public virtual void InitActionObject(IO.Swagger.Model.SceneObject sceneObject, Vector3 position, Quaternion orientation, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null, bool loadResuources = true)
{
Data.Id = sceneObject.Id;
Data.Type = sceneObject.Type;
name = sceneObject.Name; // show actual object name in unity hierarchy
ActionObjectMetadata = actionObjectMetadata;
if (actionObjectMetadata.HasPose)
{
SetScenePosition(position);
SetSceneOrientation(orientation);
}
CreateModel(customCollisionModels);
enabled = true;
SelectorItem = SelectorMenu.Instance.CreateSelectorItem(this);
if (VRModeManager.Instance.VRModeON)
{
SetVisibility(PlayerPrefsHelper.LoadFloat("AOVisibilityVR", 1f));
}
else
{
SetVisibility(PlayerPrefsHelper.LoadFloat("AOVisibilityAR", 0f));
}
if (PlayerPrefsHelper.LoadBool($"ActionObject/{GetId()}/blocklisted", false))
{
Enable(false, true, false);
}
}
public async override void InitActionObject(IO.Swagger.Model.SceneObject sceneObject, Vector3 position, Quaternion orientation, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null, bool loadResources = true)
{
base.InitActionObject(sceneObject, position, orientation, actionObjectMetadata);
// if there should be an urdf robot model
if (ActionsManager.Instance.RobotsMeta.TryGetValue(sceneObject.Type, out RobotMeta robotMeta))
{
RobotMeta = robotMeta;
if (!string.IsNullOrEmpty(robotMeta.UrdfPackageFilename))
{
// Get the robot model, if it returns null, the robot will be loading itself
RobotModel = UrdfManager.Instance.GetRobotModelInstance(robotMeta.Type, robotMeta.UrdfPackageFilename);
if (RobotModel != null)
{
RobotModelLoaded();
}
else
{
// Robot is not loaded yet, let's wait for it to be loaded
UrdfManager.Instance.OnRobotUrdfModelLoaded += OnRobotModelLoaded;
modelLoading = true;
}
}
}
ResourcesLoaded = false;
}
public override void ActionObjectUpdate(IO.Swagger.Model.SceneObject actionObjectSwagger)
{
base.ActionObjectUpdate(actionObjectSwagger);
ActionObjectName.text = actionObjectSwagger.Name;
// update label on each end effector
foreach (List <RobotEE> arm in EndEffectors.Values)
{
foreach (RobotEE ee in arm)
{
ee.UpdateLabel();
}
}
ResetPosition();
}
public virtual void ActionObjectUpdate(IO.Swagger.Model.SceneObject actionObjectSwagger, bool visibility, bool interactivity)
{
if (Data != null & Data.Name != actionObjectSwagger.Name)
{
UpdateUserId(actionObjectSwagger.Name);
}
Data = actionObjectSwagger;
foreach (IO.Swagger.Model.Parameter p in Data.Parameters)
{
if (!ObjectParameters.ContainsKey(p.Name))
{
if (TryGetParameterMetadata(p.Name, out ParameterMeta parameterMeta))
{
ObjectParameters[p.Name] = new Parameter(parameterMeta, p.Value);
}
else
{
Debug.LogError("Failed to load metadata for parameter " + p.Name);
Notifications.Instance.ShowNotification("Critical error", "Failed to load parameter's metadata.");
return;
}
}
else
{
ObjectParameters[p.Name].Value = p.Value;
}
}
//TODO: update all action points and actions.. ?
ResetPosition();
// update position and rotation based on received data from swagger
if (visibility)
{
Show();
}
else
{
Hide();
}
SetInteractivity(interactivity);
}
public override void ActionObjectUpdate(IO.Swagger.Model.SceneObject actionObjectSwagger, bool visibility, bool interactivity)
{
Debug.Assert(Model != null);
base.ActionObjectUpdate(actionObjectSwagger, visibility, interactivity);
ActionObjectName.text = actionObjectSwagger.Name;
}
public override void ActionObjectUpdate(IO.Swagger.Model.SceneObject actionObjectSwagger)
{
base.ActionObjectUpdate(actionObjectSwagger);
ActionObjectName.text = actionObjectSwagger.Name;
ResetPosition();
}
