Beispiel #1
0
        private void frm_PSC_CG_Load(object sender, EventArgs e)
        {
            dgv.Rows.Clear();

            dgv.Rows.Add("Distance (m)",
                         L1.ToString("f3"),
                         L2.ToString("f3"),
                         L3.ToString("f3"),
                         L4.ToString("f3"),
                         L5.ToString("f3"),
                         L6.ToString("f3"),
                         L7.ToString("f3"),
                         L8.ToString("f3"),
                         L9.ToString("f3"));

            dgv.Rows.Add("Cable 'e' (mm)",
                         Cable_E.F1.ToString("f3"),
                         Cable_E.F2.ToString("f3"),
                         Cable_E.F3.ToString("f3"),
                         Cable_E.F4.ToString("f3"),
                         Cable_E.F5.ToString("f3"),
                         Cable_E.F6.ToString("f3"),
                         Cable_E.F7.ToString("f3"),
                         Cable_E.F8.ToString("f3"),
                         Cable_E.F9.ToString("f3"));
            dgv.Rows.Add("Cable 'd' (mm)",
                         Cable_D.F1.ToString("f3"),
                         Cable_D.F2.ToString("f3"),
                         Cable_D.F3.ToString("f3"),
                         Cable_D.F4.ToString("f3"),
                         Cable_D.F5.ToString("f3"),
                         Cable_D.F6.ToString("f3"),
                         Cable_D.F7.ToString("f3"),
                         Cable_D.F8.ToString("f3"),
                         Cable_D.F9.ToString("f3"));
            dgv.Rows.Add("Cable 'c' (mm)",
                         Cable_C.F1.ToString("f3"),
                         Cable_C.F2.ToString("f3"),
                         Cable_C.F3.ToString("f3"),
                         Cable_C.F4.ToString("f3"),
                         Cable_C.F5.ToString("f3"),
                         Cable_C.F6.ToString("f3"),
                         Cable_C.F7.ToString("f3"),
                         Cable_C.F8.ToString("f3"),
                         Cable_C.F9.ToString("f3"));


            dgv.Rows.Add("Cable 'b' (mm)",
                         Cable_B.F1.ToString("f3"),
                         Cable_B.F2.ToString("f3"),
                         Cable_B.F3.ToString("f3"),
                         Cable_B.F4.ToString("f3"),
                         Cable_B.F5.ToString("f3"),
                         Cable_B.F6.ToString("f3"),
                         Cable_B.F7.ToString("f3"),
                         Cable_B.F8.ToString("f3"),
                         Cable_B.F9.ToString("f3"));
            dgv.Rows.Add("Cable 'a' (mm)",
                         Cable_A.F1.ToString("f3"),
                         Cable_A.F2.ToString("f3"),
                         Cable_A.F3.ToString("f3"),
                         Cable_A.F4.ToString("f3"),
                         Cable_A.F5.ToString("f3"),
                         Cable_A.F6.ToString("f3"),
                         Cable_A.F7.ToString("f3"),
                         Cable_A.F8.ToString("f3"),
                         Cable_A.F9.ToString("f3"));

            //Average
            Cable_CG = ((Cable_A + Cable_B + Cable_C + Cable_D + Cable_E) / 5.0);


            dgv.Rows.Add("CG",
                         Cable_CG.F1.ToString("f3"),
                         Cable_CG.F2.ToString("f3"),
                         Cable_CG.F3.ToString("f3"),
                         Cable_CG.F4.ToString("f3"),
                         Cable_CG.F5.ToString("f3"),
                         Cable_CG.F6.ToString("f3"),
                         Cable_CG.F7.ToString("f3"),
                         Cable_CG.F8.ToString("f3"),
                         Cable_CG.F9.ToString("f3"));


            dgv.Rows[0].ReadOnly = true;
            dgv.Rows[0].Frozen   = true;
            dgv.Rows[0].DefaultCellStyle.ForeColor = Color.Blue;

            dgv.Rows[6].ReadOnly = true;
            dgv.Rows[6].Frozen   = true;
            dgv.Rows[6].DefaultCellStyle.ForeColor = Color.Blue;
        }
Beispiel #2
0
    // Update is called once per frame
    void Update()
    {
        NowCursorState = tmpCursor.GetComponent <AnimatedCursor>().tmpCursorState;

        PlaceBtnState  = PlaceButton.GetComponent <ButtonInteraction>().NowButtonState;
        DeleteBtnState = DeleteButton.GetComponent <ButtonInteraction>().NowButtonState;
        CancelBtnState = CancelButton.GetComponent <ButtonInteraction>().NowButtonState;


        lineRenderer = GetComponent <LineRenderer>();

        //Debug.Log("Cursor Position: " + tmpCursor.transform.position);

        //Vector3 CursorPosition = tmpCursor.GetComponent<Transform>().position;

        if ((ButtonInteraction.PosState == PosButtonType.PLACE) && (NowCursorState == CursorStateEnum.Release) &&
            (PlaceBtnState != ButtonStateEnum.Targeted) && (PlaceBtnState != ButtonStateEnum.Pressed) &&
            (DeleteBtnState != ButtonStateEnum.Observation) && (CancelBtnState != ButtonStateEnum.Observation))
        {
            if (SizeButtonCollection.SizeButtonState == SizeButtonType.MEDIUM)
            {
                offset = 6.0f;
            }
            else if (SizeButtonCollection.SizeButtonState == SizeButtonType.LARGE)
            {
                offset = 8.0f;
            }
            else if (SizeButtonCollection.SizeButtonState == SizeButtonType.SMALL)
            {
                offset = 5.0f;
            }

            Vector3 FinalPos = tmpCursor.transform.position - new Vector3(0f, 0f, 0.1f) * offset;
            Instantiate(PlaneObject, FinalPos, transform.rotation, this.transform);   //Genarate the drone

            ChildCount = this.transform.childCount;

            /*Use to process the three Red Light*/

            if (ChildCount > 1)
            {
                Vector3 pos1, pos2;                                                                          //the position of two way point(drone)
                Vector3 p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11, p12, p13, p14, p15, p16, p17, p18; //Red light initial position
                pos1 = this.gameObject.transform.GetChild(ChildCount - 2).transform.position;
                pos2 = this.gameObject.transform.GetChild(ChildCount - 1).transform.position;

                p0  = (pos1 * 1 + pos2 * 19) / 20;
                p1  = (pos1 * 2 + pos2 * 18) / 20;
                p2  = (pos1 * 3 + pos2 * 17) / 20;
                p3  = (pos1 * 4 + pos2 * 16) / 20;
                p4  = (pos1 * 5 + pos2 * 15) / 20;
                p5  = (pos1 * 6 + pos2 * 14) / 20;
                p6  = (pos1 * 7 + pos2 * 13) / 20;
                p7  = (pos1 * 8 + pos2 * 12) / 20;
                p8  = (pos1 * 9 + pos2 * 11) / 20;
                p9  = (pos1 * 10 + pos2 * 10) / 20;
                p10 = (pos1 * 11 + pos2 * 9) / 20;
                p11 = (pos1 * 12 + pos2 * 8) / 20;
                p12 = (pos1 * 13 + pos2 * 7) / 20;
                p13 = (pos1 * 14 + pos2 * 6) / 20;
                p14 = (pos1 * 15 + pos2 * 5) / 20;

                p15 = (pos1 * 16 + pos2 * 4) / 20;
                p16 = (pos1 * 17 + pos2 * 3) / 20;
                p17 = (pos1 * 18 + pos2 * 2) / 20;
                p18 = (pos1 * 19 + pos2 * 1) / 20;


                L0 = Instantiate(CloneRedLight_0, p0, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L0.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L0.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L0.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L1 = Instantiate(CloneRedLight_1, p1, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L1.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L1.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L1.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L2 = Instantiate(CloneRedLight_2, p2, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L2.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L2.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L2.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L3 = Instantiate(CloneRedLight_3, p3, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L3.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L3.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L3.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L4 = Instantiate(CloneRedLight_4, p4, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L4.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L4.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L4.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L5 = Instantiate(CloneRedLight_5, p5, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L5.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L5.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L5.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L6 = Instantiate(CloneRedLight_6, p6, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L6.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L6.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L6.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L7 = Instantiate(CloneRedLight_7, p7, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L7.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L7.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L7.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L8 = Instantiate(CloneRedLight_8, p8, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L8.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L8.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L8.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L9 = Instantiate(CloneRedLight_9, p9, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L9.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L9.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L9.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L10 = Instantiate(CloneRedLight_10, p10, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L10.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L10.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L10.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L11 = Instantiate(CloneRedLight_11, p11, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L11.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L11.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L11.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L12 = Instantiate(CloneRedLight_12, p12, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L12.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L12.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L12.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L13 = Instantiate(CloneRedLight_13, p13, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L13.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L13.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L13.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L14 = Instantiate(CloneRedLight_14, p14, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L14.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L14.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L14.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;


                /////////////////////////////////////////
                L15 = Instantiate(CloneRedLight_15, p15, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L15.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L15.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L15.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L16 = Instantiate(CloneRedLight_16, p16, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L16.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L16.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L16.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L17 = Instantiate(CloneRedLight_17, p17, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L17.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L17.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L17.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;

                L18 = Instantiate(CloneRedLight_18, p18, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
                L18.GetComponent <RedLightPos>().Obj1        = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
                L18.GetComponent <RedLightPos>().Obj2        = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
                L18.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
            }

            //WayPoint.Add(tmp);
            //Debug.Log("InstantiateInstantiateInstantiateInstantiateInstantiateInstantiate");
        }


        /* Line Process*/
        ChildCount = this.transform.childCount;
        lineRenderer.SetVertexCount(ChildCount);


        if (ChildCount > 1)
        {
            for (int i = 0; i < ChildCount; i++)
            {
                tmp = this.gameObject.transform.GetChild(i).gameObject;
                lineRenderer.SetPosition(i, tmp.transform.position);
            }


            /*Obstacle Detect*/
            for (int i = 0; i < ChildCount - 1; i++)
            {
                Obj1 = this.gameObject.transform.GetChild(i).gameObject;
                Obj2 = this.gameObject.transform.GetChild(i + 1).gameObject;
                Ray        ray = new Ray(Obj1.transform.position, Obj2.transform.position - Obj1.transform.position);
                RaycastHit hit;

                //Debug.Log( i + " -> " + (i+1) + " distance : " + Vector3.Distance(Obj1.transform.position, Obj2.transform.position));
                float distance = Vector3.Distance(Obj1.transform.position, Obj2.transform.position) - 0.1f;

                Physics.Raycast(ray, out hit, distance, mask);

                //When collision is NOT NULL, there is obstacles
                if (hit.transform != null)
                {
                    lineRenderer.material = LineMat2; // if collision the line become red
                    //Debug.Log("BBBBBBBBB");

                    //LineCollision = false;   // Let Other Script Know Collision State
                    //LineCollisionNum = i + 1;

                    Debug.Log("Blocked by : " + hit.transform.name);
                }
                //If is NULL -> No Obstacles
                else if (hit.transform == null)
                {
                    lineRenderer.material = LineMat1;
                    //LineCollision = true;
                    //LineCollisionNum = -1;
                    //Debug.Log("NNNNNNNNN");
                }

                //Debug.Log("Line color : " + lineRenderer.material);
            }
        }

        //if(ChildCount == 2) lineRenderer.SetPosition(2, new Vector3(0,0,1));
    }