private void Update()
{
if (!Singleton.Manager <ManPointer> .inst.DraggingItem && Input.GetMouseButtonDown(1))
{
this.mouseX = Input.mousePosition.x;
this.mouseY = Input.mousePosition.y;
this.win = new Rect(this.mouseX, Screen.height - this.mouseY - 75f, 300f, 425f);
try
{
this.module = Singleton.Manager <ManPointer> .inst.targetVisible.block.GetComponent <ModulePID>();
}
catch
{
this.module = null;
}
this.visible = this.module;
if (this.visible)
{
this.targetHeightStr = this.module.targetHeight.ToString();
this.targetChangeRateStr = this.module.manualTargetChangeRate.ToString();
if (this.module.m_HoverParameters != null)
{
this.hoverKP = this.module.m_HoverParameters.kP.ToString();
this.hoverKI = this.module.m_HoverParameters.kI.ToString();
this.hoverKD = this.module.m_HoverParameters.kD.ToString();
}
if (this.module.m_AccelParameters != null)
{
this.accelKP = this.module.m_AccelParameters.kP.ToString();
this.accelKI = this.module.m_AccelParameters.kI.ToString();
this.accelKD = this.module.m_AccelParameters.kD.ToString();
}
if (this.module.m_StrafeParameters != null)
{
this.strafeKP = this.module.m_StrafeParameters.kP.ToString();
this.strafeKI = this.module.m_StrafeParameters.kI.ToString();
this.strafeKD = this.module.m_StrafeParameters.kD.ToString();
}
if (this.module.m_PitchParameters != null)
{
this.pitchKP = this.module.m_PitchParameters.kP.ToString();
this.pitchKI = this.module.m_PitchParameters.kI.ToString();
this.pitchKD = this.module.m_PitchParameters.kD.ToString();
}
if (this.module.m_RollParameters != null)
{
this.rollKP = this.module.m_RollParameters.kP.ToString();
this.rollKI = this.module.m_RollParameters.kI.ToString();
this.rollKD = this.module.m_RollParameters.kD.ToString();
}
if (this.module.m_YawParameters != null)
{
this.yawKP = this.module.m_YawParameters.kP.ToString();
this.yawKI = this.module.m_YawParameters.kI.ToString();
this.yawKD = this.module.m_YawParameters.kD.ToString();
}
this.win = this.UpdateWinSize();
}
}
}
private void DoWindow(int id)
{
if (this.module == null)
{
this.visible = false;
return;
}
GUILayout.BeginVertical();
int currPanelsCount = 0;
GUILayout.Space(35);
GUILayout.BeginHorizontal();
if (this.module.m_HoverParameters != null)
{
GUILayout.BeginVertical(GUILayout.Width(260f), GUILayout.MaxWidth(260f), GUILayout.MinHeight(50f), GUILayout.MaxHeight(380f));
// reset target height here, since it may change elsewhere
this.targetHeightStr = module.targetHeight.ToString();
GUILayout.Label("<size=20>Hover PID</size>");
if (this.hoverEnabled)
{
if (GUIOverseer.TextSliderPair("Target Height: ", ref this.targetHeightStr, ref this.module.targetHeight, 0f, 200f, false))
{
module.OnGUIUpdateHover();
}
if (GUIOverseer.TextSliderPair("Proportional Gain: ", ref this.hoverKP, ref this.module.m_HoverParameters.kP, 0f, 100f, false, 0.05f))
{
module.OnGUIUpdateHover();
}
if (GUIOverseer.TextSliderPair("Integral Gain: ", ref this.hoverKI, ref this.module.m_HoverParameters.kI, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateHover();
}
if (GUIOverseer.TextSliderPair("Derivative Gain: ", ref this.hoverKD, ref this.module.m_HoverParameters.kD, 0f, 100f, false, 0.05f))
{
module.OnGUIUpdateHover();
}
if (GUIOverseer.TextSliderPair("Manual Target Change Rate: ", ref this.targetChangeRateStr, ref this.module.manualTargetChangeRate, 10f, 100f, true, 0.05f))
{
module.OnGUIUpdateHover();
}
bool toggleStaticHeight = GUILayout.Toggle(this.module.staticHeight, " Use static altitude");
if (toggleStaticHeight != this.module.staticHeight)
{
this.module.staticHeight = toggleStaticHeight;
this.module.OnGUIUpdateHover();
}
if (GUILayout.Button("Target Current Height"))
{
this.module.staticHeight = true;
this.module.targetHeight = this.module.block.centreOfMassWorld.y;
this.module.OnGUIUpdateHover();
this.module.OnResetHoverError();
}
bool toggleDebug = GUILayout.Toggle(this.module.m_HoverParameters.debug, " Enable debug mode");
if (toggleDebug != this.module.m_HoverParameters.debug)
{
this.module.m_HoverParameters.debug = toggleDebug;
this.module.OnGUIUpdateHover();
}
if (GUILayout.Button("Reset PID Error"))
{
this.module.OnResetHoverError();
}
bool toggleFixedHeight = GUILayout.Toggle(this.module.useTargetHeight, " Target Fixed Height");
if (toggleFixedHeight != this.module.useTargetHeight)
{
this.module.useTargetHeight = toggleFixedHeight;
this.module.OnGUIUpdateHover();
this.module.OnResetHoverError();
}
if (!toggleFixedHeight)
{
bool toggleHoldPosition = GUILayout.Toggle(this.module.enableHoldPosition, " Enable Position Holding");
if (toggleHoldPosition != this.module.enableHoldPosition)
{
this.module.enableHoldPosition = toggleHoldPosition;
if (!this.module.useTargetHeight)
{
this.module.OnResetHoverError();
}
this.module.OnResetAccelError();
this.module.OnResetStrafeError();
this.module.OnGUIUpdateHover();
}
}
else
{
GUILayout.Space(16);
}
bool toggleEnabled = GUILayout.Toggle(this.module.m_HoverParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_HoverParameters.enabled)
{
this.hoverEnabled = toggleEnabled;
this.module.m_HoverParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateHover();
}
}
else
{
bool toggleEnabled = GUILayout.Toggle(this.module.m_HoverParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_HoverParameters.enabled)
{
this.hoverEnabled = toggleEnabled;
this.module.m_HoverParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateHover();
}
}
GUILayout.EndVertical();
GUILayout.Space(20);
currPanelsCount += 1;
}
if (this.module.m_AccelParameters != null)
{
GUILayout.BeginVertical(GUILayout.Width(260f), GUILayout.MaxWidth(260f), GUILayout.MinHeight(50f), GUILayout.MaxHeight(380f));
GUILayout.Label("<size=20>Accel PID</size>");
if (this.accelEnabled)
{
if (GUIOverseer.TextSliderPair("Proportional Gain: ", ref this.accelKP, ref this.module.m_AccelParameters.kP, 0f, 100f, false, 0.05f))
{
module.OnGUIUpdateAccel();
}
if (GUIOverseer.TextSliderPair("Integral Gain: ", ref this.accelKI, ref this.module.m_AccelParameters.kI, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateAccel();
}
if (GUIOverseer.TextSliderPair("Derivative Gain: ", ref this.accelKD, ref this.module.m_AccelParameters.kD, 0f, 100f, false, 0.05f))
{
module.OnGUIUpdateAccel();
}
bool toggleDebug = GUILayout.Toggle(this.module.m_AccelParameters.debug, " Enable debug mode");
if (toggleDebug != this.module.m_AccelParameters.debug)
{
this.module.m_AccelParameters.debug = toggleDebug;
this.module.OnGUIUpdateAccel();
}
if (GUILayout.Button("Reset PID Error"))
{
this.module.OnResetAccelError();
}
bool toggleHoldPosition = GUILayout.Toggle(this.module.enableHoldPosition, " Enable Position Holding");
if (toggleHoldPosition != this.module.enableHoldPosition)
{
this.module.enableHoldPosition = toggleHoldPosition;
if (!this.module.useTargetHeight)
{
this.module.OnResetHoverError();
}
this.module.OnResetAccelError();
this.module.OnResetStrafeError();
this.module.OnGUIUpdateAccel();
}
bool toggleEnabled = GUILayout.Toggle(this.module.m_AccelParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_AccelParameters.enabled)
{
this.accelEnabled = toggleEnabled;
this.module.m_AccelParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateAccel();
}
}
else
{
bool toggleEnabled = GUILayout.Toggle(this.module.m_AccelParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_AccelParameters.enabled)
{
this.accelEnabled = toggleEnabled;
this.module.m_AccelParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateAccel();
}
}
GUILayout.EndVertical();
GUILayout.Space(20);
currPanelsCount += 1;
}
if (this.module.m_StrafeParameters != null)
{
GUILayout.BeginVertical(GUILayout.Width(260f), GUILayout.MaxWidth(260f), GUILayout.MinHeight(50f), GUILayout.MaxHeight(380f));
GUILayout.Label("<size=20>Strafe PID</size>");
if (this.strafeEnabled)
{
if (GUIOverseer.TextSliderPair("Proportional Gain: ", ref this.strafeKP, ref this.module.m_StrafeParameters.kP, 0f, 100f, false, 0.05f))
{
module.OnGUIUpdateStrafe();
}
if (GUIOverseer.TextSliderPair("Integral Gain: ", ref this.strafeKI, ref this.module.m_StrafeParameters.kI, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateStrafe();
}
if (GUIOverseer.TextSliderPair("Derivative Gain: ", ref this.strafeKD, ref this.module.m_StrafeParameters.kD, 0f, 100f, false, 0.05f))
{
module.OnGUIUpdateStrafe();
}
bool toggleDebug = GUILayout.Toggle(this.module.m_StrafeParameters.debug, " Enable debug mode");
if (toggleDebug != this.module.m_StrafeParameters.debug)
{
this.module.m_StrafeParameters.debug = toggleDebug;
this.module.OnGUIUpdateStrafe();
}
if (GUILayout.Button("Reset PID Error"))
{
this.module.OnResetStrafeError();
}
bool toggleHoldPosition = GUILayout.Toggle(this.module.enableHoldPosition, " Enable Position Holding");
if (toggleHoldPosition != this.module.enableHoldPosition)
{
this.module.enableHoldPosition = toggleHoldPosition;
if (!this.module.useTargetHeight)
{
this.module.OnResetHoverError();
}
this.module.OnResetAccelError();
this.module.OnResetStrafeError();
this.module.OnGUIUpdateStrafe();
}
bool toggleEnabled = GUILayout.Toggle(this.module.m_StrafeParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_StrafeParameters.enabled)
{
this.strafeEnabled = toggleEnabled;
this.module.m_StrafeParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateStrafe();
}
}
else
{
bool toggleEnabled = GUILayout.Toggle(this.module.m_StrafeParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_StrafeParameters.enabled)
{
this.strafeEnabled = toggleEnabled;
this.module.m_StrafeParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateStrafe();
}
}
GUILayout.EndVertical();
currPanelsCount += 1;
}
// check for new horizontal
if (currPanelsCount == this.rowTiling && currPanelsCount != panels)
{
GUILayout.EndHorizontal();
GUILayout.Space(16);
GUILayout.BeginHorizontal(GUILayout.MinHeight(0f));
}
else
{
GUILayout.Space(20);
}
if (this.module.m_PitchParameters != null)
{
GUILayout.BeginVertical(GUILayout.Width(260f), GUILayout.MaxWidth(260f), GUILayout.MinHeight(50f), GUILayout.MaxHeight(300f));
GUILayout.Label("<size=20>Pitch PID</size>");
// reset target pitch here, since it may change elsewhere
this.targetPitchStr = module.targetPitch.ToString();
if (this.pitchEnabled)
{
if (GUIOverseer.TextSliderPair("Proportional Gain: ", ref this.pitchKP, ref this.module.m_PitchParameters.kP, 0f, 1f, false, 0.05f))
{
module.OnGUIUpdatePitch();
}
if (GUIOverseer.TextSliderPair("Integral Gain: ", ref this.pitchKI, ref this.module.m_PitchParameters.kI, 0f, 1f, false, 0.05f))
{
module.OnGUIUpdatePitch();
}
if (GUIOverseer.TextSliderPair("Derivative Gain: ", ref this.pitchKD, ref this.module.m_PitchParameters.kD, 0f, 1f, false, 0.05f))
{
module.OnGUIUpdatePitch();
}
if (GUIOverseer.TextSliderPair("Manual Target Change Rate: ", ref this.targetChangeRateStr, ref this.module.manualTargetChangeRate, 10f, 100f, true, 0.05f))
{
module.OnGUIUpdatePitch();
}
bool toggleDebug = GUILayout.Toggle(this.module.m_PitchParameters.debug, " Enable debug mode");
if (toggleDebug != this.module.m_PitchParameters.debug)
{
this.module.m_PitchParameters.debug = toggleDebug;
this.module.OnGUIUpdatePitch();
}
if (GUILayout.Button("Reset PID Error"))
{
this.module.OnResetPitchError();
}
bool toggleEnabled = GUILayout.Toggle(this.module.m_PitchParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_PitchParameters.enabled)
{
this.pitchEnabled = toggleEnabled;
this.module.m_PitchParameters.enabled = toggleEnabled;
this.module.OnGUIUpdatePitch();
}
}
else
{
bool toggleEnabled = GUILayout.Toggle(this.module.m_PitchParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_PitchParameters.enabled)
{
this.pitchEnabled = toggleEnabled;
this.module.m_PitchParameters.enabled = toggleEnabled;
this.module.OnGUIUpdatePitch();
}
}
GUILayout.EndVertical();
currPanelsCount += 1;
}
if (currPanelsCount == this.rowTiling && currPanelsCount != panels)
{
GUILayout.EndHorizontal();
GUILayout.Space(16);
GUILayout.BeginHorizontal();
}
else
{
GUILayout.Space(20);
}
if (this.module.m_RollParameters != null)
{
GUILayout.BeginVertical(GUILayout.Width(260f), GUILayout.MaxWidth(260f), GUILayout.MinHeight(50f), GUILayout.MaxHeight(300f));
GUILayout.Label("<size=20>Roll PID</size>");
// reset target roll here, since it may change elsewhere
this.targetRollStr = module.targetRoll.ToString();
if (this.rollEnabled)
{
if (GUIOverseer.TextSliderPair("Proportional Gain: ", ref this.rollKP, ref this.module.m_RollParameters.kP, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateRoll();
}
if (GUIOverseer.TextSliderPair("Integral Gain: ", ref this.rollKI, ref this.module.m_RollParameters.kI, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateRoll();
}
if (GUIOverseer.TextSliderPair("Derivative Gain: ", ref this.rollKD, ref this.module.m_RollParameters.kD, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateRoll();
}
if (GUIOverseer.TextSliderPair("Manual Target Change Rate: ", ref this.targetChangeRateStr, ref this.module.manualTargetChangeRate, 10f, 100f, true, 0.05f))
{
module.OnGUIUpdateRoll();
}
bool toggleDebug = GUILayout.Toggle(this.module.m_RollParameters.debug, " Enable debug mode");
if (toggleDebug != this.module.m_RollParameters.debug)
{
this.module.m_RollParameters.debug = toggleDebug;
this.module.OnGUIUpdateRoll();
}
if (GUILayout.Button("Reset PID Error"))
{
this.module.OnResetRollError();
}
bool toggleEnabled = GUILayout.Toggle(this.module.m_RollParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_RollParameters.enabled)
{
this.rollEnabled = toggleEnabled;
this.module.m_RollParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateRoll();
}
}
else
{
bool toggleEnabled = GUILayout.Toggle(this.module.m_RollParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_RollParameters.enabled)
{
this.rollEnabled = toggleEnabled;
this.module.m_RollParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateRoll();
}
}
GUILayout.EndVertical();
currPanelsCount += 1;
}
if (currPanelsCount == this.rowTiling && currPanelsCount != panels)
{
GUILayout.EndHorizontal();
GUILayout.Space(16);
GUILayout.BeginHorizontal();
}
else
{
GUILayout.Space(20);
}
if (this.module.m_YawParameters != null)
{
GUILayout.BeginVertical(GUILayout.Width(260f), GUILayout.MaxWidth(260f), GUILayout.MinHeight(50f), GUILayout.MaxHeight(300f));
GUILayout.Label("<size=20>Yaw PID</size>");
if (this.yawEnabled)
{
if (GUIOverseer.TextSliderPair("Proportional Gain: ", ref this.yawKP, ref this.module.m_YawParameters.kP, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateYaw();
}
if (GUIOverseer.TextSliderPair("Integral Gain: ", ref this.yawKI, ref this.module.m_YawParameters.kI, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateYaw();
}
if (GUIOverseer.TextSliderPair("Derivative Gain: ", ref this.yawKD, ref this.module.m_YawParameters.kD, 0f, 10f, false, 0.05f))
{
module.OnGUIUpdateYaw();
}
bool toggleDebug = GUILayout.Toggle(this.module.m_YawParameters.debug, " Enable debug mode");
if (toggleDebug != this.module.m_YawParameters.debug)
{
this.module.m_YawParameters.debug = toggleDebug;
this.module.OnGUIUpdateYaw();
}
if (GUILayout.Button("Reset PID Error"))
{
this.module.OnResetYawError();
}
bool toggleEnabled = GUILayout.Toggle(this.module.m_YawParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_YawParameters.enabled)
{
this.yawEnabled = toggleEnabled;
this.module.m_YawParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateYaw();
}
}
else
{
bool toggleEnabled = GUILayout.Toggle(this.module.m_YawParameters.enabled, " Enable PID");
if (toggleEnabled != this.module.m_YawParameters.enabled)
{
this.yawEnabled = toggleEnabled;
this.module.m_YawParameters.enabled = toggleEnabled;
this.module.OnGUIUpdateYaw();
}
}
GUILayout.EndVertical();
}
GUILayout.EndHorizontal();
if (GUILayout.Button("Close"))
{
this.visible = false;
this.module = null;
}
GUILayout.EndVertical();
GUI.DragWindow();
}
