private void GrabberSession_StateChanged(GrabberState newState)
{
switch (newState)
{
case GrabberState.Running:
case GrabberState.Error:
DispatcherHelper.CheckBeginInvokeOnUI((Action)(() =>
{
foreach (ICaptureWindow captureWindow in this.captureWindows)
{
captureWindow.ShowOverlay();
}
}));
break;
default:
DispatcherHelper.CheckBeginInvokeOnUI((Action)(() =>
{
foreach (ICaptureWindow captureWindow in this.captureWindows)
{
captureWindow.HideOverlay();
}
}));
break;
}
}
public void Release()
{
if (state == GrabberState.grabbingOtherObject)
{
currentlyHoveredGrabbable.transform.SetParent(null);
state = GrabberState.worn;
}
}
public void StartSimulation(int stepsPerInstruction)
{
_stepsPerInstruction = stepsPerInstruction;
_instructionCounter = 0;
_restartMark = 0;
_endStepState = _startState;
ClampOpen = _startState.clampOpen;
}
public void UnWear()
{
if (state == GrabberState.worn)
{
Destroy(grabberRiggidBody);
transform.SetParent(null);
state = GrabberState.free;
CheckColliders();
}
}
protected void CheckIsGrabbable(GameObject other)
{
GrabbableBehaviour grabbable = other.gameObject.GetComponentInParent <GrabbableBehaviour>();
if (grabbable != null)
{
currentlyHoveredGrabbable = grabbable;
state = GrabberState.hoveringOtherObject;
}
}
public void Wear(Transform grabberPivot)
{
if (state == GrabberState.free)
{
grabberRiggidBody = gameObject.AddComponent <Rigidbody>();
grabberRiggidBody.isKinematic = true;
grabberRiggidBody.useGravity = false;
state = GrabberState.worn;
transform.SetParent(grabberPivot);
transform.localPosition = Vector3.zero;
transform.localRotation = Quaternion.identity;
CheckColliders();
}
}
protected void TryGrabOtherObject()
{
if (state == GrabberState.hoveringOtherObject)
{
if (currentlyHoveredGrabbable != null && currentlyHoveredGrabbable.CanGrab() && state != GrabberState.grabbingOtherObject)
{
state = GrabberState.grabbingOtherObject;
Transform handSnapPoint = isLeftHanded ? currentlyHoveredGrabbable.leftHandSnapPoint : currentlyHoveredGrabbable.rightHandSnapPoint;
currentlyHoveredGrabbable.transform.SetParent(snapPoint);
currentlyHoveredGrabbable.transform.rotation = snapPoint.rotation * Quaternion.Inverse(handSnapPoint.localRotation);
currentlyHoveredGrabbable.transform.position = snapPoint.position - currentlyHoveredGrabbable.transform.rotation * handSnapPoint.localPosition;
}
}
}
// RenderAFrame is called once a frame
public override void RenderAFrame()
{
SetProjectionAndViewport();
// Clear the backbuffer
RC.Clear(ClearFlags.Color | ClearFlags.Depth);
//Rotate robot axes
upperArmTransform.Rotation.x += robotArmSpeed * DeltaTime * Keyboard.UpDownAxis;
lowerArmTransform.Rotation.x += robotArmSpeed * DeltaTime * Keyboard.WSAxis;
//Rotate camera with mouse
if (Mouse.LeftButton)
{
_camAngle += -.01f * DeltaTime * Mouse.Velocity.x;
}
//Diagnostics.Debug(currentGrabberState);
//Grabber movement
if (Keyboard.IsKeyDown(KeyCodes.Space))
{
currentGrabberState = currentGrabberState == GrabberState.open || currentGrabberState == GrabberState.opening ? GrabberState.closing : GrabberState.opening;
Diagnostics.Debug("Setting Grabber state to " + currentGrabberState);
}
if (currentGrabberState == GrabberState.closing)
{
grabber1Transform.Rotation.x += grabberSpeed * DeltaTime;
grabber2Transform.Rotation.x -= grabberSpeed * DeltaTime;
if (grabber1Transform.Rotation.x >= 0)
{
Diagnostics.Debug("Setting Grabber state to closed");
currentGrabberState = GrabberState.closed;
grabber1Transform.Rotation.x = 0;
grabber2Transform.Rotation.x = 0;
}
}
else if (currentGrabberState == GrabberState.opening)
{
grabber1Transform.Rotation.x -= grabberSpeed * DeltaTime;
grabber2Transform.Rotation.x += grabberSpeed * DeltaTime;
if (grabber1Transform.Rotation.x <= grabber1Limit)
{
Diagnostics.Debug("Setting Grabber state to open");
currentGrabberState = GrabberState.open;
grabber1Transform.Rotation.x = grabber1Limit;
grabber2Transform.Rotation.x = grabber2Limit;
}
}
// Setup the camera
RC.View = float4x4.CreateTranslation(0, -10, 50) * float4x4.CreateRotationY(_camAngle);
// Render the scene on the current render context
sceneRenderer.Render(RC);
// Swap buffers: Show the contents of the backbuffer (containing the currently rendered farame) on the front buffer.
Present();
}
void SetState(GrabberState grabberState)
{
this.grabberState = grabberState;
}
// returns true for succesful
public void PerformInstruction ()
{
// if (instructions[_instructionCounter] == Instruction.None)
// {
// _instructionCounter = _restartMark; // will be 0 is no restart mark set
// }
// Debug.Log("Deregistering "+heldPart+" at "+LocationAtClampEnd().x+":"+LocationAtClampEnd().y);
// Debug.Log ("PerformInstruction "+_currentInstruction+": "+instructions[_instructionCounter]);
_startStepState.rotation = 0;
_startStepState = _endStepState;
// Debug.Break ();
// Debug.Log ("before: "+_endStepState.direction);
// Debug.Log ("instructionCounter "+_instructionCounter);
// Debug.Log ("instruction = "+instructions[_instructionCounter]);
if (instructions.Count == 0)
{
_currentInstruction = Instruction.None;
}
else
{
_currentInstruction = instructions[_instructionCounter];
}
_isMoveingInstruction = false;
// _doAtEndOfInstruction = null;
switch (_currentInstruction)
{
case Instruction.TurnClock:
{
_endStepState.direction += 1;
_isMoveingInstruction = true;
}
break;
case Instruction.TurnAnti:
{
_endStepState.direction += 5;
_isMoveingInstruction = true;
}
break;
case Instruction.Extend:
{
_endStepState.extention += 1;
_isMoveingInstruction = true;
}
break;
case Instruction.Retract:
{
_endStepState.extention -= 1;
_isMoveingInstruction = true;
}
break;
case Instruction.RotateClock:
{
_endStepState.rotation += 1;
_isMoveingInstruction = true;
}
break;
case Instruction.RotateAnti:
{
_endStepState.rotation -= 1;
_isMoveingInstruction = true;
}
break;
case Instruction.RestartMark:
{
_restartMark = _instructionCounter+1;
}
break;
case Instruction.Grab:
{
// dealt with in another function
}
break;
case Instruction.Drop:
{
GrabbablePart heldPart = GrabberManager.instance.GetPartHeldBy(this);
if (heldPart != null)
{
IntVector2 locationAtClamp = LocationAtClamp();
if (GridManager.instance.GetHexCell(locationAtClamp) == null)
{
// trying to drop into non grid location
LevelManager.instance.gameState = LevelManager.State.SimulationFailed;
heldPart.highlighted = true;
break;
}
GrabberManager.instance.RegisterDrop(this, heldPart);
}
// else
// {
// Debug.Log ("No part to drop", this);
// }
}
break;
}
_endStepState.direction = (HexMetrics.Direction)((int)_endStepState.direction % 6);
_endStepState.extention = Mathf.Clamp(_endStepState.extention, 0, 2);
// Debug.Log ("after: "+_endStepState.direction);
_stepCounter = 0;
_instructionCounter += 1;
if (_instructionCounter == instructions.Count)
{
_instructionCounter = _restartMark;
if (_instructionCounter == instructions.Count)
{
_instructionCounter = instructions.Count - 1;
}
}
}
void MoveToState(GrabberState grabberState)
{
MoveToState(grabberState.extention, ((int)grabberState.direction)*-60f, 0f);
}
public void StartSimulation(int stepsPerInstruction)
{
_stepsPerInstruction = stepsPerInstruction;
_instructionCounter = 0;
_restartMark = 0;
_endStepState = _startState;
ClampOpen = _startState.clampOpen;
}
// returns true for succesful
public void PerformInstruction()
{
// if (instructions[_instructionCounter] == Instruction.None)
// {
// _instructionCounter = _restartMark; // will be 0 is no restart mark set
// }
// Debug.Log("Deregistering "+heldPart+" at "+LocationAtClampEnd().x+":"+LocationAtClampEnd().y);
// Debug.Log ("PerformInstruction "+_currentInstruction+": "+instructions[_instructionCounter]);
_startStepState.rotation = 0;
_startStepState = _endStepState;
// Debug.Break ();
// Debug.Log ("before: "+_endStepState.direction);
// Debug.Log ("instructionCounter "+_instructionCounter);
// Debug.Log ("instruction = "+instructions[_instructionCounter]);
if (instructions.Count == 0)
{
_currentInstruction = Instruction.None;
}
else
{
_currentInstruction = instructions[_instructionCounter];
}
_isMoveingInstruction = false;
// _doAtEndOfInstruction = null;
switch (_currentInstruction)
{
case Instruction.TurnClock:
{
_endStepState.direction += 1;
_isMoveingInstruction = true;
}
break;
case Instruction.TurnAnti:
{
_endStepState.direction += 5;
_isMoveingInstruction = true;
}
break;
case Instruction.Extend:
{
_endStepState.extention += 1;
_isMoveingInstruction = true;
}
break;
case Instruction.Retract:
{
_endStepState.extention -= 1;
_isMoveingInstruction = true;
}
break;
case Instruction.RotateClock:
{
_endStepState.rotation += 1;
_isMoveingInstruction = true;
}
break;
case Instruction.RotateAnti:
{
_endStepState.rotation -= 1;
_isMoveingInstruction = true;
}
break;
case Instruction.RestartMark:
{
_restartMark = _instructionCounter + 1;
}
break;
case Instruction.Grab:
{
// dealt with in another function
}
break;
case Instruction.Drop:
{
GrabbablePart heldPart = GrabberManager.instance.GetPartHeldBy(this);
if (heldPart != null)
{
IntVector2 locationAtClamp = LocationAtClamp();
if (GridManager.instance.GetHexCell(locationAtClamp) == null)
{
// trying to drop into non grid location
LevelManager.instance.gameState = LevelManager.State.SimulationFailed;
heldPart.highlighted = true;
break;
}
GrabberManager.instance.RegisterDrop(this, heldPart);
}
// else
// {
// Debug.Log ("No part to drop", this);
// }
}
break;
}
_endStepState.direction = (HexMetrics.Direction)((int)_endStepState.direction % 6);
_endStepState.extention = Mathf.Clamp(_endStepState.extention, 0, 2);
// Debug.Log ("after: "+_endStepState.direction);
_stepCounter = 0;
_instructionCounter += 1;
if (_instructionCounter == instructions.Count)
{
_instructionCounter = _restartMark;
if (_instructionCounter == instructions.Count)
{
_instructionCounter = instructions.Count - 1;
}
}
}
void MoveToState(GrabberState grabberState)
{
MoveToState(grabberState.extention, ((int)grabberState.direction) * -60f, 0f);
}
