public void OnConfirm()
{
var toggle = ModeGroup.GetActive();
if (toggle.name == "Mode1")
{
command.mode = 0;
}
else if (toggle.name == "Mode2")
{
command.mode = 1;
}
if (timeField.text.Length != 0)
{
command.time = int.Parse(timeField.text);
}
if (energyField.text.Length != 0)
{
command.energy = int.Parse(energyField.text);
}
if (coordField.text != "Wrong string" && coordField.text.Length != 0)
{
command.command = RobotCommands.TelegaMoving(coordField.text);
ModeGroup.SetActive(0);
coordField.text = "";
this.gameObject.SetActive(false);
}
}
public IEnumerator DirectionalMoving()
{
rc.aims.Insert(0, telega.PointA.transform.position);
rc.aims.Insert(0, telega.PointA.transform.position + telega.A - telega.B);
for (int i = 0; i < rc.aims.Count; ++i)
{
rc.aims[i] = new Vector3(rc.aims[i].x, telega.transform.position.y, rc.aims[i].z);
}
for (int j = 1; j < rc.aims.Count - 1; ++j)
{
a = rc.aims[j] - rc.aims[j - 1];
b = rc.aims[j + 1] - rc.aims[j];
angle = new float[3] {
30f, -30f, 90f
};
float alpha = Mathf.Acos(Vector3.Dot(a.normalized, b.normalized)) * Mathf.Rad2Deg;
dist = new float[3] {
Mathf.Abs(Mathf.PI * 20f * alpha / 180f), Mathf.Abs(Mathf.PI * 20f * alpha / 180f), Mathf.Abs(Mathf.PI * 20f * alpha / 180f)
};
if (Vector3.Cross(a, b).y >= 0)
{
isReversed = new float[3] {
-1, -1, 1
};
}
if (Vector3.Cross(a, b).y < 0)
{
isReversed = new float[3] {
1, 1, -1
};
}
//SceneManager.Net.Sender(RobotCommands.TelegaMoving());
var aimsRobot = CoordTransformation.UnityToRobotPosOnly(new Vector4(rc.aims[j].x, rc.aims[j].y, rc.aims[j].z, 1));
SceneManager.Net.Sender(RobotCommands.TelegaMoving(aimsRobot[0].ToString("0.00"), aimsRobot[1].ToString("0.00")));
yield return(new WaitForSeconds(0.5f));
GameObject.Find("telega").GetComponent <telegaScript>().isMoved = true;
float dst = Mathf.Sqrt((rc.aims[j + 1].x - rc.aims[j].x) * (rc.aims[j + 1].x - rc.aims[j].x) +
(rc.aims[j + 1].z - rc.aims[j].z) * (rc.aims[j + 1].z - rc.aims[j].z)) * 1000f;
dist = new float[3] {
dst, dst, dst
};
isReversed[0] = isReversed[1] = isReversed[2] = 1;
angle[0] = angle[1] = angle[2] = 0;
yield return(new WaitForSeconds(0.5f));
GameObject.Find("telega").GetComponent <telegaScript>().isMoved = true;
}
rc.aims.RemoveAt(0);
rc.aims.RemoveAt(0);
}