public async void CreateActionObject()
{
string newActionObjectName = (string)nameInput.GetValue();
if (Base.Parameter.CheckIfAllValuesValid(actionParameters))
{
List <IO.Swagger.Model.Parameter> parameters = new List <IO.Swagger.Model.Parameter>();
foreach (IParameter actionParameter in actionParameters)
{
if (!parametersMetadata.TryGetValue(actionParameter.GetName(), out Base.ParameterMetadata actionParameterMetadata))
{
Base.Notifications.Instance.ShowNotification("Failed to create new action", "Failed to get metadata for action parameter: " + actionParameter.GetName());
return;
}
IO.Swagger.Model.ActionParameter ap = new IO.Swagger.Model.ActionParameter(name: actionParameter.GetName(), value: JsonConvert.SerializeObject(actionParameter.GetValue()), type: actionParameterMetadata.Type);
parameters.Add(DataHelper.ActionParameterToParameter(ap));
}
try {
IO.Swagger.Model.Pose pose = null;
if (actionObjectMetadata.HasPose)
{
Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(SceneManager.Instance.SceneOrigin.transform, actionObjectMetadata.GetModelBB(), SceneManager.Instance.SceneOrigin.transform.localRotation);
IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
pose = new IO.Swagger.Model.Pose(position: offset, orientation: new IO.Swagger.Model.Orientation(1, 0, 0, 0));
}
await Base.WebsocketManager.Instance.AddObjectToScene(newActionObjectName, actionObjectMetadata.Type, pose, parameters);
Close();
} catch (Base.RequestFailedException e) {
Base.Notifications.Instance.ShowNotification("Failed to add action", e.Message);
}
}
}
public async void AddAP(string name)
{
Debug.Assert(CurrentActionPoint != null);
Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(CurrentActionPoint.transform, Vector3.one * 0.025f, Quaternion.identity);
IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(abovePoint));
bool result = await GameManager.Instance.AddActionPoint(name, CurrentActionPoint.Data.Id, offset);
if (result)
{
inputDialog.Close();
}
UpdateMenu();
}
public async void CreateNewAP(string name)
{
Debug.Assert(CurrentObject != null);
/*IO.Swagger.Model.Position offset = new IO.Swagger.Model.Position();
* Vector3 aboveModel = CurrentObject.GetTopPoint();
* aboveModel.y += 0.1f;
* offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(CurrentObject.transform.InverseTransformPoint(aboveModel)));
*/
Vector3 abovePoint = SceneManager.Instance.GetCollisionFreePointAbove(CurrentObject.transform.localPosition);
IO.Swagger.Model.Position offset = DataHelper.Vector3ToPosition(TransformConvertor.UnityToROS(CurrentObject.transform.InverseTransformPoint(abovePoint)));
bool result = await GameManager.Instance.AddActionPoint(name, CurrentObject.Data.Id, offset);
//Base.Scene.Instance.SpawnActionPoint(CurrentObject.GetComponent<Base.ActionObject>(), null);
if (result)
{
inputDialog.Close();
}
UpdateMenu();
}
public async void CreateNewAP(string name)
{
Debug.Assert(CurrentObject != null);
IO.Swagger.Model.Position offset = new IO.Swagger.Model.Position();
if (CurrentObject.ActionObjectMetadata.ObjectModel != null)
{
switch (CurrentObject.ActionObjectMetadata.ObjectModel.Type)
{
case IO.Swagger.Model.ObjectModel.TypeEnum.Box:
offset.Z = CurrentObject.ActionObjectMetadata.ObjectModel.Box.SizeY / 2m + 0.1m;
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Cylinder:
offset.Z = CurrentObject.ActionObjectMetadata.ObjectModel.Cylinder.Height / 2m + 0.1m;
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Mesh:
//TODO: how to handle meshes? do i know dimensions?
break;
case IO.Swagger.Model.ObjectModel.TypeEnum.Sphere:
offset.Z = CurrentObject.ActionObjectMetadata.ObjectModel.Sphere.Radius / 2m + 0.1m;
break;
default:
offset.Z = 0.15m;
break;
}
}
bool result = await GameManager.Instance.AddActionPoint(name, CurrentObject.Data.Id, offset);
//Base.Scene.Instance.SpawnActionPoint(CurrentObject.GetComponent<Base.ActionObject>(), null);
if (result)
{
inputDialog.Close();
}
UpdateMenu();
}
public static Vector3 PositionToVector3(IO.Swagger.Model.Position position) => new Vector3((float)position.X, (float)position.Y, (float)position.Z);