public void InitCameraManager()
{
GameObject camera = new GameObject("GameCamera", typeof(Camera));
camerarotatesphere = camera.AddComponent <CameraRotateSphere>();
camera.transform.SetParent(transform);
QMsg Normalmsg = new ModelMsg()
{
EventID = (int)Model_E.Normal, modelevent = Model_E.SetCamera, selfcamera = camera.GetComponent <Camera>()
};
SendMsg(Normalmsg);
QMsg Usermsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, modelevent = Model_E.SetCamera, selfcamera = camera.GetComponent <Camera>()
};
SendMsg(Usermsg);
QMsg normalPointmsg = new PointMsg()
{
EventID = (int)Point_E.Normal, controllmode = PointControll_E.SetCamra, selfcamra = camera.GetComponent <Camera>()
};
SendMsg(normalPointmsg);
QMsg userPointmsg = new PointMsg()
{
EventID = (int)Point_E.Userimport, controllmode = PointControll_E.SetCamra, selfcamra = camera.GetComponent <Camera>()
};
SendMsg(userPointmsg);
RegetsSelfEvent();
}
protected override void LoadModel(ModelMsg obj)
{
ReleaseOld();
totle++;
ModelMsg mm = obj;
string stlpath = Tool.LocalModelonSavePath + mm.pdata.ID + Tool.STLfiledir;// mm.pdata.LocalUserModelPath;//
if (!Tool.CheckFileExist(stlpath))
{
Debug.LogError("根据ID查找模型 不存在，加载默认模型");
}
GameObject realmodel = new GameObject("UserImprot" + totle, typeof(STL));
realmodel.transform.SetParent(transform);
STL stlloalder = realmodel.GetComponent <STL>();
stlloalder.CreateInstance(stlpath, str => { }, go =>
{
AdjustmentChild(go, PlayerDataCenter.Instance.MaterialMap[Tool.MatarialsUse.UserimportModel]);
LoadGizmopointer(mm.pointmap, go.transform, SelfPointMode);
go.transform.SetParent(realmodel.transform);
go.transform.localScale = Vector3.one * Tool.UserImportScaler;
});
lastrealmodel = realmodel;
}
public void CreateSimulationModel()
{
if (m_Colliding)
{
return;
}
GameObject simModel = Instantiate(SimulationModel, transform.position, transform.rotation);
simModel.name = SimulationModel.name;
InputManager.Instance.ModelSpawn_Controller.Operating = false;
Destroy(InputManager.Instance.Selector_Tool.CurrentPreviewModel.gameObject);
InputManager.Instance.Selector_Tool.CurrentPreviewModel = null;
if (SimulationModel.GetComponent <ROSObject>() == null)
{
return;
}
// publish a message to add the object to ros node
List <string> objects = new List <string>();
objects.Add(SimulationModel.name);
List <Vector3> positions = new List <Vector3>();
positions.Add(GazeboUtility.UnityPositionToGazebo(transform.position));
ModelMsg msg = new ModelMsg(1, 1, objects, positions);
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
RoboyManager.Instance.AddRoboy(simModel.transform);
}
QMsg CreatMsg(Model_E eventid, Model_E modleevent = Model_E.Begin, ModelTranslate_E modeltranslate = ModelTranslate_E.Begin, float valuedir = 0)
{
QMsg modelmsg = new ModelMsg()
{
EventID = (int)eventid, modelevent = modleevent, translateevent = modeltranslate, Changdir = valuedir
};
return(modelmsg);
}
public void OnLeveThisPage()
{
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, modelevent = Model_E.Ido
};
ModelManager.Instance.SendMsg(modelmsg);
}
/// 平移
void OnTranslateChange(ModelTranslate_E mte)
{
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, translateevent = mte
};
ModelManager.Instance.SendMsg(modelmsg);
}
///XYZ及等比缩放
void OnScalerSliderChange(ModelTranslate_E mte, float endvalue)
{
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.Normal, translateevent = mte, Changdir = endvalue
};
ModelManager.Instance.SendMsg(modelmsg);
}
///旋转
void OnRotateSliderChange(float endvalue)
{
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, translateevent = ModelTranslate_E.Rotate, Changdir = endvalue
};
ModelManager.Instance.SendMsg(modelmsg);
}
public void OnEnterThisPage()
{
ChoisePanel(firstchoise);
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, modelevent = Model_E.Rotate
};
ModelManager.Instance.SendMsg(modelmsg);
}
protected override void ProcessMsg(int eventId, QMsg msg)
{
ModelMsg mm = msg as ModelMsg;
switch (eventId)
{
case (int)Model_E.Normal:
normalmodelcontroller.HandlerEvent(mm);
break;
case (int)Model_E.UserImport:
userimportcontroller.HandlerEvent(mm);
break;
default:
break;
}
}
protected override void LoadModel(ModelMsg obj)
{
ReleaseOld();
totle++;
ModelMsg mm = obj;
string stlpath = Tool.LocalNormalModelPath + mm.pdata.md5 + Tool.STLfiledir;// mm.pdata.Normalmodelpath;//
GameObject realmodel = new GameObject("NormalModel" + totle, typeof(STL));
realmodel.transform.SetParent(transform);
STL stlloalder = realmodel.GetComponent <STL>();
stlloalder.CreateInstance(stlpath, str => { }, go =>
{
AdjustmentChild(go, PlayerDataCenter.Instance.MaterialMap[Tool.MatarialsUse.NormalModel]);
LoadGizmopointer(mm.pointmap, go.transform, SelfPointMode);
go.transform.SetParent(realmodel.transform);
go.transform.localScale = Vector3.one * Tool.UserImportScaler;
selforiginscaler = transform.localScale.x;
});
Transform cameratarget = new GameObject("Camratarget").transform;
cameratarget.SetParent(realmodel.transform);
cameratarget.localPosition = Vector3.zero;
QMsg msg = new CameraControllMsg()
{
EventID = (int)Camera_E.Begin,
cameraevent = Camera_E.Target,
camerarotatetarget = cameratarget
};
CameraManager.Instance.SendMsg(msg);
lastrealmodel = realmodel;
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
List <string> objects = new List <string>();
objects.Add("Roboy_simplified");
List <Vector3> positions = new List <Vector3>();
positions.Add(GazeboUtility.UnityPositionToGazebo(new Vector3(2.3123f, 2.2311f, 0.5f)));
ModelMsg msg = new ModelMsg(1, 1, objects, positions);
Debug.Log(msg.ToYAMLString());
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
}
else if (Input.GetKeyDown(KeyCode.Escape))
{
List <string> objects = new List <string>();
objects.Add("Roboy_simplified");
List <Vector3> positions = new List <Vector3>();
positions.Add(Vector3.zero);
ModelMsg msg = new ModelMsg(0, 1, objects, positions);
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
}
}
void Start()
{
Button Rotate = transform.Find("RotateButton").GetComponent <Button>();
Button translate = transform.Find("TranslateButton").GetComponent <Button>();
Button scaler = transform.Find("ScalerButton").GetComponent <Button>();
Rotate.onClick.AddListener(() =>
{
ChoisePanel(Rotate);
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, modelevent = Model_E.Rotate
};
ModelManager.Instance.SendMsg(modelmsg);
});
translate.onClick.AddListener(() =>
{
QMsg modelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, modelevent = Model_E.translate
};
ModelManager.Instance.SendMsg(modelmsg);
ChoisePanel(translate);
});
scaler.onClick.AddListener(() =>
{
QMsg Usermodelmsg = new ModelMsg()
{
EventID = (int)Model_E.UserImport, modelevent = Model_E.Scaler
};
ModelManager.Instance.SendMsg(Usermodelmsg);
QMsg Normalmodelmsg = new ModelMsg()
{
EventID = (int)Model_E.Normal, modelevent = Model_E.Scaler
};
ModelManager.Instance.SendMsg(Normalmodelmsg);
ChoisePanel(scaler);
});
Transform RotatePanel = transform.Find("RotatePanel");
Transform TranslatePanel = transform.Find("TranslatePanel");
Transform ScalerPanel = transform.Find("ScalerPanel");
RegestToMap(Rotate, RotatePanel.gameObject);
RegestToMap(translate, TranslatePanel.gameObject);
RegestToMap(scaler, ScalerPanel.gameObject);
Slider S_rotate = RotatePanel.GetComponentInChildren <Slider>();
InputField I_rotate = RotatePanel.GetComponentInChildren <InputField>();
Slider S_XYZscaler = ScalerPanel.transform.Find("XYZPanel").GetComponentInChildren <Slider>();
InputField I_XYZscaler = ScalerPanel.transform.Find("XYZPanel").GetComponentInChildren <InputField>();
Slider S_Xscaler = ScalerPanel.transform.Find("XPanel").GetComponentInChildren <Slider>();
InputField I_Xscaler = ScalerPanel.transform.Find("XPanel").GetComponentInChildren <InputField>();
Slider S_Yscaler = ScalerPanel.transform.Find("YPanel").GetComponentInChildren <Slider>();
InputField I_Yscaler = ScalerPanel.transform.Find("YPanel").GetComponentInChildren <InputField>();
Slider S_Zscaler = ScalerPanel.transform.Find("ZPanel").GetComponentInChildren <Slider>();
InputField I_Zscaler = ScalerPanel.transform.Find("ZPanel").GetComponentInChildren <InputField>();
Button B_up = TranslatePanel.Find("UpButton").GetComponent <Button>();
Button B_down = TranslatePanel.Find("DownButton").GetComponent <Button>();
Button B_mid = TranslatePanel.Find("MidButton").GetComponent <Button>();
Button B_right = TranslatePanel.Find("RightButton").GetComponent <Button>();
Button B_left = TranslatePanel.Find("LeftButton").GetComponent <Button>();
S_rotate.onValueChanged.AddListener((endvalue) =>
{
OnRotateSliderChange(endvalue);
I_rotate.text = endvalue.ToString();
});
I_rotate.onValueChanged.AddListener((str) =>
{
try
{
float a = float.Parse(str);
S_rotate.value = a;
}
catch (System.Exception)
{
I_rotate.text = S_rotate.value.ToString();
throw;
}
});
S_XYZscaler.onValueChanged.AddListener((endvalue) =>
{
OnScalerSliderChange(ModelTranslate_E.Scaler, endvalue);
I_XYZscaler.text = endvalue.ToString();
});
I_XYZscaler.onValueChanged.AddListener((str) =>
{
try
{
float a = float.Parse(str);
S_XYZscaler.value = a;
}
catch (System.Exception)
{
I_XYZscaler.text = S_XYZscaler.value.ToString();
throw;
}
});
S_Xscaler.onValueChanged.AddListener((endvalue) =>
{
OnScalerSliderChange(ModelTranslate_E.ScalerX, endvalue);
I_Xscaler.text = endvalue.ToString();
});
I_Xscaler.onValueChanged.AddListener((str) =>
{
try
{
float a = float.Parse(str);
S_Xscaler.value = a;
}
catch (System.Exception)
{
I_Xscaler.text = S_Xscaler.value.ToString();
throw;
}
});
S_Yscaler.onValueChanged.AddListener((endvalue) =>
{
OnScalerSliderChange(ModelTranslate_E.ScalerY, endvalue);
I_Yscaler.text = endvalue.ToString();
});
I_Yscaler.onValueChanged.AddListener((str) =>
{
try
{
float a = float.Parse(str);
S_Yscaler.value = a;
}
catch (System.Exception)
{
I_Yscaler.text = S_Yscaler.value.ToString();
throw;
}
});
S_Zscaler.onValueChanged.AddListener((endvalue) =>
{
OnScalerSliderChange(ModelTranslate_E.ScalerZ, endvalue);
I_Zscaler.text = endvalue.ToString();
});
I_Zscaler.onValueChanged.AddListener((str) =>
{
try
{
float a = float.Parse(str);
S_Zscaler.value = a;
}
catch (System.Exception)
{
I_Zscaler.text = S_Zscaler.value.ToString();
throw;
}
});
B_up.onClick.AddListener(() => { OnTranslateChange(ModelTranslate_E.Up); });
B_down.onClick.AddListener(() => { OnTranslateChange(ModelTranslate_E.Down); });
B_right.onClick.AddListener(() => { OnTranslateChange(ModelTranslate_E.Right); });
B_left.onClick.AddListener(() => { OnTranslateChange(ModelTranslate_E.Left); });
firstchoise = Rotate;
ChoisePanel(firstchoise);
}
/// <summary>
/// 根据发送来的消息回调刷新
/// </summary>
/// <param name="obj"></param>
public override void HandlerEvent(QMsg obj)
{
ModelMsg mm = obj as ModelMsg;
//主模型过程控制
Model_E modelx = mm.modelevent;
//modletranslate方式控制
ModelTranslate_E mte = mm.translateevent;
//传来的数据
float value = mm.Changdir;
//模型状态使用
switch (modelx)
{
case Model_E.LoadModel:
LoadModel(mm);
break;
case Model_E.Hidden:
Hidden();
break;
case Model_E.Display:
Display();
break;
case Model_E.SetCamera:
selfcamera = mm.selfcamera;
break;
case Model_E.translate:
case Model_E.Rotate:
case Model_E.Scaler:
modelcontrollmode = modelx;
break;
default:
break;
}
//调整(位移旋转缩放)使用
tranlatmode = mte;
switch (mte)
{
case ModelTranslate_E.Up:
case ModelTranslate_E.Down:
case ModelTranslate_E.Left:
case ModelTranslate_E.Right:
TranslateCallback(mte);
break;
case ModelTranslate_E.Scaler:
case ModelTranslate_E.ScalerX:
case ModelTranslate_E.ScalerY:
case ModelTranslate_E.ScalerZ:
ScalerCallback(mte, value);
break;
case ModelTranslate_E.Rotate:
RotateCallback(value);
break;
default:
break;
}
//pointer使用
}
public static string ToYAMLString(ModelMsg msg)
{
return(msg.ToYAMLString());
}
/// <summary> /// 加载模型 /// </summary> /// <param name="stlpath"></param> protected abstract void LoadModel(ModelMsg obj);
