/// <summary>
/// 批量生成TaskCell到场景中，并进行初始化赋值
/// </summary>
public void GenerateTaskCell()
{
for (int i = 0; i < commands.Count; i++)
{
GameObject go = Instantiate(Resources.Load <GameObject>("UI/TaskCell"), GameObject.Find("TaskShowPanel").transform);
if (commands[i].commandType == CommandType.Delay)
{
WaitingStep step = go.AddComponent <WaitingStep>();
step.delayTime = float.Parse(commands[i].Param) / 1000f;
go.transform.Find("Text").GetComponent <Text>().text = "待机指令";
}
else
{
MovingStep step = go.AddComponent <MovingStep>();
JointsMessage jm = new JointsMessage();
jm.IKPoint = cps[commands[i].Param].point * 0.001f;
string key = string.Format("{0:d3}", (StepManager.Instance.SavedPointMessage.Count + 1));
StepManager.Instance.SavedPointMessage.Add(key, jm);
MechanicalControl.Instance.ShowTag(jm.IKPoint, key);
step.targetPoint.IKPoint = jm.IKPoint;
go.transform.Find("Text").GetComponent <Text>().text = "移动指令";
}
StepManager.Instance.Steps.Add(go);
}
}
/// <summary>
/// 老方法的运动，用DoTween控制关节点旋转，现在已弃用，以后有需要可参考使用
/// </summary>
/// <param name="pointMessage"></param>
/// <returns></returns>
List <Tweener> RotateTo(JointsMessage pointMessage)
{
List <Tweener> tweeners = new List <Tweener>();
for (int i = 0; i < jointsDic.Count; i++)
{
tweeners.Add(RotateToSingle(jointsDic["Joint" + i], pointMessage.jointRotation[i]));
}
return(tweeners);
}
/// <summary>
/// 机器人开始自由运动
/// </summary>
/// <param name="jointsMessage"></param>
public void StartRotate(JointsMessage jointsMessage)
{
//老方法的运动，用Dowteem实现的各个关节配合移动的方式
//List<Tweener> tweeners = new List<Tweener>();
//if (jointsMessage != null)
//{
// tweeners = RotateTo(jointsMessage);
//}
//allowIn = true;
StartCoroutine(SimpleMoveP(jointsMessage.IKPoint));
}
//public Action OnRotateComplete;
//protected bool allowIn = true;
/// <summary>
/// 保存末端点和各关节信息
/// </summary>
/// <returns>存储末端点和各关节信息的类</returns>
public JointsMessage SavePoint()
{
JointsMessage jointsMessage = new JointsMessage();
for (int i = 0; i < jointsDic.Count; i++)
{
jointsMessage.jointRotation.Add(jointsDic["Joint" + i].localEulerAngles);
jointsMessage.IKPoint = GetGoInScene.GetInstance().PointTag.position;
}
return(jointsMessage);
}
