public void MoveC(IK robot, Transform finalPoint, Transform middlePoint)
{
List <Transform> list = new List <Transform>();
list.Add(robot.GetE());
list.Add(middlePoint);
list.Add(finalPoint);
Vector3[] positions = spline.PrepareSpline(list);
List <Vector3> points = spline.GetTrayectory(positions);
Transform[] trayectory = new Transform[points.Count - 1]; // skip first one, Efector
for (int i = 0; i < trayectory.Length - 1; i++) // Last one is target, skip
{
Transform transf = new GameObject().transform;
transf.position = points[i + 1];
trayectory[i] = transf;
}
trayectory[trayectory.Length - 1] = finalPoint;
robot.CCDAlg(trayectory, false);
//
if (gameController.GetOnlineMode())
{
controller.RunCommandOnline("move" + " " + finalPoint.GetComponent <TargetModel>().GetName() + " " + middlePoint.GetComponent <TargetModel>().GetName());
}
}
public void DrawTrayectory()
{
// Don't draw if commands panel is not visible
if (!commandsPanel.transform.GetComponent <Animator>().GetBool("show"))
{
LineRenderEmpty();
return;
}
switch (commandsDropdown.value)
{
case (int)CommandHelper.move:
LineRenderEmpty();
break;
case (int)CommandHelper.movel:
if (targetControl.Count() == 0)
{
return;
}
Vector3[] positions = new Vector3[2];
positions[0] = robot.GetE().position;
positions[1] = targetControl.GetTarget(position1Dropdown.value).position;
lineRenderer.positionCount = positions.Length;
lineRenderer.SetPositions(positions);
lineRenderer.startWidth = 1f;
lineRenderer.endWidth = 1f;
break;
case (int)CommandHelper.movec:
if (targetControl.Count() <= 1)
{
return;
}
if (position1Dropdown.value == position2Dropdown.value)
{
return;
}
Transform middlePoint = targetControl.GetTarget(position2Dropdown.value);
Transform finalPoint = targetControl.GetTarget(position1Dropdown.value);
List <Transform> list = new List <Transform>();
list.Add(robot.GetE());
list.Add(middlePoint);
list.Add(finalPoint);
Vector3[] positionsSpline = spline.PrepareSpline(list);
List <Vector3> result = spline.GetTrayectory(positionsSpline);
lineRenderer.positionCount = result.Count;
lineRenderer.SetPositions(result.ToArray());
lineRenderer.startWidth = 1f;
lineRenderer.endWidth = 1f;
break;
case (int)CommandHelper.teach:
LineRenderEmpty();
break;
}
}
// Refactor this
public void DrawTrayectory()
{
if (!commandsPanel.activeSelf)
{
lineRenderer.positionCount = 0;
lineRenderer.SetPositions(new Vector3[0]);
}
if (commandsPanel.activeSelf && (commandsDropdown.value == (int)CommandHelper.move))
{
lineRenderer.positionCount = 0;
lineRenderer.SetPositions(new Vector3[0]);
}
if (commandsPanel.activeSelf && (commandsDropdown.value == (int)CommandHelper.movel))
{
if (targetControl.Count() == 0)
{
return;
}
Vector3[] positions = new Vector3[2];
positions[0] = robot.GetE().position;
positions[1] = targetControl.GetTarget(position1Dropdown.value).position;
lineRenderer.positionCount = positions.Length;
lineRenderer.SetPositions(positions);
lineRenderer.startWidth = 1f;
lineRenderer.endWidth = 1f;
}
if (targetControl.Count() <= 1)
{
return;
}
if (commandsPanel.activeSelf && (commandsDropdown.value == (int)CommandHelper.movec))
{
if (position1Dropdown.value == position2Dropdown.value)
{
return;
}
Transform middlePoint = targetControl.GetTarget(position2Dropdown.value);
Transform finalPoint = targetControl.GetTarget(position1Dropdown.value);
List <Transform> list = new List <Transform>();
list.Add(robot.GetE());
list.Add(middlePoint);
list.Add(finalPoint);
Vector3[] positions = spline.PrepareSpline(list);
List <Vector3> result = spline.GetTrayectory(positions);
lineRenderer.positionCount = result.Count;
lineRenderer.SetPositions(result.ToArray());
lineRenderer.startWidth = 1f;
lineRenderer.endWidth = 1f;
}
if (commandsPanel.activeSelf && (commandsDropdown.value == (int)CommandHelper.teach))
{
lineRenderer.positionCount = 0;
lineRenderer.SetPositions(new Vector3[0]);
}
}
/**
* Mueve el Scorbot a una posición ya definida pasando por otra posición. El movimiento es una curva generada
* por el algoritmo del spline de CatmullRom.
* @param robot Scorbot
* @param finalPoint Posición final(objeto)
* @param middlePoint Posición intermedia (objeto)
* @return void
*/
public void MoveC(IK robot, Transform finalPoint, Transform middlePoint)
{
// Valid final position
if (!finalPoint.GetComponent <TargetModel>().GetValid())
{
stateMessageControl.WriteMessage("Error. MOVEC Unreachable position \"" + finalPoint.GetComponent <TargetModel>().GetName() + "\"", false);
return;
}
// Valid intermediate position
if (!middlePoint.GetComponent <TargetModel>().GetValid())
{
stateMessageControl.WriteMessage("Error. MOVEC Unreachable position \"" + middlePoint.GetComponent <TargetModel>().GetName() + "\"", false);
return;
}
List <Transform> list = new List <Transform>();
// Scorbot final effector
list.Add(robot.GetE());
// Intermadiate position
list.Add(middlePoint);
// Final position
list.Add(finalPoint);
// Add 2 control points
Vector3[] positions = spline.PrepareSpline(list);
// Get final trajectory
List <Vector3> points = spline.GetTrayectory(positions);
// Build objects from final trajectory
Transform[] trayectory = new Transform[points.Count - 1]; // skip first one, Effector
for (int i = 0; i < trayectory.Length - 1; i++) // Last one is target, skip
{
Transform transf = new GameObject().transform;
transf.position = points[i + 1];
trayectory[i] = transf;
}
trayectory[trayectory.Length - 1] = finalPoint;
// Move Scorbot following trajectory
robot.CCDAlg(trayectory, false);
stateMessageControl.WriteMessage("Done. MOVEC \"" + finalPoint.GetComponent <TargetModel>().GetName() + "\"" +
" \"" + middlePoint.GetComponent <TargetModel>().GetName() + "\"", true);
// Online mode
if (gameController.GetOnlineMode())
{
bool done = controller.RunCommandUIOnline("movec", finalPoint.GetComponent <TargetModel>().GetName(), middlePoint.GetComponent <TargetModel>().GetName());
if (done)
{
string aux = "";
if (!finalPoint.GetComponent <TargetModel>().GetSync() || !middlePoint.GetComponent <TargetModel>().GetSync())
{
aux = ". NO SYNC";
}
stateMessageControl.WriteMessage("Done. Online MOVEC \"" + finalPoint.GetComponent <TargetModel>().GetName() + "\"" +
" \"" + middlePoint.GetComponent <TargetModel>().GetName() + aux, done);
}
else
{
stateMessageControl.WriteMessage("Error. Online MOVEC \"" + finalPoint.GetComponent <TargetModel>().GetName() + "\"" +
" \"" + middlePoint.GetComponent <TargetModel>().GetName() + "\"", done);
}
}
}