private void CreateMesh(EndeffectorData endEffector, MeshFilter tool) //, double[] tcp
{
List <Vector3> vertices = new List <Vector3>();
List <int> triangles = new List <int>();
if (endEffector.vertices != null)
{
#if DEBUG
Debug.Log("Robot: Adding Verticies . . . !");
#endif
for (int j = 0; j < endEffector.vertices.Count; j++)
{
vertices.Add(new Vector3(endEffector.vertices[j][0],
endEffector.vertices[j][1],
endEffector.vertices[j][2]));
}
}
if (endEffector.faces != null)
{
#if DEBUG
Debug.Log("Robot: Adding Faces . . . !");
#endif
for (int j = 0; j < endEffector.faces.Count; j++)
{
triangles.Add(endEffector.faces[j][1]);
triangles.Add(endEffector.faces[j][2]);
triangles.Add(endEffector.faces[j][3]);
if ((endEffector.faces[j][0] == 1))
{
triangles.Add(endEffector.faces[j][1]);
triangles.Add(endEffector.faces[j][3]);
triangles.Add(endEffector.faces[j][4]);
}
}
}
tool.mesh = MeshUtilities.DecodeMesh(vertices, triangles);
tool.transform.Rotate(0, 180, -90);
}
// Decode Received Data.
public void ProcessMesh(List <MeshData> receivedMeshes, SourceType sourceType)
{
#if DEBUG
Debug.Log("Mesh: Received Count: " + receivedMeshes.Count + ". Type: " + (int)sourceType);
#endif
// Check for C-plane
if (!ObjectManager.instance.CheckCPlane())
{
return;
}
// Find relevant objects based on source to update
GameObject[] goRelevantMeshes;
string currentTag;
GameObject currentPrefab;
switch (sourceType)
{
case (SourceType.TCP):
#if DEBUG
Debug.Log("Mesh: TCP");
#endif
currentPrefab = this.goPrefabMesh;
currentTag = this.tagMesh;
break;
case (SourceType.UDP):
#if DEBUG
Debug.Log("Mesh: UDP");
#endif
currentPrefab = this.goPrefabMeshPlus;
currentTag = this.tagMeshPlus;
break;
default:
return;
}
goRelevantMeshes = GameObject.FindGameObjectsWithTag(currentTag);
List <Vector3> currentVertices = new List <Vector3>();
List <int> currentFaces = new List <int>();
List <Color> currentColors = new List <Color>();
// Loop through all received meshes.
for (int i = 0; i < receivedMeshes.Count; i++)
{
// Condition Vertex based data (points and colors). // Later: normals etc.
for (int j = 0; j < receivedMeshes[i].vertices.Count; j++)
{
currentVertices.Add(new Vector3(receivedMeshes[i].vertices[j][0],
receivedMeshes[i].vertices[j][1],
receivedMeshes[i].vertices[j][2]));
int colorIndex = (receivedMeshes[i].colors.Count == receivedMeshes[i].vertices.Count) ? j : 0;
currentColors.Add(new Color((float)receivedMeshes[i].colors[colorIndex][1] / 255.0f,
(float)receivedMeshes[i].colors[colorIndex][2] / 255.0f,
(float)receivedMeshes[i].colors[colorIndex][3] / 255.0f,
1.0f));
}
float alpha = (float)receivedMeshes[i].colors[0][0] / 255.0f;
// Condition Faces.
for (int j = 0; j < receivedMeshes[i].faces.Count; j++)
{
currentFaces.Add(receivedMeshes[i].faces[j][1]);
currentFaces.Add(receivedMeshes[i].faces[j][2]);
currentFaces.Add(receivedMeshes[i].faces[j][3]);
// If quad - add second face.
if ((receivedMeshes[i].faces[j][0] == 1))
{
currentFaces.Add(receivedMeshes[i].faces[j][1]);
currentFaces.Add(receivedMeshes[i].faces[j][3]);
currentFaces.Add(receivedMeshes[i].faces[j][4]);
}
}
// Set Values
GameObject meshInstance;
if (i < goRelevantMeshes.Length)
{
#if DEBUG
Debug.Log("Mesh: Updating old Mesh");
#endif
meshInstance = goRelevantMeshes[i];
}
else
{
#if DEBUG
Debug.Log("Mesh: Adding new Mesh");
#endif
meshInstance = Instantiate(currentPrefab, ObjectManager.instance.cPlane.transform.position, ObjectManager.instance.cPlane.transform.rotation, ObjectManager.instance.cPlane.transform);
}
meshInstance.GetComponent <Renderer>().material.SetFloat("_ShadowStrength", 1.0f);
meshInstance.GetComponent <Renderer>().material.SetFloat("_Alpha", alpha);
meshInstance.GetComponent <MeshFilter>().mesh = MeshUtilities.DecodeMesh(currentVertices, currentFaces, currentColors);
}
// Delete Extraneous Meshes.
if (goRelevantMeshes.Length > receivedMeshes.Count)
{
#if DEBUG
Debug.Log("Mesh: Meshes extra deleting.");
#endif
DeleteMeshes(sourceType, receivedMeshes.Count);
}
}