public void startChoregraphy()
{
if (_sceneManager.isInitialized() == false)
{
return;
}
IEnumerable <TrajectoryManager> drones = _dronesManager.GetDrones().Select(d => d.GetComponent <TrajectoryManager>());
foreach (TrajectoryManager drone in drones)
{
//drone.setTrajectory(TrajectoryManager.TrajectoryType.HOVER);
//drone.getTrajectory().setVariable("position", new Vector3(10f, 10f, 10f));
//drone.setTrajectory(TrajectoryManager.TrajectoryType.MULTI_LINES);
//drone.getTrajectory().setVariable("positions", new List<Vector3> {
// new Vector3 (1f, 1f, 1f),
// new Vector3 (3f, 1f, 1f),
// new Vector3 (2f, 3f, 1f),
//});
//drone.getTrajectory().setVariable("time", 5.0f);
//drone.getTrajectory().setVariable("loop", true);
////drone.getTrajectory().setVariable<Trajectory.SpeedFunction>("speed_function", x => 3 * Mathf.Pow(x, 2));
//drone.getTrajectory().startTrajectory();
//drone.setTrajectory(TrajectoryManager.TrajectoryType.JUGGLE_3D);
//drone.getTrajectory().setVariable("base_x_vector", new Vector3(1f, 0f, 0f));
//drone.getTrajectory().setVariable("hand_vector", new Vector3(1f, 5f, 10f));
//drone.getTrajectory().setVariable("time_multiplier", 0.5f);
//drone.getTrajectory().startTrajectory();
// drone.setTrajectory(TrajectoryManager.TrajectoryType.CIRCLE);
// drone.getTrajectory().setVariable("center", new Vector3(2f, 2f, 2f));
// drone.getTrajectory().setVariable("normal_vector", new Vector3(0f, 1f, 0f));
// drone.getTrajectory().setVariable("radius", 0.75f);
// drone.getTrajectory().setVariable("time", 5.0f);
//// drone.getTrajectory().setVariable<Trajectory.SpeedFunction>("speed_function", x => 3 * Mathf.Pow(x, 2));
// drone.getTrajectory().startTrajectory();
drone.setTrajectory(TrajectoryManager.TrajectoryType.TAKEOFF);
drone.getTrajectory().startTrajectory();
//drone.setTrajectory(TrajectoryManager.TrajectoryType.JUGGLE_HORIZONTAL);
//drone.getTrajectory().setVariable("hand_vector", new Vector3(1f, 5f, 10f));
//drone.getTrajectory().setVariable("time_multiplier", 0.5f);
//drone.getTrajectory().startTrajectory();
}
}
private void Start()
{
// retrieve objects from the scene
_oscManager = GameObject.Find("OscManager").GetComponent <OscManager>();
_dronesManager = GameObject.Find("DronesManager").GetComponent <DronesManager>();
Debug.Assert(_handDroneID >= 0, "hand drone ID not set");
_handDrone = _dronesManager.GetDroneGameObjectById(_handDroneID);
Debug.Assert(_bodyDroneID >= 0, "body drone ID not set");
_bodyDrone = _dronesManager.GetDroneGameObjectById(_bodyDroneID);
_dronesIds = new List <int>(_dronesManager
.GetDrones()
.Select(d_go => d_go.Id)
.Where(id => id != _handDroneID && id != _bodyDroneID));
// soft "emergency" : do not need to reboot the drone nor the server
_handDrone.GetComponent <Drone>().UseAsInput = true;
_bodyDrone.GetComponent <Drone>().UseAsInput = true;
// Subscribe to the specktr OSC topic
_oscManager.OscSubscribe(specktrOscTopic, this.onButtons);
}