Deg, transform.rotation.eulerAngles.y, State, Error);
+                _spotControllerStatusDelegate.Invoke(this, new Vector2(_torsoRigidBody.velocity.x, _torsoRigidBody.velocity.z), _torsoRigidBody.angularVelocity.y * Mathf.Rad2Deg, transform.rotation.eulerAngles.y, State, Error);
 
             }
 
@@ -210,25 +210,25 @@ public void TurnOn() {
         }
 
         public void Stand() {
-            if (State == ZOSpotCharacterController.StateEnum.Sitting) {
+            if (State == ZOSpotUnityCharacterController.StateEnum.Sitting) {
                 FrontColliderCapsule.height = FrontColliderCapsule.height * (1.0f / _lieDownScale);
                 RearColliderCapsule.height = RearColliderCapsule.height * (1.0f / _lieDownScale);
-                State = ZOSpotCharacterController.StateEnum.UpAndReady;
+                State = ZOSpotUnityCharacterController.StateEnum.UpAndReady;
             }
         }
 
         public void Sit() {
-            if (State == ZOSpotCharacterController.StateEnum.UpAndReady || State == ZOSpotCharacterController.StateEnum.Off) {
+            if (State == ZOSpotUnityCharacterController.StateEnum.UpAndReady || State == ZOSpotUnityCharacterController.StateEnum.Off) {
                 FrontColliderCapsule.height = FrontColliderCapsule.height * _lieDownScale;
                 RearColliderCapsule.height = RearColliderCapsule.height * _lieDownScale;
-                State = ZOSpotCharacterController.StateEnum.Sitting;
+                State = ZOSpotUnityCharacterController.StateEnum.Sitting;
             }
 
         }
 
 
         public void Move(Vector2 targetVelocity, float targetTurnVelocityDegreesPerSecond) {
-            if (State == ZOSpotCharacterController.StateEnum.UpAndReady) {
+            if (State == ZOSpotUnityCharacterController.StateEnum.UpAndReady) {
                 _targetVelocity = targetVelocity;
                 _targetTurnVelocityDegreesPerSecond = targetTurnVelocityDegreesPerSecond;
             }

…s/Spot/ZOSpotCharacterController.cs.meta …/Robots/Spot/ZOSpotROSController.cs.metaRuntime/Scripts/Controllers/Robots/Spot/ZOSpotCharacterController.cs.meta renamed to Runtime/Scripts/Controllers/Robots/Spot/ZOSpotROSController.cs.meta Runtime/Scripts/Controllers/Robots/Spot/ZOSpotCharacterController.cs.meta renamed to Runtime/Scripts/Controllers/Robots/Spot/ZOSpotROSController.cs.meta

@@ -37,13 +37,14 @@
             struct appdata
             {
                 float4 vertex : POSITION;
-                float2 uv : TEXCOORD0;
+                float2 uv : TEXCOORD0;                
             };
 
             struct v2f
             {
                 float2 uv : TEXCOORD0;
                 float4 vertex : SV_POSITION;
+                float4 viewDir : TEXCOORD1;
             };
 
             sampler2D _MainTex;
@@ -66,7 +67,9 @@
 
                 #ifdef FLIP_X                
                     o.uv.x = 1.0 - o.uv.x;
-                #endif                
+                #endif 
+
+                o.viewDir = mul (unity_CameraInvProjection, float4 (o.uv * 2.0 - 1.0, 1.0, 1.0));               
 
                 return o;
             }
@@ -75,12 +78,13 @@
             {
                 fixed4 col = tex2D(_MainTex, i.uv);
                 //get depth from depth texture
-                float depth = tex2D(_CameraDepthTexture, i.uv).r;
+                float depth01 = tex2D(_CameraDepthTexture, i.uv).r;
                 // //linear depth between camera and far clipping plane
-                depth = Linear01Depth(depth);
+                depth01 = Linear01Depth(depth01);
                 //depth as distance from camera in units 
-                depth = depth * _ProjectionParams.z;
-                col.a = depth;
+                // depth = depth * _ProjectionParams.z;
+                float3 viewPos = (i.viewDir.xyz / i.viewDir.w) * depth01;
+                col.a = length(viewPos);
                 return col;
             }
             ENDCG