/// <summary>
/// Use this to remove a waypoint from the path and from the scene
/// </summary>
/// <param name="deletedWaypoint"> The waypoint which is to be deleted </param>
public void DeleteWaypoint(Waypoint deletedWaypoint)
{
//Sending a ROS DELETE Update
string curr_id = deletedWaypoint.id;
string prev_id = deletedWaypoint.prevPathPoint.id;
float x = deletedWaypoint.gameObjectPointer.transform.localPosition.x;
float y = deletedWaypoint.gameObjectPointer.transform.localPosition.y;
float z = deletedWaypoint.gameObjectPointer.transform.localPosition.z;
UserpointInstruction msg = new UserpointInstruction(curr_id, prev_id, x, y, z, "DELETE");
WorldProperties.worldObject.GetComponent <ROSDroneConnection>().PublishWaypointUpdateMessage(msg);
// Removing the new waypoint from the dictionary, waypoints array and placement order
waypointsDict.Remove(deletedWaypoint.id);
waypoints.Remove(deletedWaypoint);
waypointsOrder.Remove(deletedWaypoint);
// Removing from the path linked list by adjusting the next and previous pointers of the surrounding waypoints
deletedWaypoint.prevPathPoint.nextPathPoint = deletedWaypoint.nextPathPoint;
// Need to check if this is the last waypoint in the list -- if it has a next or not
if (deletedWaypoint.nextPathPoint != null)
{
deletedWaypoint.nextPathPoint.prevPathPoint = deletedWaypoint.prevPathPoint;
}
// Removing line collider
WaypointProperties tempProperties = deletedWaypoint.gameObjectPointer.GetComponent <WaypointProperties>();
tempProperties.deleteLineCollider();
// Deleting the waypoint gameObject
Object.Destroy(deletedWaypoint.gameObjectPointer);
}
/// <summary>
/// Use this to remove a waypoint from the path and from the scene
/// </summary>
/// <param name="deletedWaypoint"> The waypoint which is to be deleted </param>
public void DeleteWaypoint(Waypoint deletedWaypoint)
{
// Removing the new waypoint from the dictionary, waypoints array and placement order
waypoints.Remove(deletedWaypoint);
deletedWaypoints.Add(deletedWaypoint);
// Removing from the path linked list by adjusting the next and previous pointers of the surrounding waypoints. Check if first waypoint in the list.
if (deletedWaypoint.prevPathPoint != null)
{
deletedWaypoint.prevPathPoint.nextPathPoint = deletedWaypoint.nextPathPoint;
}
// Need to check if this is the last waypoint in the list -- if it has a next or not
if (deletedWaypoint.nextPathPoint != null)
{
deletedWaypoint.nextPathPoint.prevPathPoint = deletedWaypoint.prevPathPoint;
}
// Removing line collider
WaypointProperties tempProperties = deletedWaypoint.gameObjectPointer.GetComponent <WaypointProperties>();
tempProperties.DeleteLineCollider();
// Deleting the waypoint gameObject
Object.Destroy(deletedWaypoint.gameObjectPointer);
}
/// <summary>
/// Removes all waypoints from this drone (including the first one).
/// </summary>
// TODO: Fix @apollo do we still need to fix this?
public void DeleteAllWaypoints()
{
if (!isEmptyWaypointList(waypoints))
{
foreach (Waypoint waypoint in waypoints)
{
deletedWaypoints.Add(waypoint);
WaypointProperties tempProperties = waypoint.gameObjectPointer.GetComponent <WaypointProperties>();
tempProperties.DeleteLineCollider();
Object.Destroy(waypoint.gameObjectPointer);
}
waypoints.Clear();
}
}
public WaypointProperties waypointProperties; // Points to attached Waypoint Properties script
/// <summary>
/// Waypoint class object constructor
/// </summary>
/// <param name="myDrone"> This is the drone that the new waypoint should belong to (remember that you still need to add the waypoint to the path using this drone's methods) </param>
/// <param name="position"> This is the 3d location at which the new waypoint gameObject should be placed. </param>
public Waypoint(Drone myDrone, Vector3 position, bool takeoffWaypoint = false)
{
// Linking this waypoint to its drone
referenceDrone = myDrone;
// Setting up all the related gameObject parameters
GameObject baseObject = (GameObject)WorldProperties.worldObject.GetComponent <WorldProperties>().waypointBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, position, Quaternion.identity);
gameObjectPointer.GetComponent <VRTK_InteractableObject>().ignoredColliders[0] = GameObject.Find("controller_right").GetComponent <SphereCollider>(); //Ignoring Collider from Controller so that WayPoint Zone is used
waypointProperties = gameObjectPointer.GetComponent <WaypointProperties>();
waypointProperties.classPointer = this; // Connect the gameObject back to the classObject
gameObjectPointer.tag = "waypoint";
gameObjectPointer.name = baseObject.name;
gameObjectPointer.transform.localScale = WorldProperties.actualScale / 100;
gameObjectPointer.transform.parent = WorldProperties.worldObject.transform;
WorldProperties.AddClipShader(gameObjectPointer.transform);
}