public static void CallBack(ROSBridgeMsg msg)
{
Debug.Log("callback");
Vector3 tablePos = GameObject.FindWithTag("Table").transform.position;
ObstacleMsg pose = (ObstacleMsg)msg;
if (!WorldProperties.obstacleids.Contains(pose.id) && pose.id != 0)
{
WorldProperties.obstacleids.Add(pose.id);
GameObject world = GameObject.FindWithTag("World");
GameObject torus = (GameObject)WorldProperties.worldObject.GetComponent <WorldProperties>().torus;
GameObject newTorus = Object.Instantiate(torus);
//newTorus.name = pose.id + "";
newTorus.transform.parent = world.transform;
newTorus.transform.localPosition = new Vector3(-pose._x, pose._z + tablePos.z + 0.148f, -pose._y);
newTorus.transform.localScale = new Vector3(pose.scale_x, pose.scale_x, pose.scale_x) * 5;
WorldProperties.obstacles.Add(newTorus);
/*
* var radius = newTorus.GetComponent<MeshFilter>().mesh.bounds.extents.x;
* Vector3 start = new Vector3(newTorus.transform.localPosition.x, newTorus.transform.localPosition.y - radius, newTorus.transform.localPosition.z);
* Vector3 end = new Vector3(newTorus.transform.localPosition.x, tablePos.z, newTorus.transform.localPosition.z);
* Vector3 offset = start - end;
* var scale = new Vector3(1, offset.magnitude / 2, 1);
* var position = start + (offset / 2);
*
* GameObject pole = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
* pole.transform.localPosition = position;
* pole.transform.up = offset;
* pole.transform.localScale = scale;*/
//Debug.Log("making torus id: " + newTorus.name);
}
}
public static void CallBack(ROSBridgeMsg msg)
{
Debug.Log("callback");
Vector3 tablePos = GameObject.FindWithTag("Table").transform.position;
ObstacleMsg pose = (ObstacleMsg)msg;
Debug.Log("obstacle callback");
if (!ids.Contains(pose.id) && pose.id != 0)
{
ids.Add(pose.id);
GameObject world = GameObject.FindWithTag("World");
GameObject torus = (GameObject)world.GetComponent <WorldScript>().torus;
GameObject newTorus = Object.Instantiate(torus);
//newTorus.name = pose.id + "";
newTorus.transform.parent = world.transform;
newTorus.transform.localPosition = new Vector3(-pose._x, pose._z + tablePos.z + 0.148f, -pose._y);
newTorus.transform.localScale = new Vector3(pose.scale_x, pose.scale_x, pose.scale_x) * 5;
WorldScript.obstacles.Add(newTorus);
}
}
