// This method is for when the system starts up fresh and hasn't
// positioned the legs in any way.
// 1 Enumerate the Distance holders into an array.
// 2 Project thier position onto the ground plane/surface
// 3 Use the projections to form a movement restriction region
// 4 Apply paired anchor points to project positions.
// 5 Calculate anchor position radii
void startUpSequence()
{
// Collect distance holders
if (distanceHolders == null)
{
distanceHolders = GetComponentsInChildren <BMod_DistanceHolder>();
}
// Proceed if there are distance holders defined
updateRestrictionRegion(true);
// Place anchor points at the projected ground positions for each anchor points parent distance holder
int layerMask = 1 << 8;
RaycastHit strikePoint;
Vector3 centerPoint = new Vector3();
bool centerPointFound = false;
// Project the attached vertex position down to the ground as a centre point.
if (Physics.Raycast(controlVertex.transform.position, -Vector3.up, out strikePoint, 200.0f, layerMask))
{
centerPoint = strikePoint.point;
centerPointFound = true;
biasCentreTrack = centerPoint; // Update the roving centre point.
}
List <BMod_AnchorPoint> anchorList = new List <BMod_AnchorPoint>();
foreach (BMod_DistanceHolder distanceHolder in distanceHolders)
{
// Get the anchor point attached to this distance holder
BMod_AnchorPoint anchorPoint = distanceHolder.transform.GetComponentInChildren <BMod_AnchorPoint>();
if (anchorPoint != null)
{
anchorList.Add(anchorPoint);
// Set down the anchor points to be scaled out slightly from the centre point
if (centerPointFound)
{
Vector3 anchorPosition = ((distanceHolder.projectedGroundPosition - centerPoint) * dropAreaRatio) + centerPoint;
anchorPoint.lockedPosition = anchorPosition;
}
else
{
anchorPoint.lockedPosition = distanceHolder.projectedGroundPosition;
}
anchorPoint.dropPosition = anchorPoint.lockedPosition;
anchorPoint.unlockedPosition = distanceHolder.preferredUnlockPosition;
anchorPoint.currentAction = BMod_AnchorPoint.AnchorCurrentActionEnum.movingToStartingLockPosition;
}
}
if (anchorList.Count > 0)
{
anchorPoints = anchorList.ToArray();
}
}
void updateRestrictionRegion(bool startUpSequence)
{
if (distanceHolders != null)
{
// Call their project routines
// Collect each projected distance holder point into a array.
List <Vector3> collectVectors = new List <Vector3>();
Vector3 sumVector = new Vector3();
foreach (BMod_DistanceHolder distanceHolder in distanceHolders)
{
distanceHolder.updateProjectionValues();
if (startUpSequence)
{
collectVectors.Add(distanceHolder.projectedGroundPosition);
sumVector = sumVector + distanceHolder.projectedGroundPosition;
}
else
{
// Use anchor point if locked.
BMod_AnchorPoint anchorPoint = distanceHolder.transform.GetComponentInChildren <BMod_AnchorPoint>();
if (anchorPoint != null)
{
if (anchorPoint.lockedInPosition && anchorPoint.currentAction != BMod_AnchorPoint.AnchorCurrentActionEnum.waitingForBalance)
{
collectVectors.Add(anchorPoint.lockedPosition);
sumVector = sumVector + anchorPoint.lockedPosition;
}
}
}
}
// Form restriction region from collected ground positions.
// Should an actual 3D object be created that's really tall?
Vector3 centrePoint = sumVector / collectVectors.Count;
biasMovementRestrictionArea = new List <Vector3>();
// Shrink each vector towards the centre point.
foreach (Vector3 workVector in collectVectors)
{
Vector3 scaledVector = ((workVector - centrePoint) * restrictionAreaShrinkRatio) + centrePoint;
biasMovementRestrictionArea.Add(scaledVector);
}
// Build a line renderer
LineRenderer debugLineDraw = GetComponent <LineRenderer>();
if (debugLineDraw != null)
{
Vector3[] positions = biasMovementRestrictionArea.ToArray();
debugLineDraw.positionCount = biasMovementRestrictionArea.Count; // Set position count first
debugLineDraw.SetPositions(positions);
}
}
}
// Update is called once per frame
void Update()
{
// TODO Balance position needs to be upgraded to use a centre of balance
// system, where the body is tilted and shifted as needed.
// Process each of the distance holder and anchor points attached to this
// class.
if (restrictedMovementAreaUpdateRequired)
{
updateRestrictionRegion(false);
restrictedMovementAreaUpdateRequired = false;
}
// Control pad movement
float hozAxis = Input.GetAxis("Horizontal") * maxSlideMovementSpeed;
float verAxis = Input.GetAxis("Vertical") * maxSlideMovementSpeed;
noncumulativeOffset.x = Input.GetAxis("Horizontal");
noncumulativeOffset.z = Input.GetAxis("Vertical");
float keyBiasOffset = 0.5f; // This goes towards how far forward the anchor point
// is positioned in the direction of movement for keyboard based control.
// Collect bias from external controls
if (Input.GetKey(KeyCode.UpArrow))
{
slideOffset.z = slideOffset.z + (maxSlideMovementSpeed * Time.deltaTime);
noncumulativeOffset.z = keyBiasOffset;
noncumulativeOffset.x = 0.0f;
}
if (Input.GetKey(KeyCode.DownArrow))
{
slideOffset.z = slideOffset.z - (maxSlideMovementSpeed * Time.deltaTime);
noncumulativeOffset.z = -keyBiasOffset;
noncumulativeOffset.x = 0.0f;
}
if (Input.GetKey(KeyCode.LeftArrow))
{
slideOffset.x = slideOffset.x + (maxSlideMovementSpeed * Time.deltaTime);
noncumulativeOffset.z = 0.0f;
noncumulativeOffset.x = keyBiasOffset;
}
if (Input.GetKey(KeyCode.RightArrow))
{
slideOffset.x = slideOffset.x - (maxSlideMovementSpeed * Time.deltaTime);
noncumulativeOffset.z = 0.0f;
noncumulativeOffset.x = -keyBiasOffset;
}
// Controls switches
bool isLeaningSwitch = Input.GetButton("Button_R");
bool isNoLegLiftingSwitch = Input.GetButton("Button_L");
// Manual leg lifting button presses
int anchorLift = -1;
if (Input.GetButtonDown("Button_A"))
{
anchorLift = 0;
}
if (Input.GetButtonDown("Button_B"))
{
anchorLift = 1;
}
if (Input.GetButtonDown("Button_X"))
{
anchorLift = 3;
}
if (Input.GetButtonDown("Button_Y"))
{
anchorLift = 2;
}
if (anchorLift != -1)
{
BMod_AnchorPoint anchorPoint = anchorPoints[anchorLift];
anchorPoint.needsToLift = true;
}
//Debug.Log("Hoz " + hozAxis + ", Ver " + verAxis);
// Only apply horizontal and vertical slide axis if bal pos is ready for work
if (balPosWorkingStatus == balPolStatusEnum.readyForWork)
{
slideOffset.x = slideOffset.x + (hozAxis * Time.deltaTime);
slideOffset.z = slideOffset.z + (verAxis * Time.deltaTime);
}
// Rotation around centre point slide calculations here
float rotAxis = Input.GetAxis("Hoz Rotate") * rotationDegreeDelta;
// Calculate the restriction centre and compare with the actual roving centre.
Vector3 biasActualCentre = new Vector3();
foreach (Vector3 biasVector in biasMovementRestrictionArea)
{
biasActualCentre = biasActualCentre + biasVector;
}
biasActualCentre = biasActualCentre / biasMovementRestrictionArea.Count;
if (Vector3.Distance(biasCentreTrack, biasActualCentre) > 0.0f)
{
// If the centre if off then the robot is adjusting its balance
balPosWorkingStatus = balPolStatusEnum.adjustingBalance;
Vector3 biasMoved = Vector3.MoveTowards(biasCentreTrack, biasActualCentre, maxSlideMovementSpeed * Time.deltaTime);
slideOffset = slideOffset + (biasCentreTrack - biasMoved) * 1.2f; // Boost the movement
// Move the bias centre.
biasCentreTrack = biasCentreTrack - (biasCentreTrack - biasMoved);
if (biasCentreRepresentation != null)
{
biasCentreRepresentation.transform.position = biasCentreTrack;
}
}
else
{
// If the balance point has been reached then declare ready for work, unless still in the start up sequence.
if (balPosWorkingStatus != balPolStatusEnum.startingUp)
{
balPosWorkingStatus = balPolStatusEnum.readyForWork;
}
}
// Roll through the anchor points and collect the limit reached offset vectices
foreach (BMod_AnchorPoint anchorPoint in anchorPoints)
{
// Only pull from the ones locked in place
if (anchorPoint.lockedInPosition)
{
Vector3 limitCorrection = anchorPoint.limitReachCorrectionVector();
slideOffset.x = slideOffset.x + limitCorrection.x;
slideOffset.z = slideOffset.z + limitCorrection.z;
}
}
// Update position sliders (Anchor points for now) with acceleration bias.
// Only allow movement when balanced.
if ((previousSlideOffset != slideOffset || rotAxis != 0.0f) && !isLeaningSwitch && anchorPoints != null)
{
// Apply the slide and rotation changes to the anchor points.
float angleRad = rotAxis * rotationDegreeDelta * Mathf.Deg2Rad; // Changed rotationDegreeDelta to movementSpeed
foreach (BMod_AnchorPoint anchorPoint in anchorPoints)
{
if (anchorPoint.lockedInPosition)
{
// Only apply offset as translation difference from previous offset if the anchor is locked.
Vector3 rotationOffset = Vector3.zero;
if (rotAxis != 0.0f)
{
// Rotation offset
Vector3 currentPosition = anchorPoint.anchorVertex.transform.position;
// The current position should be a vector from x = 0, z = 0. So be applying a rotation
// to the current position and keeping the offset, this should work as a way of creating rotation.
float xVal = currentPosition.x * Mathf.Cos(angleRad) - currentPosition.z * Mathf.Sin(angleRad);
float yVal = currentPosition.y; // We're not changing the height. Future versions may need to height check.
float zVal = currentPosition.x * Mathf.Sin(angleRad) + currentPosition.z * Mathf.Cos(angleRad);
rotationOffset = (new Vector3(xVal, yVal, zVal)) - currentPosition;
}
anchorPoint.anchorVertex.offset += (slideOffset - previousSlideOffset) + rotationOffset; // Apply the change in offset
}
}
previousSlideOffset = slideOffset;
}
// Check if any anchors have reached thier drop points.
checkForCompletedAnchors();
// If the counter bias has zero movement then any anchor points waiting for
// release can be processed.
// Check if prevent lift button is not pressed
if (!isNoLegLiftingSwitch)
{
checkForReleaseableAnchors();
} //else {
// Debug.Log("Button R pressed held");
// }
// Adjust distance holder offsets
float crouchAxis = Input.GetAxis("Crouch") * crouchRange;
if (distanceHolders != null)
{
if (isLeaningSwitch)
{
// This is to allow the rotational leaning of the robot.
Vector3 leanAxis = new Vector3(-Input.GetAxis("Hoz Rotate"), 0.0f, Input.GetAxis("Crouch"));
leanAxis = leanAxis * 1.5f; // Increase the movement range
foreach (BMod_DistanceHolder distanceHolder in distanceHolders)
{
Vector3 distHold = distanceHolder.vertexPoint.transform.position;
Vector3 groundHolder = new Vector3(distHold.x, 0.0f, distHold.z);
float distToCentre = Vector3.Distance(biasActualCentre, groundHolder);
float distToTracked = Vector3.Distance(biasActualCentre + leanAxis, groundHolder);
float ratioAlt = distToTracked / distToCentre;
float tiltOffset = 0.0f;
if (ratioAlt != 1.0)
{
tiltOffset = distanceHolder.distanceToHold - (distanceHolder.distanceToHold * ratioAlt);
}
distanceHolder.distanceToHoldOffset = tiltOffset;
}
}
else
{
// Alter the height of each distance holder by the crouch axis
foreach (BMod_DistanceHolder distanceHolder in distanceHolders)
{
distanceHolder.distanceToHoldOffset = crouchAxis;
}
}
}
}
void checkForReleaseableAnchors()
{
// Cycle through anchor points to check for any that need to be released.
// Priority given to those furthest away from this balance position, which any tied then on priority value.
if (anchorPoints != null)
{
BMod_AnchorPoint anchorToUnlock = null;
int unlockedCount = 0;
List <BMod_AnchorPoint> requestors = new List <BMod_AnchorPoint>();
foreach (BMod_AnchorPoint anchor in anchorPoints)
{
if (anchor.needsToLift)
{
requestors.Add(anchor);
}
if (anchor.lockedInPosition == false || anchor.currentAction == BMod_AnchorPoint.AnchorCurrentActionEnum.waitingForBalance)
{
unlockedCount++;
}
}
// Only proceed if there's less anchor points unlocked than the maximum allowed.
if (unlockedCount < maxReleasable && requestors.Count > 0)
{
if (requestors.Count > maxReleasable)
{
// Filter by distance and then by priority if needed.
// Distance is how far from original lock position
// Use a dictionary with the distance rounded to whole number. If a duplicat entry exists,
// it is overriden if the duplcate has a lower priority level.
// Dictionary is then sorted highest to lowest and first entry taken out.
Dictionary <int, BMod_AnchorPoint> distanceAnchors = new Dictionary <int, BMod_AnchorPoint>();
foreach (BMod_AnchorPoint anchorCheck in requestors)
{
// Only working with ground height of zero for the distances for now.
// Was used originally as part of the pushing through the ground test.
Vector3 nonHeightAnchor = new Vector3(anchorCheck.anchorVertex.transform.position.x, 0.0f, anchorCheck.anchorVertex.transform.position.z);
int distanceToOriginalLockPoint = Mathf.RoundToInt(Vector3.Distance(anchorCheck.lockedPosition, nonHeightAnchor) * 10.0f);
if (distanceAnchors.ContainsKey(distanceToOriginalLockPoint))
{
if (distanceAnchors[distanceToOriginalLockPoint].priorityIndex < anchorCheck.priorityIndex)
{
// Replace original anchor point
distanceAnchors[distanceToOriginalLockPoint] = anchorCheck;
}
}
else
{
distanceAnchors.Add(distanceToOriginalLockPoint, anchorCheck);
}
}
// Loop through keys and find the largest distance
int maxDistanceFound = -99;
foreach (int keyEntry in distanceAnchors.Keys)
{
if (keyEntry > maxDistanceFound)
{
maxDistanceFound = keyEntry;
}
}
// If a distance was found that wasn't the initialiser number then assign for unlocking.
if (maxDistanceFound != -99)
{
anchorToUnlock = distanceAnchors[maxDistanceFound];
}
}
else
{
// Allow the anchor to be unlocked.
anchorToUnlock = requestors[0];
}
}
// If an anchor point was found to release, then unlock it.
// Safety check status will need to be implemented to allow centre point time to move
// within restriction zone if restricted area shrinks past it.
if (anchorToUnlock != null)
{
anchorToUnlock.currentAction = BMod_AnchorPoint.AnchorCurrentActionEnum.waitingForBalance;
balPosWorkingStatus = balPolStatusEnum.adjustingBalance; // Make sure this is called.
//anchorToUnlock.lockedInPosition = false;
anchorToUnlock.needsToLift = false;
Vector3 nonHeightAnchor = new Vector3(anchorToUnlock.anchorVertex.transform.position.x, 0.0f, anchorToUnlock.anchorVertex.transform.position.z);
Vector3 currentPosition = nonHeightAnchor;
// Update the unlock position to be slightly above the current position
anchorToUnlock.unlockedPosition = new Vector3(currentPosition.x, currentPosition.y + anchorLiftHeight, currentPosition.z);
restrictedMovementAreaUpdateRequired = true;
}
}
}
/**
* Test method for creating a Frame_Object from an OBJ file
* 23 Jan 2019 - Updated to read from modified OBJ files.
* @param objFile The filename of the OBJ file
* @return A Frame_Object file
* @throws FileNotFoundException
*/
void createFromOBJ(TextAsset objFile)
{
//System.out.println("Loading OBJ file : " + objFile.toString());
string[] inFile = objFile.text.Split('\n');
List <GameObject> verticesBuild = new List <GameObject>();
List <GameObject> strutBuild = new List <GameObject>();
List <GameObject> angleViewBuild = new List <GameObject>();
List <GameObject> compRepBuild = new List <GameObject>();
List <GameObject> balPosBuild = new List <GameObject>();
List <GameObject> disHolBuild = new List <GameObject>();
List <GameObject> ancPoiBuild = new List <GameObject>();
int vertexIndex = 0;
foreach (string objLine in inFile)
{
//System.out.println(objLine); // Debug print to console the current line.
// Reading in a vertex line
if (objLine.StartsWith("v") && !objLine.StartsWith("vn") && !objLine.StartsWith("vt") && !objLine.StartsWith("vp"))
{
// Split the string using space. e.g. v 3.00 2.00 -2.00
//System.out.println("Vertex : " + objLine);
string[] splits = objLine.Split(' ');
float x = float.Parse(splits[1]);
float y = float.Parse(splits[2]);
float z = float.Parse(splits[3]);
GameObject vertexGameObject = Instantiate(VertexInstantiator, this.transform);
vertexGameObject.name = vertexGameObject.name + "_" + vertexIndex;
vertexGameObject.transform.localPosition = new Vector3(x, y, z);
RFrame_Vertex vertexScript = vertexGameObject.GetComponent <RFrame_Vertex>();
vertexScript.x = x;
vertexScript.y = y;
vertexScript.z = z;
// Check for lock character
if (splits.Length > 4)
{
if (splits[4] == "l")
{
vertexScript.lockedInPlace = true;
}
}
verticesBuild.Add(vertexGameObject);
vertexIndex++;
}
else if (objLine.StartsWith("l"))
{
// This is for any standalone lines, which will be turned into struts.
// Modified to only work with the first two vertice indexes
string[] splits = objLine.Split(' ');
// Remember that indexes start at 1 in the obj/txt file and need converting to zero-indexed.
int v1 = int.Parse(splits[1]) - 1;
int v2 = int.Parse(splits[2]) - 1;
GameObject strutGameObject = RFrame_Object.createStrutIfNotExisting(this, StrutInstantiator, strutBuild, v1, v2);
// Check if strut is displayed. This is determined by having more than three entries in splits.
// Basically any character entered after the 2 indexes will trigger this.
//if(strutGameObject!=null && splits.Length > 3) {
if (splits.Length == 5)
{
RFrame_Strut strutScript = strutGameObject.GetComponent <RFrame_Strut>();
strutScript.minLength = float.Parse(splits[3]);
strutScript.maxLength = float.Parse(splits[4]);
}
// All line renderers will be switched off.
LineRenderer lineRenderer = strutGameObject.GetComponent <LineRenderer>();
// Used when debugging the a fresh OBJ frame.
lineRenderer.enabled = transform.GetComponentInParent <RFrame_Bridge>().displayStrutsOnLoad;
//}
}
else if (objLine.StartsWith("anglink"))
{
// Angle link entry.
// Requires 4 vertex indexes and a link channel number which will represent the angle measurer struts.
// and the actuator/motor/servo this is linked too.
// Centering and angle limits should be entered.
string[] splits = objLine.Split(' ');
int centerVertex = int.Parse(splits[1]);
int upVertex = int.Parse(splits[2]);
int measure1 = int.Parse(splits[3]);
int measure2 = int.Parse(splits[4]);
int channel = int.Parse(splits[5]); // Channel number should already be zero-indexed.
bool invertChannel = bool.Parse(splits[6]); // Should be 0, 1, true or false
float minChannelAngle = float.Parse(splits[7]); // Channel won't be sent any number smaller than this.
float maxChannelAngle = float.Parse(splits[8]); // Channel won't be sent any number larger than this.
float biasAngle = float.Parse(splits[9]); // The bias to apply. Indicates that a servo may need recentering
int angleMeasureType = int.Parse(splits[10]); // Quaternion or dot product angle
float scaleChangedAngled = float.Parse(splits[11]); // How much to scale the change in angle from initial. Increases range of movement.
GameObject angleViewerObj = Instantiate(AngleViewerInstantiator, this.transform);
RFrame_AngleLink angleLinker = angleViewerObj.GetComponent <RFrame_AngleLink>();
angleLinker.centerVertex = centerVertex;
angleLinker.upVertex = upVertex;
angleLinker.measure1 = measure1;
angleLinker.measure2 = measure2;
angleLinker.linkChannel = channel;
angleLinker.invertedSendAngle = invertChannel;
angleLinker.minimumAngle = minChannelAngle;
angleLinker.maximumAngle = maxChannelAngle;
angleLinker.biasAngle = biasAngle;
angleLinker.angleChangeScaling = scaleChangedAngled;
switch (angleMeasureType)
{
case 0: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.quaternionBased;
break;
}
case 1: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.lineBased;
break;
}
default: {
angleLinker.angleMeasureType = RFrame_AngleLink.AngleMeasureTypeEnum.quaternionBased;
break;
}
}
angleViewBuild.Add(angleViewerObj);
}
else if (objLine.StartsWith("comprep") && transform.GetComponentInParent <RFrame_Bridge>().displayComponentRepsOnLoad)
{
// Component representation
string[] splits = objLine.Split(' ');
int centerVertex = int.Parse(splits[1]);
int upVertex = int.Parse(splits[2]);
int forwardVertex = int.Parse(splits[3]);
string meshName = splits[4];
float xRot = float.Parse(splits[5]);
float yRot = float.Parse(splits[6]);
float zRot = float.Parse(splits[7]);
float xTran = float.Parse(splits[8]);
float yTran = float.Parse(splits[9]);
float zTran = float.Parse(splits[10]);
GameObject compRepObj = Instantiate(ComponentRepresentorInstantiator, this.transform);
RFrame_Component componentRep = compRepObj.GetComponent <RFrame_Component>();
componentRep.centerVertex = centerVertex;
componentRep.forwardVertex = forwardVertex;
componentRep.upVertex = upVertex;
GameObject meshObject = Instantiate(Resources.Load <GameObject>(meshName), compRepObj.transform);
meshObject.transform.localPosition = new Vector3(xTran, yTran, zTran);
meshObject.transform.localRotation = Quaternion.Euler(xRot, yRot, zRot);
}
else if (objLine.StartsWith("balpos"))
{
// Balance position behaviour module building here
string[] splits = objLine.Split(' ');
int vertexAttachIndex = int.Parse(splits[1]);
float reduceRatio = float.Parse(splits[2]);
GameObject balPolObj = Instantiate(BalancePositionInstantiator, this.transform);
BMod_BalancePosition balPosMod = balPolObj.GetComponent <BMod_BalancePosition>();
balPosMod.restrictionAreaShrinkRatio = reduceRatio;
balPosMod.controlVertex = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
//balPosMod.controlVertex.lockedInPlace = true;
balPosBuild.Add(balPolObj);
}
else if (objLine.StartsWith("dishol"))
{
// Distance holder behaviour module building here
string[] splits = objLine.Split(' ');
int balPosIndex = int.Parse(splits[1]);
int vertexAttachIndex = int.Parse(splits[2]);
float distanceToHold = float.Parse(splits[3]);
int typeOfDisHol = int.Parse(splits[4]);
GameObject disHolObj = Instantiate(DistanceHolderInstantiator, balPosBuild[balPosIndex].transform);
BMod_DistanceHolder disHolMod = disHolObj.GetComponent <BMod_DistanceHolder>();
disHolMod.vertexPoint = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
// Experimenting with not locking the vertex in place.
// Need to make sure frame doesn't move out of place.
disHolMod.vertexPoint.lockedInPlace = true;
disHolMod.distanceToHold = distanceToHold;
switch (typeOfDisHol)
{
case 0: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.groundDistance; break;
case 1: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.allRoundDistance; break;
default: disHolMod.moduleType = BMod_DistanceHolder.DistanceModuleType.groundDistance; break;
}
disHolBuild.Add(disHolObj);
}
else if (objLine.StartsWith("ancpoi"))
{
// Anchor Point behaviour module building here
string[] splits = objLine.Split(' ');
int disHolIndex = int.Parse(splits[1]);
int vertexAttachIndex = int.Parse(splits[2]);
int priorityValue = int.Parse(splits[3]);
int typeOfAnchor = int.Parse(splits[4]);
GameObject anchorObj = Instantiate(AnchorPointInstantiator, disHolBuild[disHolIndex].transform);
BMod_AnchorPoint anchorMod = anchorObj.GetComponent <BMod_AnchorPoint>();
anchorMod.anchorVertex = verticesBuild[vertexAttachIndex].GetComponent <RFrame_Vertex>();
anchorMod.anchorVertex.lockedInPlace = true;
anchorMod.priorityIndex = priorityValue;
switch (typeOfAnchor)
{
case 0: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.primaryAnchor; break;
case 1: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.secondaryAnchor; break;
case 2: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.tertiaryAnchor; break;
default: anchorMod.anchorType = BMod_AnchorPoint.AnchorTypeEnum.primaryAnchor; break;
}
ancPoiBuild.Add(anchorObj);
}
}
// Set the parents of the objects instatiated to this object and
// call the function for calculating all the distances between
// struts.
if (verticesBuild.Count != 0 && strutBuild.Count != 0)
{
// Apply the created vertices and struts to this object.
// Set the parent of the vertices and struts to the transform of this frame object.
// foreach (GameObject vertex in verticesBuild) {
// vertex.transform.SetParent(this.transform);
// }
// foreach (GameObject strut in strutBuild) {
// strut.transform.SetParent(this.transform);
// }
allVertices = verticesBuild;
struts = strutBuild;
angleLinks = angleViewBuild;
compReps = compRepBuild;
this.calculateDistancesThenOrientate();
// Get the initial measured angles for each angle link.
foreach (GameObject angleLinkObj in angleViewBuild)
{
angleLinkObj.GetComponent <RFrame_AngleLink>().measureAngle(true);
}
//frame.gatherBounds();
}
}