public override void UpdateModel()
{
if (ActionObjectMetadata.ObjectModel == null)
{
return;
}
Vector3?dimensions = null;
switch (ActionObjectMetadata.ObjectModel.Type)
{
case ObjectModel.TypeEnum.Box:
dimensions = TransformConvertor.ROSToUnityScale(new Vector3((float)ActionObjectMetadata.ObjectModel.Box.SizeX, (float)ActionObjectMetadata.ObjectModel.Box.SizeY, (float)ActionObjectMetadata.ObjectModel.Box.SizeZ));
break;
case ObjectModel.TypeEnum.Sphere:
dimensions = TransformConvertor.ROSToUnityScale(new Vector3((float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius));
break;
case ObjectModel.TypeEnum.Cylinder:
dimensions = TransformConvertor.ROSToUnityScale(new Vector3((float)ActionObjectMetadata.ObjectModel.Cylinder.Radius, (float)ActionObjectMetadata.ObjectModel.Cylinder.Radius, (float)ActionObjectMetadata.ObjectModel.Cylinder.Height));
break;
}
if (dimensions != null)
{
Model.transform.localScale = new Vector3(dimensions.Value.x, dimensions.Value.y, dimensions.Value.z);
}
}
public void CreateModel()
{
if (ActionObjectMetadata.ObjectModel == null || ActionObjectMetadata.ObjectModel.Type == IO.Swagger.Model.ObjectModel.TypeEnum.None)
{
Model = Instantiate(CubePrefab, Visual.transform);
Visual.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
}
else
{
switch (ActionObjectMetadata.ObjectModel.Type)
{
case IO.Swagger.Model.ObjectModel.TypeEnum.Box:
Model = Instantiate(CubePrefab, Visual.transform);
Visual.transform.localScale = TransformConvertor.ROSToUnityScale(new Vector3((float)ActionObjectMetadata.ObjectModel.Box.SizeX, (float)ActionObjectMetadata.ObjectModel.Box.SizeY, (float)ActionObjectMetadata.ObjectModel.Box.SizeZ));
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Cylinder:
Model = Instantiate(CylinderPrefab, Visual.transform);
Visual.transform.localScale = new Vector3((float)ActionObjectMetadata.ObjectModel.Cylinder.Radius, (float)ActionObjectMetadata.ObjectModel.Cylinder.Height, (float)ActionObjectMetadata.ObjectModel.Cylinder.Radius);
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Sphere:
Model = Instantiate(SpherePrefab, Visual.transform);
Visual.transform.localScale = new Vector3((float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius);
break;
default:
Model = Instantiate(CubePrefab, Visual.transform);
Visual.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
break;
}
}
if (IsRobot())
{
Model.tag = "Robot";
}
gameObject.GetComponent <BindParentToChild>().ChildToBind = Model;
Model.GetComponent <OnClickCollider>().Target = gameObject;
Model.transform.localScale = new Vector3(1, 1, 1);
modelRenderer = Model.GetComponent <Renderer>();
outlineOnClick = gameObject.GetComponent <OutlineOnClick>();
outlineOnClick.InitRenderers(new List <Renderer>()
{
modelRenderer
});
}
public override void CreateModel(CollisionModels customCollisionModels = null)
{
if (ActionObjectMetadata.ObjectModel == null || ActionObjectMetadata.ObjectModel.Type == IO.Swagger.Model.ObjectModel.TypeEnum.None)
{
Model = Instantiate(CubePrefab, Visual.transform);
Model.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
}
else
{
switch (ActionObjectMetadata.ObjectModel.Type)
{
case IO.Swagger.Model.ObjectModel.TypeEnum.Box:
Model = Instantiate(CubePrefab, Visual.transform);
if (customCollisionModels == null)
{
Model.transform.localScale = TransformConvertor.ROSToUnityScale(new Vector3((float)ActionObjectMetadata.ObjectModel.Box.SizeX, (float)ActionObjectMetadata.ObjectModel.Box.SizeY, (float)ActionObjectMetadata.ObjectModel.Box.SizeZ));
}
else
{
foreach (IO.Swagger.Model.Box box in customCollisionModels.Boxes)
{
if (box.Id == ActionObjectMetadata.Type)
{
Model.transform.localScale = TransformConvertor.ROSToUnityScale(new Vector3((float)box.SizeX, (float)box.SizeY, (float)box.SizeZ));
break;
}
}
}
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Cylinder:
Model = Instantiate(CylinderPrefab, Visual.transform);
if (customCollisionModels == null)
{
Model.transform.localScale = new Vector3((float)ActionObjectMetadata.ObjectModel.Cylinder.Radius, (float)ActionObjectMetadata.ObjectModel.Cylinder.Height / 2, (float)ActionObjectMetadata.ObjectModel.Cylinder.Radius);
}
else
{
foreach (IO.Swagger.Model.Cylinder cylinder in customCollisionModels.Cylinders)
{
if (cylinder.Id == ActionObjectMetadata.Type)
{
Model.transform.localScale = new Vector3((float)cylinder.Radius, (float)cylinder.Height, (float)cylinder.Radius);
break;
}
}
}
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Sphere:
Model = Instantiate(SpherePrefab, Visual.transform);
if (customCollisionModels == null)
{
Model.transform.localScale = new Vector3((float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius);
}
else
{
foreach (IO.Swagger.Model.Sphere sphere in customCollisionModels.Spheres)
{
if (sphere.Id == ActionObjectMetadata.Type)
{
Model.transform.localScale = new Vector3((float)sphere.Radius, (float)sphere.Radius, (float)sphere.Radius);
break;
}
}
}
break;
case ObjectModel.TypeEnum.Mesh:
MeshImporter.Instance.OnMeshImported += OnModelLoaded;
MeshImporter.Instance.LoadModel(ActionObjectMetadata.ObjectModel.Mesh, GetId());
Model = Instantiate(CubePrefab, Visual.transform);
Model.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
break;
default:
Model = Instantiate(CubePrefab, Visual.transform);
Model.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
break;
}
}
//if (IsRobot()) {
// Model.tag = "Robot";
//}
gameObject.GetComponent <BindParentToChild>().ChildToBind = Model;
Collider = Model.GetComponent <Collider>();
Colliders.Add(Collider);
Model.GetComponent <OnClickCollider>().Target = gameObject;
outlineOnClick = gameObject.GetComponent <OutlineOnClick>();
aoRenderers.Clear();
aoRenderers.AddRange(Model.GetComponentsInChildren <Renderer>(true));
outlineOnClick.InitRenderers(aoRenderers);
}
public override void CreateModel(CollisionModels customCollisionModels = null)
{
if (ActionObjectMetadata.ObjectModel == null || ActionObjectMetadata.ObjectModel.Type == IO.Swagger.Model.ObjectModel.TypeEnum.None)
{
Model = Instantiate(CubePrefab, Visual.transform);
Model.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
}
else
{
switch (ActionObjectMetadata.ObjectModel.Type)
{
case IO.Swagger.Model.ObjectModel.TypeEnum.Box:
Model = Instantiate(CubePrefab, Visual.transform);
if (customCollisionModels == null)
{
Model.transform.localScale = TransformConvertor.ROSToUnityScale(new Vector3((float)ActionObjectMetadata.ObjectModel.Box.SizeX, (float)ActionObjectMetadata.ObjectModel.Box.SizeY, (float)ActionObjectMetadata.ObjectModel.Box.SizeZ));
}
else
{
foreach (IO.Swagger.Model.Box box in customCollisionModels.Boxes)
{
if (box.Id == ActionObjectMetadata.Type)
{
Model.transform.localScale = TransformConvertor.ROSToUnityScale(new Vector3((float)box.SizeX, (float)box.SizeY, (float)box.SizeZ));
break;
}
}
}
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Cylinder:
Model = Instantiate(CylinderPrefab, Visual.transform);
if (customCollisionModels == null)
{
Model.transform.localScale = new Vector3((float)ActionObjectMetadata.ObjectModel.Cylinder.Radius, (float)ActionObjectMetadata.ObjectModel.Cylinder.Height / 2, (float)ActionObjectMetadata.ObjectModel.Cylinder.Radius);
}
else
{
foreach (IO.Swagger.Model.Cylinder cylinder in customCollisionModels.Cylinders)
{
if (cylinder.Id == ActionObjectMetadata.Type)
{
Model.transform.localScale = new Vector3((float)cylinder.Radius, (float)cylinder.Height, (float)cylinder.Radius);
break;
}
}
}
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Sphere:
Model = Instantiate(SpherePrefab, Visual.transform);
if (customCollisionModels == null)
{
Model.transform.localScale = new Vector3((float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius, (float)ActionObjectMetadata.ObjectModel.Sphere.Radius);
}
else
{
foreach (IO.Swagger.Model.Sphere sphere in customCollisionModels.Spheres)
{
if (sphere.Id == ActionObjectMetadata.Type)
{
Model.transform.localScale = new Vector3((float)sphere.Radius, (float)sphere.Radius, (float)sphere.Radius);
break;
}
}
}
break;
default:
Model = Instantiate(CubePrefab, Visual.transform);
Model.transform.localScale = new Vector3(0.05f, 0.01f, 0.05f);
break;
}
}
if (IsRobot())
{
Model.tag = "Robot";
}
gameObject.GetComponent <BindParentToChild>().ChildToBind = Model;
Collider = Model.GetComponent <Collider>();
Model.GetComponent <OnClickCollider>().Target = gameObject;
modelRenderer = Model.GetComponent <Renderer>();
modelMaterial = modelRenderer.material;
outlineOnClick = gameObject.GetComponent <OutlineOnClick>();
outlineOnClick.InitRenderers(new List <Renderer>()
{
modelRenderer
});
Model.AddComponent <GizmoOutlineHandler>().OutlineOnClick = outlineOnClick;
}
