public override void CustomStart(string servoName, MemoryBridge memoryBridge, LimbController limbController, int parentID)
{
base.CustomStart(servoName, memoryBridge, limbController, parentID);
// speedPID = new PidController.PidController(mech.hipRotPIDP, mech.hipRotPIDI, mech.hipRotPIDD, mech.hipRotPIDMax, 0);
Debug.Log("Create pid");
}
public override void CustomStart(string servoName, MemoryBridge memoryBridge, LimbController limbController, int parentID)
{
base.CustomStart(servoName, memoryBridge, limbController, parentID);
currentServoPos = memoryBridge.GetFloat(servoName + "servoPos");
kspStartAngle = currentServoPos;
}
// Use this for initialization
void Awake()
{
System.Console.WriteLine("yo");
memoryBridge = new MemoryBridge();
//memoryBridge.CreateFile("Test");
// MemoryBridge.
}
public void CustomAwake(MemoryBridge memoryBridge)
{
this.memoryBridge = memoryBridge;
IRmanager = gameObject.GetComponent <IR_Manager>();
IRmanager.CustomAwake(memoryBridge, memoryBridge.vesselControl, ref limbs);
Debug.Log("IR Manager Enabled, Limb Count : " + limbs.Count);
if (limbs.Count == 6)
{
Debug.Log("robot is a hexapod");
groupLeft = new HexapodLimbGroup();
groupLeft.limbs = new List <LimbController>();
groupRight = new HexapodLimbGroup();
groupRight.limbs = new List <LimbController>();
}
foreach (var limb in limbs)
{
limb.roboticController = this;
var offset = memoryBridge.vesselControl.vessel.transform.InverseTransformPoint(limb.transform.position);
Debug.Log(limb.name);
var group = groupRight;
if (offset.x > 0)
{
Debug.Log("left leg found");
group = groupLeft;
}
group.limbs.Add(limb);
if (limb.name.Contains("1"))
{
Debug.Log("limb one found");
group.limb0 = limb;
}
if (limb.name.Contains("2"))
{
Debug.Log("limb two found");
group.limb1 = limb;
}
if (limb.name.Contains("3"))
{
Debug.Log("limb three found");
group.limb2 = limb;
}
if (offset.x > 0)
{
groupLeft = group;
}
else
{
groupRight = group;
}
}
}
public void StartFeed(MemoryBridge memoryBridge, string fileName)
{
meshRenderer = GetComponent <MeshRenderer>();
this.memoryBridge = memoryBridge;
this.fileName = fileName;
memoryBridge.SetVector3("CamLocalPos" + fileName + memoryBridge.cameraFeeds.Count, Vector3.zero);
memoryBridge.SetVector3("CamLocalEuler" + fileName + memoryBridge.cameraFeeds.Count, Vector3.zero);
//meshRenderer.material.SetTexture("_MainTex", readTex);
}
public VesselControl.Vessel DrawVessel(MemoryBridge memoryBridge, Material drawMat, string vesselName)
{
VesselControl.Vessel newVessel;
this.memoryBridge = memoryBridge;
this.vesselName = vesselName;
var binFormatter = new BinaryFormatter();
var mStream = new MemoryStream();
meshList = new List <Mesh>();
parts = new List <Part>();
// partList = new List<VesselPart>();
var vesselObject = new GameObject();
vesselObject.name = vesselName;
vessel = vesselObject.transform;
vessel.SetParent(transform);
vessel.position = Vector3.zero;
vessel.localEulerAngles = Vector3.zero;
//DebugVector.DrawVector(vessel);
var modelObject = new GameObject();
modelObject.name = "Vessel Offset";
vesselOffset = modelObject.transform;
vesselOffset.SetParent(vessel);
vesselOffset.position = Vector3.zero;
vesselOffset.localEulerAngles = Vector3.zero;
if (vesselFile == null)
{
vesselFile = MemoryMappedFile.Open(MapAccess.FileMapAllAccess, "VesselFile" + memoryBridge.fileName);
}
if (vesselFile == null)
{
Debug.Log("file is null");
#if UNITY_EDITOR
UnityEditor.EditorApplication.isPlaying = false;
#endif
}
int byteCount = 0;
int partCount = 0;
using (Stream mapStream = vesselFile.MapView(MapAccess.FileMapAllAccess, 0, 8))
{
var totalByteBuffer = new byte[4];
var partCountBuffer = new byte[4];
mapStream.Read(totalByteBuffer, 0, 4);
mapStream.Read(partCountBuffer, 0, 4);
byteCount = BitConverter.ToInt32(totalByteBuffer, 0);
partCount = BitConverter.ToInt32(partCountBuffer, 0);
}
using (Stream mapStream = vesselFile.MapView(MapAccess.FileMapAllAccess, 0, byteCount))
{
mapStream.Position = 8;
for (int i = 0; i < partCount; i++)
{
List <MeshRenderer> meshRenderers = new List <MeshRenderer>();
//part unique id
var totalpartBuffer = new byte[4];
mapStream.Read(totalpartBuffer, 0, 4);
var uniqueID = BitConverter.ToSingle(totalpartBuffer, 0);
//parent unique id
totalpartBuffer = new byte[4];
mapStream.Read(totalpartBuffer, 0, 4);
var parentUniqueID = BitConverter.ToSingle(totalpartBuffer, 0);
//filter count
totalpartBuffer = new byte[4];
mapStream.Read(totalpartBuffer, 0, 4);
var filterCount = BitConverter.ToSingle(totalpartBuffer, 0);
GameObject newPart = new GameObject();
var newPartObject = newPart.AddComponent(typeof(Part)) as Part;
Vector3 vesselPartOffset = Vector3.zero;
var tempBuffer = new Byte[4];
mapStream.Read(tempBuffer, 0, 4);
vesselPartOffset.x = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
vesselPartOffset.y = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
vesselPartOffset.z = BitConverter.ToSingle(tempBuffer, 0);
newPart.transform.localPosition = vesselPartOffset;
//rot offset
Vector3 vesselPartRotOffset = Vector3.zero;
tempBuffer = new Byte[4];
mapStream.Read(tempBuffer, 0, 4);
vesselPartRotOffset.x = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
vesselPartRotOffset.y = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
vesselPartRotOffset.z = BitConverter.ToSingle(tempBuffer, 0);
newPart.transform.localEulerAngles = vesselPartRotOffset;
//part name
mapStream.Read(tempBuffer, 0, 4);
var stringByteLength = BitConverter.ToSingle(tempBuffer, 0);
var stringBuffer = new byte[(int)stringByteLength];
mapStream.Read(stringBuffer, 0, stringBuffer.Length);
newPartObject.kspPartName = ASCIIEncoding.ASCII.GetString(stringBuffer);
GameObject meshObjects = new GameObject();
meshObjects.name = "Mesh Objects";
newPartObject.partMeshes = meshObjects;
meshObjects.transform.SetParent(newPart.transform);
meshObjects.transform.localEulerAngles = Vector3.zero;
for (int k = 0; k < filterCount; k++)
{
//Debug.Log("start writing filter at " + mapStream.Position);
var newMesh = Instantiate(Resources.Load("BlankPart", typeof(GameObject))) as GameObject;
newMesh.transform.SetParent(newPart.transform);
meshRenderers.Add(newMesh.GetComponent <MeshRenderer>());
newMesh.GetComponent <MeshRenderer>().material = drawMat;
Vector3 posVector = Vector3.zero;
tempBuffer = new Byte[4];
mapStream.Read(tempBuffer, 0, 4);
posVector.x = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
posVector.y = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
posVector.z = BitConverter.ToSingle(tempBuffer, 0);
newMesh.transform.localPosition = posVector;
var localEuler = Vector3.zero;
// tempBuffer = new Byte[4];
mapStream.Read(tempBuffer, 0, 4);
localEuler.x = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
localEuler.y = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
localEuler.z = BitConverter.ToSingle(tempBuffer, 0);
newMesh.transform.localEulerAngles = localEuler;
Vector3 scaleVector = Vector3.zero;
// tempBuffer = new Byte[4];
mapStream.Read(tempBuffer, 0, 4);
scaleVector.x = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
scaleVector.y = BitConverter.ToSingle(tempBuffer, 0);
mapStream.Read(tempBuffer, 0, 4);
scaleVector.z = BitConverter.ToSingle(tempBuffer, 0);
newMesh.transform.localScale = scaleVector;
var lengthBuffer = new Byte[4];
mapStream.Read(lengthBuffer, 0, 4);
var byteMeshLength = BitConverter.ToSingle(lengthBuffer, 0);
var meshBuffer = new Byte[(int)byteMeshLength];
mapStream.Read(meshBuffer, 0, (int)byteMeshLength);
newMesh.GetComponent <MeshFilter>().mesh = MeshSerializer.ReadMesh(meshBuffer);
//not sure why this doesnt work up top, but too lazy to figure it out
newMesh.transform.SetParent(meshObjects.transform);
}
newPartObject.CustomAwake((int)uniqueID, (int)parentUniqueID, vesselName, meshRenderers);
parts.Add(newPartObject);
}
}
newVessel.transform = vessel;
newVessel.parts = parts;
newVessel.meshOffset = vesselOffset;
foreach (var part in newVessel.parts)
{
part.vessel = newVessel;
part.FindParent();
}
return(newVessel);
}
// Use this for initialization
public void ConnectToServer(MemoryBridge memoryBridge)
{
this.memoryBridge = memoryBridge;
StartCoroutine("TryConnectToServer");
//TryConnectToServer();
}
