public void StartFeed(MemoryBridge memoryBridge, string fileName)
{
meshRenderer = GetComponent <MeshRenderer>();
this.memoryBridge = memoryBridge;
this.fileName = fileName;
memoryBridge.SetVector3("CamLocalPos" + fileName + memoryBridge.cameraFeeds.Count, Vector3.zero);
memoryBridge.SetVector3("CamLocalEuler" + fileName + memoryBridge.cameraFeeds.Count, Vector3.zero);
//meshRenderer.material.SetTexture("_MainTex", readTex);
}
public GameObject CalculateTarget()
{
var worldVertPositions = new List <Vector3>();
var offsets = new List <Vector3>();
var childFilters = GetComponentsInChildren <MeshFilter>();
foreach (var meshFilter in childFilters)
{
var vertices = meshFilter.mesh.vertices;
foreach (var vertex in vertices)
{
var worldPos = meshFilter.transform.TransformPoint(vertex);
worldVertPositions.Add(worldPos);
}
//meshFilter.gameObject.SetActive(false);
}
foreach (var worldPos in worldVertPositions)
{
var offset = transform.InverseTransformPoint(worldPos);
offsets.Add(offset);
}
float furthestY = 0;
Vector3 footOffset = Vector3.zero;
for (int i = 0; i < offsets.Count; i++)
{
if (offsets[i].y > furthestY)
{
furthestY = offsets[i].y;
footOffset = offsets[i];
}
}
var foot = Instantiate(Resources.Load("Foot", typeof(GameObject))) as GameObject;
foot.transform.SetParent(transform);
foot.GetComponent <MeshRenderer>().material.color = color;
// footOffset.y = -footOffset.y;
foot.transform.localPosition = footOffset;
memoryBridge.SetVector3(servoName + "contactPoint", footOffset);
targetOffset = (float)(Math.Atan2(footOffset.z, footOffset.y));
targetOffset *= (float)(180 / Math.PI);
//targetOffset = Vector3.Angle(transform.position, foot.transform.position);
// Debug.Log("target offset " + targetOffset);
var footRenderer = foot.GetComponent <LineRenderer>();
footRenderer.SetPosition(0, Vector3.zero);
var wristOffset = foot.transform.InverseTransformPoint(transform.position);
footRenderer.SetPosition(1, wristOffset);
footRenderer.material.color = color;
// limbLength = Vector3.Distance(transform.position, foot.transform.position);
groundPoint = foot.transform;
return(foot);
}
void Update()
{
if (!receivingResponce) //IS THE CLIENT RESPONDING
{
Debug.Log("client file empty");
//camFeedFile = MemoryMappedFile.Create(MapProtection.PageReadWrite, textureByte.Length, "CamFeedFile" + fileName + this.memoryBridge.cameraFeeds.Count);
camFeedFile = MemoryMappedFile.Open(MapAccess.FileMapAllAccess, "CamFeedFile" + fileName + memoryBridge.cameraFeeds.Count);
if (camFeedFile != null)
{
_receivingResponce = true;
BuildCamera();
}
}
else
{
Debug.Log("cam feed update");
memoryBridge.SetVector3("CamLocalPos" + fileName + memoryBridge.cameraFeeds.Count, cameraRig.localPosition);
memoryBridge.SetVector3("CamLocalEuler" + fileName + memoryBridge.cameraFeeds.Count, cameraRig.localEulerAngles);
/////WORKS////
using (Stream camStream = camFeedFile.MapView(MapAccess.FileMapAllAccess, 0, feedByteCount))
{
byte[] buffer = new byte[feedByteCount];
using (MemoryStream ms = new MemoryStream())
{
int read;
while ((read = camStream.Read(buffer, 0, buffer.Length)) > 0)
{
ms.Write(buffer, 0, read);
}
var byteArray = ms.ToArray();
readTex.LoadRawTextureData(byteArray);
}
}
readTex.Apply();
meshRenderer.material.SetTexture("_MainTex", readTex);
}
}