/// <summary>
/// Loads a new robot and manipulator from given directorys
/// </summary>
/// <param name="directory">robot directory</param>
/// <returns>whether the process was successful</returns>
public bool LoadRobotWithManipulator(string baseDirectory, string manipulatorDirectory)
{
if (SpawnedRobots.Count >= MAX_ROBOTS)
{
return(false);
}
robotPath = baseDirectory;
GameObject robotObject = new GameObject("Robot");
MaMRobot robot = robotObject.AddComponent <MaMRobot>();
robot.FilePath = robotPath;
//Initialiezs the physical robot based off of robot directory. Returns false if not sucessful
if (!robot.InitializeRobot(baseDirectory))
{
return(false);
}
//If this is the first robot spawned, then set it to be the active robot and initialize the robot camera on it
if (ActiveRobot == null)
{
ActiveRobot = robot;
}
robot.ControlIndex = SpawnedRobots.Count;
SpawnedRobots.Add(robot);
DPMDataHandler.Load(robotPath);
return(robot.InitializeManipulator(manipulatorDirectory));
}
/// <summary>
/// Changes the active robot to a different robot based on a given index
/// </summary>
public void SwitchActiveRobot(int index)
{
if (index < SpawnedRobots.Count)
{
ActiveRobot = SpawnedRobots[index];
DPMDataHandler.Load(ActiveRobot.FilePath);
}
}
/// <summary>
/// Changes the active robot to a different robot based on a given index
/// </summary>
public void SwitchActiveRobot(int index)
{
if (SpawnedRobots.Count() > 0)
{
ActiveRobot = SpawnedRobots[index];
DPMDataHandler.Load(ActiveRobot.FilePath); //reload robot data to allow for driver practice for multiplayer
}
}
/// <summary>
/// Loads a new robot from a given directory
/// </summary>
/// <param name="directory">robot directory</param>
/// <returns>whether the process was successful</returns>
public bool LoadRobot(string directory, bool isMixAndMatch)
{
if (SpawnedRobots.Count < MAX_ROBOTS)
{
GameObject robotObject = new GameObject("Robot");
SimulatorRobot robot;
if (isMixAndMatch)
{
robotPath = RobotTypeManager.RobotPath;
MaMRobot mamRobot = robotObject.AddComponent <MaMRobot>();
mamRobot.RobotHasManipulator = false; // Defaults to false
robot = mamRobot;
}
else
{
robotPath = directory;
robot = robotObject.AddComponent <SimulatorRobot>();
}
robot.FilePath = robotPath;
//Initialiezs the physical robot based off of robot directory. Returns false if not sucessful
if (!robot.InitializeRobot(robotPath))
{
return(false);
}
//If this is the first robot spawned, then set it to be the active robot and initialize the robot camera on it
if (ActiveRobot == null)
{
ActiveRobot = robot;
}
robot.ControlIndex = SpawnedRobots.Count;
SpawnedRobots.Add(robot);
DPMDataHandler.Load(robotPath);
if (!isMixAndMatch && !PlayerPrefs.HasKey(robot.RootNode.GUID.ToString()) && !SampleRobotGUIDs.Contains(robot.RootNode.GUID.ToString()))
{
if (PlayerPrefs.GetInt("analytics") == 1)
{
PlayerPrefs.SetString(robot.RootNode.GUID.ToString(), "analyzed");
Analytics.CustomEvent(robot.RootNode.exportedWith.ToString(), new Dictionary <string, object> {
});
}
}
return(true);
}
return(false);
}
// Update is called once per frame
public override void Update()
{
Ray ray = UnityEngine.Camera.main.ScreenPointToRay(UnityEngine.Input.mousePosition);
BulletSharp.Math.Vector3 start = ray.origin.ToBullet();
BulletSharp.Math.Vector3 end = ray.GetPoint(200).ToBullet();
//Creates a callback result that will be updated if we do a ray test with it
ClosestRayResultCallback rayResult = new ClosestRayResultCallback(ref start, ref end);
//Retrieves the bullet physics world and does a ray test with the given coordinates and updates the callback object
BPhysicsWorld world = BPhysicsWorld.Get();
world.world.RayTest(start, end, rayResult);
//If there is a collision object and it is dynamic and not a robot part, change the gamepiece to that
if (rayResult.CollisionObject != null)
{
GameObject collisionObject = (rayResult.CollisionObject.UserObject as BRigidBody).gameObject;
if (rayResult.CollisionObject.CollisionFlags == BulletSharp.CollisionFlags.StaticObject)
{
RevertNodeColors(hoveredNode, hoveredColors);
}
else if (collisionObject == null)
{
RevertNodeColors(hoveredNode, hoveredColors);
}
else if (collisionObject.transform.parent == t)
{
if (hoveredNode != collisionObject)
{
RevertNodeColors(hoveredNode, hoveredColors);
}
hoveredNode = collisionObject;
ChangeNodeColors(hoveredNode, hoverColor, hoveredColors);
if (UnityEngine.Input.GetMouseButtonUp(0))
{
if (intake)
{
DPMDataHandler.dpmodes.Find(d => d.Equals(dp)).intakeNode = hoveredNode.name;
}
else
{
DPMDataHandler.dpmodes.Find(d => d.Equals(dp)).releaseNode = hoveredNode.name;
}
DPMDataHandler.WriteRobot();
dpr.SetAllInteractors();
ReturnToMainState();
}
}
else
{
RevertNodeColors(hoveredNode, hoveredColors);
}
}
if (UnityEngine.Input.GetKeyDown(KeyCode.Escape))
{
ReturnToMainState();
}
if (EventSystem.current.currentSelectedGameObject == highlightButton.gameObject && UnityEngine.Input.GetMouseButton(0))
{
HighlightNode();
}
else
{
RevertHighlight();
}
//if (highlightTimer > 0) highlightTimer--;
//else if (highlightTimer == 0) RevertHighlight();
}
/// <summary>
/// Loads a new robot from a given directory
/// </summary>
/// <param name="directory">robot directory</param>
/// <returns>whether the process was successful</returns>
public bool LoadRobot(string directory, bool isMixAndMatch, int replacementIndex)
{
bool b = true;
if (!Directory.Exists(directory))
{
return(false);
}
else
{
string[] files = Directory.GetFiles(directory);
foreach (string a in files)
{
string name = Path.GetFileName(a);
if (name.ToLower().Contains("skeleton"))
{
b = false;
}
}
}
if (b)
{
return(false);
}
if (SpawnedRobots.Count < MAX_ROBOTS)
{
GameObject robotObject = new GameObject("Robot");
SimulatorRobot robot;
if (isMixAndMatch)
{
robotPath = RobotTypeManager.RobotPath;
MaMRobot mamRobot = robotObject.AddComponent <MaMRobot>();
mamRobot.RobotHasManipulator = false; // Defaults to false
robot = mamRobot;
if (AnalyticsManager.GlobalInstance != null)
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.LoadRobot,
AnalyticsLedger.EventAction.Load,
"Robot - Mix and Match",
AnalyticsLedger.getMilliseconds().ToString());
}
}
else
{
robotPath = directory;
robot = robotObject.AddComponent <SimulatorRobot>();
if (AnalyticsManager.GlobalInstance != null)
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.LoadRobot,
AnalyticsLedger.EventAction.Load,
"Robot - Exported",
AnalyticsLedger.getMilliseconds().ToString());
}
}
robot.FilePath = robotPath;
//Initialiezs the physical robot based off of robot directory. Returns false if not sucessful
if (!robot.InitializeRobot(robotPath))
{
return(false);
}
//If this is the first robot spawned, then set it to be the active robot and initialize the robot camera on it
if (ActiveRobot == null)
{
ActiveRobot = robot;
}
robot.ControlIndex = SpawnedRobots.Count;
if (replacementIndex != -1)
{
SpawnedRobots[replacementIndex] = robot;
}
else
{
SpawnedRobots.Add(robot);
}
DPMDataHandler.Load(robotPath);
if (!isMixAndMatch && !PlayerPrefs.HasKey(robot.RootNode.GUID.ToString()) && !SampleRobotGUIDs.Contains(robot.RootNode.GUID.ToString()))
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.LoadRobot,
AnalyticsLedger.EventAction.Load,
robot.RootNode.GUID.ToString(),
AnalyticsLedger.getMilliseconds().ToString());
}
return(true);
}
return(false);
}
