/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Get inputs.
string inputRobotName = "";
Mesh inputEndeffectorMesh = new Mesh();
int inputRobotID = 0;
Plane inputPlane = this.defaultPlane;
if (!DA.GetData(0, ref inputRobotName))
{
RobotOptionList();
}
DA.GetData(1, ref inputEndeffectorMesh);
DA.GetData(2, ref inputRobotID);
DA.GetData(3, ref inputPlane);
//////////////////////////////////////////////////////
// Process data.
inputEndeffectorMesh.Weld(Math.PI);
EndeffectorData endEffector = new EndeffectorData(MeshUtilities.EncodeMesh(inputEndeffectorMesh));
RobotData robot = new RobotData(inputRobotID, inputRobotName, endEffector, EncodeUtilities.EncodePlane(inputPlane));
UniversalDebug("Robot Object Created.");
//////////////////////////////////////////////////////
// Output.
DA.SetData(0, robot);
#if DEBUG
DA.SetData(1, this.debugMessages[this.debugMessages.Count - 1]);
#endif
}
// Collect environment meshes
public List <byte[]> EncodeEnvironmentMesh(out string currentMessage)
{
currentMessage = string.Empty;
List <byte[]> data = new List <byte[]>();
FindMeshes();
if (this.scannedEnvironment.Count > 0)
{
// Combine meshes
CombineInstance[] combineStructure = new CombineInstance[this.scannedEnvironment.Count];
int i = 0;
foreach (MeshRenderer meshRenderer in this.scannedEnvironment)
{
MeshFilter meshFilter = meshRenderer.gameObject.GetComponent <MeshFilter>();
combineStructure[i].mesh = meshFilter.sharedMesh;
combineStructure[i].transform = meshRenderer.transform.localToWorldMatrix;
i++;
}
Mesh mesh = new Mesh();
mesh.CombineMeshes(combineStructure);
// Encode mesh
MeshData meshData = MeshUtilities.EncodeMesh(mesh);
byte[] localData = EncodeUtilities.EncodeData("ENVIRONMENT", meshData, out string currentLocalMessage);
data.Add(localData);
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "Mesh Encoding: " + currentLocalMessage);
#endif
currentMessage = currentLocalMessage;
// // Encode meshes separately
// // {
// // MeshRenderer meshRenderer = this.scannedEnvironment[0];
// foreach (MeshRenderer meshRenderer in this.scannedEnvironment) {
// MeshFilter meshFilter = meshRenderer.gameObject.GetComponent<MeshFilter>();
// MeshData meshData = MeshUtilities.EncodeMesh(meshFilter.sharedMesh);
// byte[] localData = EncodeUtilities.EncodeData("ENVIRONMENT", meshData, out string currentLocalMessage);
// #if DEBUG
// DebugUtilities.UniversalDebug(this.sourceName, "Mesh Encoding: " + currentLocalMessage);
// #endif
// data.Add(localData);
// currentMessage += currentLocalMessage;
// }
}
else
{
#if DEBUG
DebugUtilities.UniversalDebug(this.sourceName, "No meshes found.");
#endif
}
return(data);
}
private void CreateMesh(EndeffectorData endEffector, MeshFilter tool) //, double[] tcp
{
List <Vector3> vertices = new List <Vector3>();
List <int> triangles = new List <int>();
if (endEffector.vertices != null)
{
#if DEBUG
Debug.Log("Robot: Adding Verticies . . . !");
#endif
for (int j = 0; j < endEffector.vertices.Count; j++)
{
vertices.Add(new Vector3(endEffector.vertices[j][0],
endEffector.vertices[j][1],
endEffector.vertices[j][2]));
}
}
if (endEffector.faces != null)
{
#if DEBUG
Debug.Log("Robot: Adding Faces . . . !");
#endif
for (int j = 0; j < endEffector.faces.Count; j++)
{
triangles.Add(endEffector.faces[j][1]);
triangles.Add(endEffector.faces[j][2]);
triangles.Add(endEffector.faces[j][3]);
if ((endEffector.faces[j][0] == 1))
{
triangles.Add(endEffector.faces[j][1]);
triangles.Add(endEffector.faces[j][3]);
triangles.Add(endEffector.faces[j][4]);
}
}
}
tool.mesh = MeshUtilities.DecodeMesh(vertices, triangles);
tool.transform.Rotate(0, 180, -90);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
//CheckType();
// Get inputs.
string message;
List <Mesh> inputMeshes = new List <Mesh>();
List <Color> inputColor = new List <Color>();
Connection connect = null;
if (!DA.GetDataList(0, inputMeshes))
{
return;
}
DA.GetDataList(1, inputColor);
if (!DA.GetData(2, ref connect))
{
return;
}
// Check inputs.
if ((inputColor.Count > 1) && (inputColor.Count != inputMeshes.Count))
{
message = (inputColor.Count > inputMeshes.Count) ?
"The number of Colors does not match the number of Mesh objects. Extra colors will be ignored." :
"The number of Colors does not match the number of Mesh objects. The last color will be repeated.";
UniversalDebug(message, GH_RuntimeMessageLevel.Warning);
}
////////////////////////////////////////////////////////////////////
// If connection open start acting.
if (connect.status)
{
// Encode mesh data.
List <MeshData> inputMeshData = new List <MeshData> {
};
for (int i = 0; i < inputMeshes.Count; i++)
{
Color currentColor = inputColor[Math.Min(i, inputColor.Count)];
inputMeshData.Add(MeshUtilities.EncodeMesh(inputMeshes[i], currentColor));
}
// Send mesh data.
byte[] bytes = EncodeUtilities.EncodeData("MESHSTREAMING", inputMeshData, out string currentMessage);
if (this.lastMessage != currentMessage)
{
bool success = false;
if (this.sourceType == SourceType.TCP)
{
connect.tcpSender.Send(bytes);
success = connect.tcpSender.success;
message = connect.tcpSender.debugMessages[connect.tcpSender.debugMessages.Count - 1];
}
else
{
connect.udpSender.Send(bytes);
success = connect.udpSender.success;
message = connect.udpSender.debugMessages[connect.udpSender.debugMessages.Count - 1];
}
if (success)
{
this.lastMessage = currentMessage;
}
UniversalDebug(message, (success) ? GH_RuntimeMessageLevel.Remark : GH_RuntimeMessageLevel.Error);
}
}
else
{
this.lastMessage = string.Empty;
UniversalDebug("Set 'Send' on true in HoloFab 'HoloConnect'", GH_RuntimeMessageLevel.Warning);
}
// Output.
#if DEBUG
DA.SetData(0, this.debugMessages[this.debugMessages.Count - 1]);
#endif
}
// Decode Received Data.
public void ProcessMesh(List <MeshData> receivedMeshes, SourceType sourceType)
{
#if DEBUG
Debug.Log("Mesh: Received Count: " + receivedMeshes.Count + ". Type: " + (int)sourceType);
#endif
// Check for C-plane
if (!ObjectManager.instance.CheckCPlane())
{
return;
}
// Find relevant objects based on source to update
GameObject[] goRelevantMeshes;
string currentTag;
GameObject currentPrefab;
switch (sourceType)
{
case (SourceType.TCP):
#if DEBUG
Debug.Log("Mesh: TCP");
#endif
currentPrefab = this.goPrefabMesh;
currentTag = this.tagMesh;
break;
case (SourceType.UDP):
#if DEBUG
Debug.Log("Mesh: UDP");
#endif
currentPrefab = this.goPrefabMeshPlus;
currentTag = this.tagMeshPlus;
break;
default:
return;
}
goRelevantMeshes = GameObject.FindGameObjectsWithTag(currentTag);
List <Vector3> currentVertices = new List <Vector3>();
List <int> currentFaces = new List <int>();
List <Color> currentColors = new List <Color>();
// Loop through all received meshes.
for (int i = 0; i < receivedMeshes.Count; i++)
{
// Condition Vertex based data (points and colors). // Later: normals etc.
for (int j = 0; j < receivedMeshes[i].vertices.Count; j++)
{
currentVertices.Add(new Vector3(receivedMeshes[i].vertices[j][0],
receivedMeshes[i].vertices[j][1],
receivedMeshes[i].vertices[j][2]));
int colorIndex = (receivedMeshes[i].colors.Count == receivedMeshes[i].vertices.Count) ? j : 0;
currentColors.Add(new Color((float)receivedMeshes[i].colors[colorIndex][1] / 255.0f,
(float)receivedMeshes[i].colors[colorIndex][2] / 255.0f,
(float)receivedMeshes[i].colors[colorIndex][3] / 255.0f,
1.0f));
}
float alpha = (float)receivedMeshes[i].colors[0][0] / 255.0f;
// Condition Faces.
for (int j = 0; j < receivedMeshes[i].faces.Count; j++)
{
currentFaces.Add(receivedMeshes[i].faces[j][1]);
currentFaces.Add(receivedMeshes[i].faces[j][2]);
currentFaces.Add(receivedMeshes[i].faces[j][3]);
// If quad - add second face.
if ((receivedMeshes[i].faces[j][0] == 1))
{
currentFaces.Add(receivedMeshes[i].faces[j][1]);
currentFaces.Add(receivedMeshes[i].faces[j][3]);
currentFaces.Add(receivedMeshes[i].faces[j][4]);
}
}
// Set Values
GameObject meshInstance;
if (i < goRelevantMeshes.Length)
{
#if DEBUG
Debug.Log("Mesh: Updating old Mesh");
#endif
meshInstance = goRelevantMeshes[i];
}
else
{
#if DEBUG
Debug.Log("Mesh: Adding new Mesh");
#endif
meshInstance = Instantiate(currentPrefab, ObjectManager.instance.cPlane.transform.position, ObjectManager.instance.cPlane.transform.rotation, ObjectManager.instance.cPlane.transform);
}
meshInstance.GetComponent <Renderer>().material.SetFloat("_ShadowStrength", 1.0f);
meshInstance.GetComponent <Renderer>().material.SetFloat("_Alpha", alpha);
meshInstance.GetComponent <MeshFilter>().mesh = MeshUtilities.DecodeMesh(currentVertices, currentFaces, currentColors);
}
// Delete Extraneous Meshes.
if (goRelevantMeshes.Length > receivedMeshes.Count)
{
#if DEBUG
Debug.Log("Mesh: Meshes extra deleting.");
#endif
DeleteMeshes(sourceType, receivedMeshes.Count);
}
}
