private void DrawNodeConnections(Rect container)
{
GUI.depth = -150;
foreach (var n in Program.Nodes)
{
foreach (var c in n.Outputs)
{
if (c.Value.Connected)
{
if (connections.ContainsKey(c.Value))
{
foreach (var c2 in c.Value.Connections)
{
if (connections.ContainsKey(c2))
{
Vector2 a = connections[c.Value];
Vector2 b = connections[c2];
GUILine.DrawLine(GUIUtility.ScreenToGUIPoint(a), GUIUtility.ScreenToGUIPoint(b), ConnectionColor(c.Value), 2, true);
}
}
}
}
}
}
}
private void PaintLine()
{
Color color = Color.black;//黑色的线
int start_x = (int)paintline[0].x;
int start_y = (int)paintline[0].y;
int end_x = (int)paintline[1].x;
int end_y = (int)paintline[1].y;
GUILine.DrawSegment(palette, start_x, start_y, end_x, end_y, color, 3);
}
void drawLine(Vector2 begin, Vector2 end)
{
var point1 = cam.ViewportToScreenPoint(new Vector2 {
x = begin.x, y = 1 - begin.y
});
var point2 = cam.ViewportToScreenPoint(new Vector2 {
x = end.x, y = 1 - end.y
});
GUILine.draw(point1, point2, Color.red);
}
public override void Draw()
{
GUI.depth = 150;
if (draggedConnection != null && dragInfo != GUIController.mousePos)
{
GUILine.DrawLine(GUIUtility.ScreenToGUIPoint(dragInfo), GUIUtility.ScreenToGUIPoint(GUIController.mousePos), Color.red, 2, true);
}
if (Program != null)
{
DrawNodes(new Rect(toolbarWidth + 20, GUIController.ElSize, WinRect.width - (toolbarWidth + GUIController.ElSize + 20), WinRect.height - GUIController.ElSize * 2));
}
DrawNodeToolbar();
}
void drawDiagonal()
{
var point1 = cam.ViewportToScreenPoint(Vector2.zero);
var point2 = cam.ViewportToScreenPoint(new Vector2 {
x = 1
});
var point3 = cam.ViewportToScreenPoint(new Vector2 {
y = 1
});
var point4 = cam.ViewportToScreenPoint(Vector2.one);
GUILine.draw(point1, point4, Color.red);
GUILine.draw(point2, point3, Color.red);
}
void draw(Rect rect)
{
var point1 = cam.ViewportToScreenPoint(new Vector2 {
x = rect.xMin, y = 1 - rect.yMin
});
var point2 = cam.ViewportToScreenPoint(new Vector2 {
x = rect.xMin, y = 1 - rect.yMax
});
var point3 = cam.ViewportToScreenPoint(new Vector2 {
x = rect.xMax, y = 1 - rect.yMax
});
var point4 = cam.ViewportToScreenPoint(new Vector2 {
x = rect.xMax, y = 1 - rect.yMin
});
GUILine.draw(point1, point2);
GUILine.draw(point2, point3);
GUILine.draw(point3, point4);
GUILine.draw(point4, point1);
GUILine.draw(point4, point1);
}
void Update()
{
if (Input.GetMouseButtonDown(0))
{
if (newline.startPt == Vector2.zero)
{
newline.startPt = new Vector2(Input.mousePosition.x, Input.mousePosition.y);
}
else
{
newline.endPt = new Vector2(Input.mousePosition.x, Input.mousePosition.y);
}
}
else if (Input.GetMouseButtonUp(0))
{
if (newline.endPt != Vector2.zero)
{
//Debug.Log(newline.startPt.ToString() + " " + newline.endPt.ToString());
lines.Add(newline);
newline = new GUILine();
}
}
}
void addGUILine(GUILine line)
{
lines.Add (line);
}
void Update()
{
if (Input.GetMouseButtonDown (0)) {
newline = new GUILine ();
newline.startPt = new Vector2 (Input.mousePosition.x, Input.mousePosition.y);
mouseDown = true;
}
if (Input.GetMouseButtonUp (0)) {
mouseDown = false;
mouseUp = true;
}
if (Input.GetMouseButtonUp (1)) {
if (lines.Count != 0)
lines.RemoveAt (lines.Count - 1);
}
if (Input.GetKeyDown (KeyCode.LeftShift) || Input.GetKeyDown (KeyCode.RightShift)) {
shift = true;
}
if (Input.GetKeyUp (KeyCode.LeftShift) || Input.GetKeyUp (KeyCode.RightShift)) {
shift = false;
}
if (Input.GetKey (KeyCode.KeypadEnter) || Input.GetKey ("enter")) {
}
}
void setLinePoints(GUILine line)
{
line.startPt = setPoint (line.startPt);
line.endPt = setPoint (line.endPt);
length = (line.startPt - line.endPt).magnitude;
}
void OnGUI()
{
RobotMotion motionss = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
//if(GUILayout.Button("go"))
//{
// float[] actual = motionss.CurrentAngle_All();
// Vector3 StartPoint = motionss.IKA.SolutionOfKinematics(actual);
// Quaternion Posture = motionss.IKA.SolutionOfKinematics_posture(actual);
// float[] theory = motionss.IKA.AcceptInterPointPosture(StartPoint, Posture, actual);
// for (int i = 0; i < 6; i++)
// {
// Debug.Log("第"+i+"轴的转动角度："+theory[i]);
// if (Mathf.Abs(actual[i] - theory[i])>0.5)
// {
// Debug.Log("机械臂运动学逆解出现错误！！" + "实际角度：" + actual[i] + ",理论角度：" + theory[i]+".");
// }
// }
//}
if (GUILayout.Button("camera"))
{
Camerascript cameras = GameObject.Find("CameraFree").GetComponent <Camerascript>();
cameras.SwitchCamera();
}
//if (GUILayout.Button("add scene"))
//{
// GSKDATA.Scene_NO++;
//}
if (GUILayout.Button("部件提示功能"))
{
FuncPara.componentTips = !FuncPara.componentTips;
}
//if (GUILayout.Button("姿态检测"))
//{
// float[] actual = motionss.CurrentAngle_All();
// Quaternion Posture = motionss.IKA.SolutionOfKinematics_posture(actual);
// Quaternion Posture2 = GameObject.Find("Shape13").GetComponent<Transform>().rotation;
// Debug.Log("理论姿态" + Posture.ToString("0.000"));
// Debug.Log("实际姿态" + Posture2.ToString("0.000"));
//}
if (GUILayout.Button("IO面板"))
{
GameObject.Find("MyButton").GetComponent <ButtonRespond>().ShowIOPanel();
}
if (GUILayout.Button("示教器面板"))
{
GameObject.Find("MyButton").GetComponent <ButtonRespond>().ShowPanel();
}
if (GUILayout.Button("返回零点"))
{
GameObject.Find("MyMotion").GetComponent <RobotMotion>().ReturnToZero();
}
if (GUILayout.Button("视角还原"))
{
GameObject.Find("CameraFree").GetComponent <Camerascript>().CameraPosition();
}
if (GUILayout.Button("清空画板"))
{
GUILine.TextureInitial(paletter1);
}
if (GUILayout.Button("画画"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("案例一"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("案例二"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("方向"))
{
Transform tooldir = GameObject.Find("Circle0571").GetComponent <Transform>();
Transform tooldir2 = GameObject.Find("qt208").GetComponent <Transform>();
Debug.Log(tooldir.forward.ToString("0.00"));
Debug.Log(tooldir2.forward.ToString("0.00"));
}
if (GUILayout.Button("光晕"))
{
GameObject.Find("qt208").AddComponent <FlashingController>();
}
if (GUILayout.Button("GuidPath"))
{
GameObject.Find("CameraFree").GetComponent <Camerascript>().SetPathGuid();
}
if (GUILayout.Button("教学"))
{
}
if (GUILayout.Button("练习"))
{
}
}
//清空画板
public void ClearPanel()
{
GUILine.TextureInitial(palette);//清空画板
}
