public Dictionary <string, Waypoint> waypointsDict; // Collection of the waypoints in this drone's path
/// <summary>
/// Constructor method for Drone class objects
/// </summary>
/// <param name="drone_obj"> We pass in a Gameobject for the drone -- this will be phased out and the new drone_obj gameObject will be instantiated in this method </param>
public Drone(Vector3 position)
{
// Create gameObject at position
GameObject baseObject = (GameObject)WorldProperties.worldObject.GetComponent <WorldProperties>().droneBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, position, Quaternion.identity);
gameObjectPointer.GetComponent <DroneProperties>().classPointer = this; // Connect the gameObject back to the classObject
gameObjectPointer.tag = "Drone";
gameObjectPointer.name = baseObject.name;
gameObjectPointer.transform.localScale = WorldProperties.actualScale / 5;
gameObjectPointer.transform.parent = WorldProperties.worldObject.transform;
WorldProperties.AddClipShader(gameObjectPointer.transform);
// Initialize path and placement order lists
waypoints = new ArrayList(0);
waypointsOrder = new ArrayList(0);
// Add waypoints container
nextWaypointId = 0;
waypointsDict = new Dictionary <string, Waypoint>();
// Updating the world properties to reflect a new drone being added
id = WorldProperties.nextDroneId;
WorldProperties.dronesDict.Add(id, this);
WorldProperties.nextDroneId++;
// Select this drone
this.Select();
Debug.Log("Created new drone with id: " + id);
}
public Waypoint nextPathPoint; // Refers to next waypoint
/// <summary>
/// Waypoint class object constructor
/// </summary>
/// <param name="myDrone"> This is the drone that the new waypoint should belong to (remember that you still need to add the waypoint to the path using this drone's methods) </param>
/// <param name="position"> This is the 3d location at which the new waypoint gameObject should be placed. </param>
public Waypoint(Drone myDrone, Vector3 position)
{
// Linking this waypoint to its drone
referenceDrone = myDrone;
// Setting up all the related gameObject parameters
GameObject baseObject = (GameObject)WorldProperties.worldObject.GetComponent <WorldProperties>().waypointBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, position, Quaternion.identity);
gameObjectPointer.GetComponent <VRTK_InteractableObject>().ignoredColliders[0] = GameObject.Find("controller_right").GetComponent <SphereCollider>(); //Ignoring Collider from Controller so that WayPoint Zone is used
gameObjectPointer.GetComponent <WaypointProperties>().classPointer = this; // Connect the gameObject back to the classObject
gameObjectPointer.tag = "waypoint";
gameObjectPointer.name = baseObject.name;
gameObjectPointer.transform.localScale = WorldProperties.actualScale / 100;
gameObjectPointer.transform.parent = WorldProperties.worldObject.transform;
WorldProperties.AddClipShader(gameObjectPointer.transform);
// Initializing the ROSpoints Arraylist
ROSpoints = new ArrayList(0);
// Establishing the unique waypoint identifier
id = "" + referenceDrone.id + referenceDrone.nextWaypointId;
referenceDrone.nextWaypointId++;
//Debug.Log("Created new waypoint with id: " + id);
}
public WaypointProperties waypointProperties; // Points to attached Waypoint Properties script
/// <summary>
/// Waypoint class object constructor
/// </summary>
/// <param name="myDrone"> This is the drone that the new waypoint should belong to (remember that you still need to add the waypoint to the path using this drone's methods) </param>
/// <param name="position"> This is the 3d location at which the new waypoint gameObject should be placed. </param>
public Waypoint(Drone myDrone, Vector3 position, bool takeoffWaypoint = false)
{
// Linking this waypoint to its drone
referenceDrone = myDrone;
// Setting up all the related gameObject parameters
GameObject baseObject = (GameObject)WorldProperties.worldObject.GetComponent <WorldProperties>().waypointBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, position, Quaternion.identity);
gameObjectPointer.GetComponent <VRTK_InteractableObject>().ignoredColliders[0] = GameObject.Find("controller_right").GetComponent <SphereCollider>(); //Ignoring Collider from Controller so that WayPoint Zone is used
waypointProperties = gameObjectPointer.GetComponent <WaypointProperties>();
waypointProperties.classPointer = this; // Connect the gameObject back to the classObject
gameObjectPointer.tag = "waypoint";
gameObjectPointer.name = baseObject.name;
gameObjectPointer.transform.localScale = WorldProperties.actualScale / 100;
gameObjectPointer.transform.parent = WorldProperties.worldObject.transform;
WorldProperties.AddClipShader(gameObjectPointer.transform);
}
/// <summary>
/// Constructor method for Drone class objects
/// </summary>
/// <param name="drone_obj"> We pass in a Gameobject for the drone -- this will be phased out and the new drone_obj gameObject will be instantiated in this method </param>
public Drone(Vector3 position, int uniqueID)
{
// Create gameObject at position
GameObject baseObject = (GameObject)WorldProperties.worldObject.GetComponent <WorldProperties>().droneBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, position, Quaternion.identity);
Debug.Log("Position init: " + position.ToString());
droneProperties = gameObjectPointer.GetComponent <DroneProperties>();
droneProperties.enabled = true;
droneProperties.droneClassPointer = this; // Connect the gameObject back to the classObject
droneProperties.selectedMeshRenderer = gameObjectPointer.transform.Find("group3/Outline").GetComponent <MeshRenderer>();
gameObjectPointer.tag = "Drone";
gameObjectPointer.name = baseObject.name;
gameObjectPointer.transform.localScale = WorldProperties.actualScale / 5;
gameObjectPointer.transform.parent = WorldProperties.worldObject.transform;
WorldProperties.AddClipShader(gameObjectPointer.transform);
// Initialize path and placement order lists
waypoints = new List <Waypoint>(); // All waypoints held by the drone
deletedWaypoints = new List <Waypoint>(); // All waypoints that were deleted, in case the player wants to redo them.
// Initialize the actions stack.
actions = new Stack <string>();
// Updating the world properties to reflect a new drone being added
id = uniqueID;
WorldProperties.AddDrone(this);
Debug.Log("Created new drone with id: " + id);
// Initilize the sensor list
// @Jasmine: this is populated by ROS Manager when initilzing the drone and can be used for the UI
// @Jasmine: feel free to add/remove functionality as needed, it's a very rough structure right now
attachedSensors = new List <ROSSensorConnectionInterface>();
// Init as unselected
gameObjectPointer.transform.Find("group3/Outline").GetComponent <MeshRenderer>().material = droneProperties.deselectedMaterial;
selected = false;
Debug.Log("Created new drone with id: " + id);
}