private void frm_PSC_CG_Load(object sender, EventArgs e)
{
dgv.Rows.Clear();
dgv.Rows.Add("Distance (m)",
L1.ToString("f3"),
L2.ToString("f3"),
L3.ToString("f3"),
L4.ToString("f3"),
L5.ToString("f3"),
L6.ToString("f3"),
L7.ToString("f3"),
L8.ToString("f3"),
L9.ToString("f3"));
dgv.Rows.Add("Cable 'e' (mm)",
Cable_E.F1.ToString("f3"),
Cable_E.F2.ToString("f3"),
Cable_E.F3.ToString("f3"),
Cable_E.F4.ToString("f3"),
Cable_E.F5.ToString("f3"),
Cable_E.F6.ToString("f3"),
Cable_E.F7.ToString("f3"),
Cable_E.F8.ToString("f3"),
Cable_E.F9.ToString("f3"));
dgv.Rows.Add("Cable 'd' (mm)",
Cable_D.F1.ToString("f3"),
Cable_D.F2.ToString("f3"),
Cable_D.F3.ToString("f3"),
Cable_D.F4.ToString("f3"),
Cable_D.F5.ToString("f3"),
Cable_D.F6.ToString("f3"),
Cable_D.F7.ToString("f3"),
Cable_D.F8.ToString("f3"),
Cable_D.F9.ToString("f3"));
dgv.Rows.Add("Cable 'c' (mm)",
Cable_C.F1.ToString("f3"),
Cable_C.F2.ToString("f3"),
Cable_C.F3.ToString("f3"),
Cable_C.F4.ToString("f3"),
Cable_C.F5.ToString("f3"),
Cable_C.F6.ToString("f3"),
Cable_C.F7.ToString("f3"),
Cable_C.F8.ToString("f3"),
Cable_C.F9.ToString("f3"));
dgv.Rows.Add("Cable 'b' (mm)",
Cable_B.F1.ToString("f3"),
Cable_B.F2.ToString("f3"),
Cable_B.F3.ToString("f3"),
Cable_B.F4.ToString("f3"),
Cable_B.F5.ToString("f3"),
Cable_B.F6.ToString("f3"),
Cable_B.F7.ToString("f3"),
Cable_B.F8.ToString("f3"),
Cable_B.F9.ToString("f3"));
dgv.Rows.Add("Cable 'a' (mm)",
Cable_A.F1.ToString("f3"),
Cable_A.F2.ToString("f3"),
Cable_A.F3.ToString("f3"),
Cable_A.F4.ToString("f3"),
Cable_A.F5.ToString("f3"),
Cable_A.F6.ToString("f3"),
Cable_A.F7.ToString("f3"),
Cable_A.F8.ToString("f3"),
Cable_A.F9.ToString("f3"));
//Average
Cable_CG = ((Cable_A + Cable_B + Cable_C + Cable_D + Cable_E) / 5.0);
dgv.Rows.Add("CG",
Cable_CG.F1.ToString("f3"),
Cable_CG.F2.ToString("f3"),
Cable_CG.F3.ToString("f3"),
Cable_CG.F4.ToString("f3"),
Cable_CG.F5.ToString("f3"),
Cable_CG.F6.ToString("f3"),
Cable_CG.F7.ToString("f3"),
Cable_CG.F8.ToString("f3"),
Cable_CG.F9.ToString("f3"));
dgv.Rows[0].ReadOnly = true;
dgv.Rows[0].Frozen = true;
dgv.Rows[0].DefaultCellStyle.ForeColor = Color.Blue;
dgv.Rows[6].ReadOnly = true;
dgv.Rows[6].Frozen = true;
dgv.Rows[6].DefaultCellStyle.ForeColor = Color.Blue;
}
// Update is called once per frame
void Update()
{
NowCursorState = tmpCursor.GetComponent <AnimatedCursor>().tmpCursorState;
PlaceBtnState = PlaceButton.GetComponent <ButtonInteraction>().NowButtonState;
DeleteBtnState = DeleteButton.GetComponent <ButtonInteraction>().NowButtonState;
CancelBtnState = CancelButton.GetComponent <ButtonInteraction>().NowButtonState;
lineRenderer = GetComponent <LineRenderer>();
//Debug.Log("Cursor Position: " + tmpCursor.transform.position);
//Vector3 CursorPosition = tmpCursor.GetComponent<Transform>().position;
if ((ButtonInteraction.PosState == PosButtonType.PLACE) && (NowCursorState == CursorStateEnum.Release) &&
(PlaceBtnState != ButtonStateEnum.Targeted) && (PlaceBtnState != ButtonStateEnum.Pressed) &&
(DeleteBtnState != ButtonStateEnum.Observation) && (CancelBtnState != ButtonStateEnum.Observation))
{
if (SizeButtonCollection.SizeButtonState == SizeButtonType.MEDIUM)
{
offset = 6.0f;
}
else if (SizeButtonCollection.SizeButtonState == SizeButtonType.LARGE)
{
offset = 8.0f;
}
else if (SizeButtonCollection.SizeButtonState == SizeButtonType.SMALL)
{
offset = 5.0f;
}
Vector3 FinalPos = tmpCursor.transform.position - new Vector3(0f, 0f, 0.1f) * offset;
Instantiate(PlaneObject, FinalPos, transform.rotation, this.transform); //Genarate the drone
ChildCount = this.transform.childCount;
/*Use to process the three Red Light*/
if (ChildCount > 1)
{
Vector3 pos1, pos2; //the position of two way point(drone)
Vector3 p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11, p12, p13, p14, p15, p16, p17, p18; //Red light initial position
pos1 = this.gameObject.transform.GetChild(ChildCount - 2).transform.position;
pos2 = this.gameObject.transform.GetChild(ChildCount - 1).transform.position;
p0 = (pos1 * 1 + pos2 * 19) / 20;
p1 = (pos1 * 2 + pos2 * 18) / 20;
p2 = (pos1 * 3 + pos2 * 17) / 20;
p3 = (pos1 * 4 + pos2 * 16) / 20;
p4 = (pos1 * 5 + pos2 * 15) / 20;
p5 = (pos1 * 6 + pos2 * 14) / 20;
p6 = (pos1 * 7 + pos2 * 13) / 20;
p7 = (pos1 * 8 + pos2 * 12) / 20;
p8 = (pos1 * 9 + pos2 * 11) / 20;
p9 = (pos1 * 10 + pos2 * 10) / 20;
p10 = (pos1 * 11 + pos2 * 9) / 20;
p11 = (pos1 * 12 + pos2 * 8) / 20;
p12 = (pos1 * 13 + pos2 * 7) / 20;
p13 = (pos1 * 14 + pos2 * 6) / 20;
p14 = (pos1 * 15 + pos2 * 5) / 20;
p15 = (pos1 * 16 + pos2 * 4) / 20;
p16 = (pos1 * 17 + pos2 * 3) / 20;
p17 = (pos1 * 18 + pos2 * 2) / 20;
p18 = (pos1 * 19 + pos2 * 1) / 20;
L0 = Instantiate(CloneRedLight_0, p0, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L0.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L0.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L0.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L1 = Instantiate(CloneRedLight_1, p1, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L1.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L1.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L1.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L2 = Instantiate(CloneRedLight_2, p2, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L2.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L2.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L2.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L3 = Instantiate(CloneRedLight_3, p3, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L3.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L3.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L3.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L4 = Instantiate(CloneRedLight_4, p4, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L4.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L4.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L4.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L5 = Instantiate(CloneRedLight_5, p5, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L5.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L5.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L5.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L6 = Instantiate(CloneRedLight_6, p6, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L6.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L6.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L6.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L7 = Instantiate(CloneRedLight_7, p7, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L7.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L7.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L7.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L8 = Instantiate(CloneRedLight_8, p8, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L8.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L8.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L8.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L9 = Instantiate(CloneRedLight_9, p9, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L9.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L9.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L9.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L10 = Instantiate(CloneRedLight_10, p10, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L10.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L10.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L10.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L11 = Instantiate(CloneRedLight_11, p11, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L11.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L11.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L11.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L12 = Instantiate(CloneRedLight_12, p12, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L12.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L12.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L12.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L13 = Instantiate(CloneRedLight_13, p13, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L13.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L13.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L13.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L14 = Instantiate(CloneRedLight_14, p14, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L14.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L14.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L14.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
/////////////////////////////////////////
L15 = Instantiate(CloneRedLight_15, p15, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L15.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L15.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L15.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L16 = Instantiate(CloneRedLight_16, p16, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L16.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L16.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L16.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L17 = Instantiate(CloneRedLight_17, p17, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L17.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L17.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L17.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L18 = Instantiate(CloneRedLight_18, p18, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L18.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L18.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L18.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
}
//WayPoint.Add(tmp);
//Debug.Log("InstantiateInstantiateInstantiateInstantiateInstantiateInstantiate");
}
/* Line Process*/
ChildCount = this.transform.childCount;
lineRenderer.SetVertexCount(ChildCount);
if (ChildCount > 1)
{
for (int i = 0; i < ChildCount; i++)
{
tmp = this.gameObject.transform.GetChild(i).gameObject;
lineRenderer.SetPosition(i, tmp.transform.position);
}
/*Obstacle Detect*/
for (int i = 0; i < ChildCount - 1; i++)
{
Obj1 = this.gameObject.transform.GetChild(i).gameObject;
Obj2 = this.gameObject.transform.GetChild(i + 1).gameObject;
Ray ray = new Ray(Obj1.transform.position, Obj2.transform.position - Obj1.transform.position);
RaycastHit hit;
//Debug.Log( i + " -> " + (i+1) + " distance : " + Vector3.Distance(Obj1.transform.position, Obj2.transform.position));
float distance = Vector3.Distance(Obj1.transform.position, Obj2.transform.position) - 0.1f;
Physics.Raycast(ray, out hit, distance, mask);
//When collision is NOT NULL, there is obstacles
if (hit.transform != null)
{
lineRenderer.material = LineMat2; // if collision the line become red
//Debug.Log("BBBBBBBBB");
//LineCollision = false; // Let Other Script Know Collision State
//LineCollisionNum = i + 1;
Debug.Log("Blocked by : " + hit.transform.name);
}
//If is NULL -> No Obstacles
else if (hit.transform == null)
{
lineRenderer.material = LineMat1;
//LineCollision = true;
//LineCollisionNum = -1;
//Debug.Log("NNNNNNNNN");
}
//Debug.Log("Line color : " + lineRenderer.material);
}
}
//if(ChildCount == 2) lineRenderer.SetPosition(2, new Vector3(0,0,1));
}
