// TODO: Something weird is going on with the spawn, at least with robots with manipulators. Reset is fine.
/// <summary>
/// Loads and initializes the physical manipulator object (used in Mix and Match mode)
/// </summary>
/// <param name="directory">Folder directory of the manipulator</param>
/// <param name="robotGameObject">GameObject of the robot the manipulator will be attached to</param>
public bool InitializeManipulator(string directory)
{
ManipulatorObject = new GameObject("Manipulator");
ManipulatorObject.transform.position = robotStartPosition + manipulatorOffset;
RigidNode_Base.NODE_FACTORY = delegate(Guid guid) { return(new RigidNode(guid)); };
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
//TO-DO: Read .robot instead (from the new exporters if they are implemented). Maybe need a RobotSkeleton class
manipulatorNode = BXDExtensions.ReadSkeletonSafe(directory + Path.DirectorySeparatorChar + "skeleton") as RigidNode;
manipulatorNode.ListAllNodes(nodes);
//Load node_0 for attaching manipulator to robot
RigidNode node = (RigidNode)nodes[0];
node.CreateTransform(ManipulatorObject.transform);
if (!node.CreateMesh(directory + Path.DirectorySeparatorChar + node.ModelFileName))
{
Destroy(ManipulatorObject);
return(false);
}
node.CreateManipulatorJoint(gameObject);
node.MainObject.AddComponent <Tracker>().Trace = true;
//Load other nodes associated with the manipulator
for (int i = 1; i < nodes.Count; i++)
{
RigidNode otherNode = (RigidNode)nodes[i];
otherNode.CreateTransform(ManipulatorObject.transform);
if (!otherNode.CreateMesh(directory + Path.DirectorySeparatorChar + otherNode.ModelFileName))
{
Destroy(ManipulatorObject);
return(false);
}
otherNode.MainObject.AddComponent <Tracker>().Trace = true;
}
RootNode.GenerateWheelInfo();
for (int i = 1; i < nodes.Count; i++)
{
RigidNode otherNode = (RigidNode)nodes[i];
otherNode.CreateJoint(this);
}
RotateRobot(robotStartOrientation);
RobotHasManipulator = true;
return(true);
}
/// <summary>
/// Initializes physical robot based off of robot directory.
/// </summary>
/// <param name="directory">folder directory of robot</param>
/// <returns></returns>
public bool InitializeRobot(string directory)
{
RobotDirectory = directory;
RobotName = new DirectoryInfo(directory).Name;
//Deletes all nodes if any exist, take the old node transforms out from the robot object
foreach (Transform child in transform)
{
Destroy(child.gameObject);
}
robotStartPosition = FieldDataHandler.robotSpawn != new Vector3(99999, 99999, 99999) ? FieldDataHandler.robotSpawn : robotStartPosition;
transform.position = robotStartPosition; //Sets the position of the object to the set spawn point
robotStartOrientation = FieldDataHandler.robotSpawnOrientation;
if (!File.Exists(directory + Path.DirectorySeparatorChar + "skeleton.bxdj") && !File.Exists(directory + Path.DirectorySeparatorChar + "skeleton.json"))
{
return(false);
}
OnInitializeRobot();
//Loads the node and skeleton data
RigidNode_Base.NODE_FACTORY = delegate(Guid guid) { return(new RigidNode(guid)); };
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
RootNode = BXDExtensions.ReadSkeletonSafe(directory + Path.DirectorySeparatorChar + "skeleton") as RigidNode;
RootNode.ListAllNodes(nodes);
emuList = new List <EmuNetworkInfo>();
foreach (RigidNode_Base Base in RootNode.ListAllNodes())
{
try
{
if (Base.GetSkeletalJoint() != null && Base.GetSkeletalJoint().attachedSensors != null)
{
foreach (RobotSensor sensor in Base.GetSkeletalJoint().attachedSensors)
{
if (sensor.type == RobotSensorType.ENCODER)
{
emuList.Add(new EmuNetworkInfo
{
encoderTickCount = 0,
RobotSensor = sensor,
wheel = Base,
wheel_radius = 0
});
}
}
}
}
catch (Exception e)
{
Debug.Log(e.ToString());
}
}
//Initializes the wheel variables
float collectiveMass = 0f;
if (!ConstructRobot(nodes, ref collectiveMass))
{
return(false);
}
foreach (BRaycastRobot r in GetComponentsInChildren <BRaycastRobot>())
{
r.RaycastRobot.OverrideMass = collectiveMass;
r.RaycastRobot.RootRigidBody = (RigidBody)((RigidNode)nodes[0]).MainObject.GetComponent <BRigidBody>().GetCollisionObject();
}
OnRobotSetup();
RotateRobot(robotStartOrientation);
return(true);
}
