/// <summary>
/// 末端点直线运动的实现代码
/// </summary>
/// <param name="Target">运动的终点</param>
/// <returns></returns>
IEnumerator SimpleMoveP(Vector3 Target)
{
MechanicalCCDIK.enabled = true;
int i = 0;
Vector3 StartPoint = GetGoInScene.GetInstance().PointTag.position;
while (true)
{
i++;
Vector3 nextPoint = GetIkpositionOffset(StartPoint, Target, i);
MechanicalCCDIK.solver.SetIKPosition(nextPoint);
//if (zhen.localPosition.y <= 0.146f && zhen.localPosition.y >= 0.093f)
//{
// zhen.localPosition += new Vector3(0, 0.0001f, 0) * (Target.y - StartPoint.y);
//}
if (nextPoint == Target)
{
Debug.Log(nextPoint + "==========>" + Target);
MechanicalCCDIK.enabled = false;
StepManager.Instance.NextStep();
break;
}
yield return(null);
}
}
public static GetGoInScene GetInstance()
{
if (instance == null)
{
instance = new GetGoInScene();
}
return(instance);
}
/// <summary>
/// 在末端点现在所在位置生成已保存位置点的标记
/// </summary>
/// <param name="name">标记显示的名字</param>
public void ShowTag(string name)
{
//在3D场景中生成一个位置展示点
GameObject go = Instantiate(Resources.Load <GameObject>(ResourcesPath), GetGoInScene.GetInstance().PointTag);
go.transform.parent = GameObject.Find("PointTags").transform;
go.transform.localScale = new Vector3(0.03f, 0.03f, 0.03f);
go.transform.Find("Text (TMP)").GetComponent <TextMeshPro>().text = name;
}
void Update()
{
if (lastPosition != GetGoInScene.GetInstance().PointTag.position)
{
lastPosition = GetGoInScene.GetInstance().PointTag.position;
x.text = "X: " + String.Format("{0:F}", GetGoInScene.GetInstance().PointTag.position.x);
y.text = "Y: " + String.Format("{0:F}", GetGoInScene.GetInstance().PointTag.position.y);
z.text = "Z: " + String.Format("{0:F}", GetGoInScene.GetInstance().PointTag.position.z);
}
}
/// <summary>
/// 保存等待步骤相关的设置
/// </summary>
public override void OnButtonClicked()
{
base.OnButtonClicked();
if (waitSettingPanel == null)
{
waitSettingPanel = GetGoInScene.GetInstance().GetGO("WaitSettingPanel");
}
waitSettingPanel.GetComponent <WaitingSettingPanelControl>().TargetTask = gameObject;
waitSettingPanel.GetComponent <WaitingSettingPanelControl>().InitInputField();
waitSettingPanel.SetActive(true);
}
/// <summary>
/// 当应用按钮被按下是调用，记录移动指令相关设置
/// </summary>
public override void OnButtonClicked()
{
base.OnButtonClicked();
if (moveSettingPanel == null)
{
moveSettingPanel = GetGoInScene.GetInstance().GetGO("MoveSettingPanel");
}
moveSettingPanel.GetComponent <MoveSettingPanelControl>().TargetTask = gameObject;
moveSettingPanel.GetComponent <MoveSettingPanelControl>().InitDropdown();
moveSettingPanel.SetActive(true);
}
/// <summary>
/// 当应用按钮被点击时，记录相关设置
/// </summary>
public override void OnButtonClicked()
{
base.OnButtonClicked();
if (shenjiangSettingPanel == null)
{
shenjiangSettingPanel = GetGoInScene.GetInstance().GetGO("GaodiSettingPanel");
}
shenjiangSettingPanel.GetComponent <GaodiSettingPanelControl>().TargetTask = gameObject;
shenjiangSettingPanel.GetComponent <GaodiSettingPanelControl>().InitThis();
shenjiangSettingPanel.SetActive(true);
}
//public Action OnRotateComplete;
//protected bool allowIn = true;
/// <summary>
/// 保存末端点和各关节信息
/// </summary>
/// <returns>存储末端点和各关节信息的类</returns>
public JointsMessage SavePoint()
{
JointsMessage jointsMessage = new JointsMessage();
for (int i = 0; i < jointsDic.Count; i++)
{
jointsMessage.jointRotation.Add(jointsDic["Joint" + i].localEulerAngles);
jointsMessage.IKPoint = GetGoInScene.GetInstance().PointTag.position;
}
return(jointsMessage);
}
