/// <summary>
/// Called after Awake() when the script instance is enabled.
/// Initializes variables then loads the field and robot as well as setting up replay features.
/// </summary>
public override void Start()
{
AppModel.ClearError();
//getting bullet physics information
physicsWorld = BPhysicsWorld.Get();
((DynamicsWorld)physicsWorld.world).SetInternalTickCallback(BPhysicsTickListener.Instance.PhysicsTick);
//setting up raycast robot tick callback
BPhysicsTickListener.Instance.OnTick -= BRobotManager.Instance.UpdateRaycastRobots;
BPhysicsTickListener.Instance.OnTick += BRobotManager.Instance.UpdateRaycastRobots;
//starts a new instance of unity packet which receives packets from the driver station
unityPacket = new UnityPacket();
unityPacket.Start();
SpawnedRobots = new List <NetworkRobot>();
//loads all the controls
Controls.Load();
//initializes the dynamic camera
DynamicCameraObject = GameObject.Find("Main Camera");
dynamicCamera = DynamicCameraObject.AddComponent <DynamicCamera>();
DynamicCamera.ControlEnabled = true;
IsMetric = PlayerPrefs.GetString("Measure").Equals("Metric") ? true : false;
Network = GameObject.Find("NetworkManager").GetComponent <MultiplayerNetwork>();
Network.State = this;
}
/// <summary>
/// Called after Awake() when the script instance is enabled.
/// Initializes variables then loads the field and robot as well as setting up replay features.
/// </summary>
public override void Start()
{
//getting bullet physics information
physicsWorld = BPhysicsWorld.Get();
((DynamicsWorld)physicsWorld.world).SetInternalTickCallback(BRobotManager.Instance.UpdateRaycastRobots);
lastFrameCount = physicsWorld.frameCount;
//setting up replay
Trackers = new List <Tracker>();
CollisionTracker = new CollisionTracker(this);
//starts a new instance of unity packet which receives packets from the driver station
unityPacket = new UnityPacket();
unityPacket.Start();
//loads all the controls
Controls.Load();
//If a replay has been selected, load the replay. Otherwise, load the field and robot.
string selectedReplay = PlayerPrefs.GetString("simSelectedReplay");
SpawnedRobots = new List <Robot>();
if (string.IsNullOrEmpty(selectedReplay))
{
Tracking = true;
Debug.Log(LoadField(PlayerPrefs.GetString("simSelectedField")) ? "Load field success!" : "Load field failed.");
Debug.Log(LoadRobot(PlayerPrefs.GetString("simSelectedRobot")) ? "Load robot success!" : "Load robot failed.");
int isMixAndMatch = PlayerPrefs.GetInt("MixAndMatch", 0); // 0 is false, 1 is true
int hasManipulator = PlayerPrefs.GetInt("hasManipulator");
if (isMixAndMatch == 1 && hasManipulator == 1)
{
Debug.Log(LoadManipulator(PlayerPrefs.GetString("simSelectedManipulator")) ? "Load manipulator success" : "Load manipulator failed");
}
}
else
{
awaitingReplay = true;
LoadReplay(selectedReplay);
}
//initializes the dynamic camera
dynamicCameraObject = GameObject.Find("Main Camera");
dynamicCamera = dynamicCameraObject.AddComponent <DynamicCamera>();
DynamicCamera.MovingEnabled = true;
sensorManager = GameObject.Find("SensorManager").GetComponent <SensorManager>();
sensorManagerGUI = GameObject.Find("StateMachine").GetComponent <SensorManagerGUI>();
robotCameraManager = GameObject.Find("RobotCameraList").GetComponent <RobotCameraManager>();
}
/// <summary>
/// Called when the script instance is being initialized.
/// Initializes the bullet physics environment
/// </summary>
public override void Awake()
{
Environment.SetEnvironmentVariable("MONO_REFLECTION_SERIALIZER", "yes");
GImpactCollisionAlgorithm.RegisterAlgorithm((CollisionDispatcher)BPhysicsWorld.Get().world.Dispatcher);
//BPhysicsWorld.Get().DebugDrawMode = DebugDrawModes.DrawWireframe | DebugDrawModes.DrawConstraints | DebugDrawModes.DrawConstraintLimits;
BPhysicsWorld.Get().DebugDrawMode = DebugDrawModes.All;
BPhysicsWorld.Get().DoDebugDraw = false;
((DynamicsWorld)BPhysicsWorld.Get().world).SolverInfo.NumIterations = SolverIterations;
CollisionTracker = new CollisionTracker(this);
unityPacket = new UnityPacket();
SpawnedRobots = new List <SimulatorRobot>();
}
private void Update()
{
if (zmqThread is null)
{
unityPacket = new UnityPacket();
zmqThread = new ZMQThread();
zmqThread.unityPacket = unityPacket;
zmqThread.Start();
}
unityPacket.heartbeat = Time.realtimeSinceStartup;
zmqThread.unityPacket = unityPacket;
}
// Use this for initialization
void Start()
{
unityPacket = new UnityPacket();
unityPacket.Start();
Debug.Log(LoadField(PlayerPrefs.GetString("Field")) ? "Load field success!" : "Load field failed.");
Debug.Log(LoadRobot(PlayerPrefs.GetString("Robot")) ? "Load robot success!" : "Load robot failed.");
dynamicCamera = GameObject.Find("Main Camera").AddComponent <DynamicCamera>();
extraElements = new List <GameObject>();
random = new System.Random();
resetting = false;
}
/// <summary>
/// Called after Awake() when the script instance is enabled.
/// Initializes variables then loads the field and robot as well as setting up replay features.
/// </summary>
public override void Start()
{
//getting bullet physics information
physicsWorld = BPhysicsWorld.Get();
lastFrameCount = physicsWorld.frameCount;
//setting up replay
Trackers = new List <Tracker>();
contactPoints = new FixedQueue <List <ContactDescriptor> >(Tracker.Length);
//starts a new instance of unity packet which receives packets from the driver station
unityPacket = new UnityPacket();
unityPacket.Start();
//loads all the controls
Controls.Load();
//If a replay has been selected, load the replay. Otherwise, load the field and robot.
string selectedReplay = PlayerPrefs.GetString("simSelectedReplay");
SpawnedRobots = new List <Robot>();
if (string.IsNullOrEmpty(selectedReplay))
{
tracking = true;
Debug.Log(LoadField(PlayerPrefs.GetString("simSelectedField")) ? "Load field success!" : "Load field failed.");
Debug.Log(LoadRobot(PlayerPrefs.GetString("simSelectedRobot")) ? "Load robot success!" : "Load robot failed.");
int isMixAndMatch = PlayerPrefs.GetInt("MixAndMatch", 1); //0 is true, 1 is false
if (isMixAndMatch == 0 && MixAndMatchMode.hasManipulator)
{
Debug.Log(LoadManipulator(PlayerPrefs.GetString("simSelectedManipulator")) ? "Load manipulator success" : "Load manipulator failed");
}
}
else
{
awaitingReplay = true;
LoadReplay(selectedReplay);
}
//initializes the dynamic camera
dynamicCameraObject = GameObject.Find("Main Camera");
dynamicCamera = dynamicCameraObject.AddComponent <DynamicCamera>();
DynamicCamera.MovingEnabled = true;
}
/// <summary>
/// Called after Awake() when the script instance is enabled.
/// Initializes variables then loads the field and robot as well as setting up replay features.
/// </summary>
public override void Start()
{
AppModel.ClearError();
//getting bullet physics information
physicsWorld = BPhysicsWorld.Get();
((DynamicsWorld)physicsWorld.world).SetInternalTickCallback(BPhysicsTickListener.Instance.PhysicsTick);
lastFrameCount = physicsWorld.frameCount;
//setting up raycast robot tick callback
BPhysicsTickListener.Instance.OnTick -= BRobotManager.Instance.UpdateRaycastRobots;
BPhysicsTickListener.Instance.OnTick += BRobotManager.Instance.UpdateRaycastRobots;
//setting up replay
CollisionTracker = new CollisionTracker(this);
//starts a new instance of unity packet which receives packets from the driver station
unityPacket = new UnityPacket();
unityPacket.Start();
//loads all the controls
Controls.Load();
//If a replay has been selected, load the replay. Otherwise, load the field and robot.
string selectedReplay = PlayerPrefs.GetString("simSelectedReplay");
SpawnedRobots = new List <Robot>();
if (string.IsNullOrEmpty(selectedReplay))
{
Tracking = true;
if (!LoadField(PlayerPrefs.GetString("simSelectedField")))
{
AppModel.ErrorToMenu("Could not load field: " + PlayerPrefs.GetString("simSelectedField") + "\nHas it been moved or deleted?)");
return;
}
if (!LoadRobot(PlayerPrefs.GetString("simSelectedRobot"), RobotTypeManager.IsMixAndMatch))
{
AppModel.ErrorToMenu("Could not load robot: " + PlayerPrefs.GetString("simSelectedRobot") + "\nHas it been moved or deleted?)");
return;
}
if (RobotTypeManager.IsMixAndMatch && RobotTypeManager.HasManipulator)
{
Debug.Log(LoadManipulator(RobotTypeManager.ManipulatorPath) ? "Load manipulator success" : "Load manipulator failed");
}
}
else
{
awaitingReplay = true;
LoadReplay(selectedReplay);
}
//initializes the dynamic camera
DynamicCameraObject = GameObject.Find("Main Camera");
dynamicCamera = DynamicCameraObject.AddComponent <DynamicCamera>();
DynamicCamera.MovingEnabled = true;
sensorManager = GameObject.Find("SensorManager").GetComponent <SensorManager>();
sensorManagerGUI = GameObject.Find("StateMachine").GetComponent <SensorManagerGUI>();
robotCameraManager = GameObject.Find("RobotCameraList").GetComponent <RobotCameraManager>();
IsMetric = PlayerPrefs.GetString("Measure").Equals("Metric") ? true : false;
StateMachine.Instance.Link <MainState>(GameObject.Find("Main Camera").transform.GetChild(0).gameObject);
StateMachine.Instance.Link <ReplayState>(Resources.FindObjectsOfTypeAll <GameObject>().First(x => x.name.Equals("ReplayUI")));
StateMachine.Instance.Link <SaveReplayState>(Resources.FindObjectsOfTypeAll <GameObject>().First(x => x.name.Equals("SaveReplayUI")));
}
