public static GameObject MakeNewLinkGo(RouteMan rman, LcLink link, float linkRadius, string cname)
{
var go = new GameObject();
var linkgo = go.AddComponent <LinkGo>();
linkgo.rman = rman;
linkgo.link = link;
linkgo.name = link.name;
linkgo.linkName = link.name;
linkgo.nodeName1 = link.node1.name;
linkgo.nodeName2 = link.node2.name;
go.name = link.name; // + "-go";
var p1 = link.node1.pt;
var p2 = link.node2.pt;
var midpt = (p1 + p2) / 2;
go.transform.localPosition = midpt;
var pcyl = GraphUtil.CreatePipe(link.name, p1, p2, linkRadius, cname);
if (rman != null && rman.garnish != RouterGarnishE.none)
{
var text = link.name;
var anglat = GraphUtil.GetAngLatDegrees(p1, p2);
GraphUtil.addFloatingTextStatic(go, midpt, text + " ang:" + anglat, cname, anglat + 90);
}
pcyl.transform.parent = go.transform;
return(go);
}
public static GameObject MakeNewNodeGo(RouteMan rman, LcNode node, float nodesize, string cname)
{
var go = new GameObject();
var nodego = go.AddComponent <NodeGo>();
nodego.rman = rman;
nodego.node = node;
nodego.name = node.name;
nodego.nodeName = node.name;
nodego.nodePt = node.pt;
nodego.nodeTransform = node.transform;
nodego.nodeTransformSetCount = node.transformSetCount;
nodego.lastmsg = "";
if (node.transform != null)
{
nodego.nodePtWc = node.transform.TransformPoint(node.pt);
}
go.name = node.name;
go.transform.localPosition = node.pt;
var sph = GraphUtil.CreateMarkerSphere(node.name + "-sph", node.pt, nodesize, cname);
node.go = sph;
if (rman != null && rman.garnish != RouterGarnishE.none)
{
var text = node.name + "\n" + node.pt;
GraphUtil.addFloatingTextStatic(go, node.pt, text, cname, 90);
}
sph.transform.parent = go.transform;
node.transform = sph.transform;
node.transformSetCount += 1;
return(go);
}
// Use this for initialization
void Start()
{
// Create ground
//ground = GameObject.CreatePrimitive(PrimitiveType.Plane);
//ground.name = "Ground-Plane";
//ground.Transforms.localScale = new Vector3(50, 50, 25);
//ground.GetComponent<Renderer>().material.SetColor("_Color", Color.cyan);
// Create routeman
//rmango = new GameObject("RouteMan");
//rman = rmango.AddComponent<RouteMan>();
//rman.rmango = rmango;
gt = GetComponent <GUIText>();
// Find routeman
rman = FindObjectsOfType <RouteMan>()[0];
RouteMan.Log("Assigned rman");
rman.unitySim = true;
rman.logfilenameroot = "c:\\transfer\\" + rman.logfilenameroot;
var fsh = FindObjectsOfType <FollowShere>()[0];
fsh.setRouteMan(rman);
// Move light back a bit
var dlight = GameObject.Find("Directional Light");
dlight.transform.localPosition = new Vector3(-1, 0, -1);
}
public bool CalculateOptimalTransformation()
{
var opo = new oapOptimizer(optTypeSelectorE.rotYtransXYZ);
opo.verbosity = oapOptimizer.verbosityE.info;
opo.addOapList(emlist);
opo.init();
opo.optimize();
rotvek_deg = opo.rotvek * 180 / Mathf.PI;
trnvek_met = opo.trnvek;
var plausible = true;
if (Mathf.Abs(rotvek_deg.y) > 10)
{
plausible = false;
}
if (Vector3.Magnitude(trnvek_met) > 1.0)
{
plausible = false;
}
RouteMan.Log("Opo status:" + opo.status + " bstval:" + opo.bstval + " bstidx:" + opo.bstiter + " Plausible:" + plausible);
RouteMan.Log("Optimized rotvek:" + rotvek_deg.ToString("f3"));
RouteMan.Log("Optimized trnvek:" + trnvek_met.ToString("f3"));
Debug.Log("Opo status:" + opo.status + " bstval:" + opo.bstval + " bstidx:" + opo.bstiter + " Plausible:" + plausible);
Debug.Log("Optimized rotvek:" + rotvek_deg.ToString("f3"));
Debug.Log("Optimized trnvek:" + trnvek_met.ToString("f3"));
return(plausible);
}
public void RefreshRouteManGos()
{
// Cleanse the transform :)
saveHighobs();
rgo.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
rgo.transform.localScale = Vector3.one;
// This is Unity wierdness - it should work doing things before
// rgo.transform.localScale = new Vector3(rgoScale, rgoScale, rgoScale);
// rgo.transform.Rotate(0, rgoRotate, 0);
// rgo.transform.Translate(rgoTranslate);
linkcloudctrl.RefreshGos();
pathctrl.RefreshGos();
birdctrl.RefreshGos();
errmarkctrl.RefreshGos();
floorplanctrl.RefreshGos();
// We have to do it afterwards - that is the trick :)
rgo.transform.localScale = new Vector3(rgoScale, rgoScale, rgoScale);
rgo.transform.Rotate(0, rgoRotate, 0);
rgo.transform.Translate(rgoTranslate);
rgoTransformSetCount += 1;
RouteMan.Log("Refresh rgo - Scale:" + rgoScale + " Rotate:" + rgoRotate + " Translate:" + rgoTranslate);
keycount = keyman.totalKeywordCount();
//restoreHighobs();
}
public void initKeywordsWithRooms()
{
keywords2 = new Dictionary <string, System.Action>();
var keylist = rman.linkcloudctrl.GetKeywordKeys();
int nadded = 0;
foreach (var key in keylist)
{
var val = rman.linkcloudctrl.GetKeywordValue(key);
keywords2.Add(key, () => { rman.NodeAction(val); });
nadded += 1;
RouteMan.Log("Adding key:" + key + " Val:" + val);
}
if (kR2 != null)
{
kR2.Stop();
kR2.Dispose();
kR2 = null;
}
if (keywords2.Count > 0)
{
kR2 = new KeywordRecognizer(keywords2.Keys.ToArray());
kR2.OnPhraseRecognized += kROnPhraseRecognized2;
kR2.Start();
}
RouteMan.Log("keywords rooms num keys:" + keywords2.Count);
}
// Use this for initialization
void initKeywords()
{
keywords1 = new Dictionary <string, System.Action>();
addStandardKeywords(keywords1);
kR1 = new KeywordRecognizer(keywords1.Keys.ToArray());
kR1.OnPhraseRecognized += kROnPhraseRecognized;
kR1.Start();
RouteMan.Log("keywords1 started num keys:" + keywords1.Count);
}
public void writeLogToFile()
{
var fname = this.logfilenameroot;
fname += System.DateTime.Now.ToString("yyyyMMddTHHmmss") + ".log";
GraphUtil.writeLinkedListToFile(loglist, fname);
RouteMan.Log("Wrote " + loglist.Count + " lines to file " + fname);
Debug.Log("Wrote " + loglist.Count + " lines to file " + fname);
}
public void DecInc()
{
scaleIncFak = scaleIncFak / 1.1f;
rotationIncDeg = rotationIncDeg / 2f;
tranlsationIncMeter = tranlsationIncMeter / 2f;
keywordLoadInc /= 2;
RouteMan.Log("ScaInfFak " + scaleIncFak + " rotIncDeg:" + rotationIncDeg +
"transIncM " + tranlsationIncMeter + " keyInc:" + keywordLoadInc);
}
public void SetErrorCorrect(bool onoff)
{
autoerrorcorrect = onoff;
RouteMan.Log("autoerrorcorrect now:" + autoerrorcorrect);
if (autoerrorcorrect && errmarkctrl.markingState != ErrorMarkerCtrl.markingStateE.marking)
{
errmarkctrl.startMarking();
}
}
public void RealizeFloorPlanStatus()
{
if (floorplanctrl.visible)
{
var lcld = linkcloudctrl.getLinkCloud();
floorplanctrl.setGraphtex(lcld.floorMan);
}
RouteMan.Log("Show floor plan:" + floorplanctrl.visible);
}
public void CorrectPositionAndAngle()
{
var pdist = CorrectAngle();
var pp = pathctrl.path.MovePositionAlongPath(pdist);
// var ppwc = pathctrl.pathgo.transform.TransformPoint(pp.pt); // why do we have to do this? Should be wc already?
var ptwc = rgo.transform.TransformPoint(pp.pt);
RouteMan.Log("Both pdist:" + pdist + " pp.pt:" + pp.pt + " ptwc:" + ptwc);
CorrectPosition(ptwc);
}
public void StartBird()
{
BirdVel = initBirdVel;
if (BirdVel == 0)
{
BirdVel = 1; // this should not happen
}
sbsRunning();
RouteMan.Log("StartBird called");
}
public void CreateLinkCloud()
{
pathctrl.path = null;
//DeleteLinkCloud();
RefreshRouteManGos();
RouteMan.Log("Calling astar");
Astar();
// SetEndNode(pathctrl.endnodename);
keyman.initKeywordsWithRooms();
}
public void DisableSpatialMapping()
{
if (smm != null)
{
smm.SetSpatialMapping(false);
}
else
{
RouteMan.Log("smm is null");
}
}
public void setRouteMan(RouteMan rman)
{
// this is attached as a component, thus we cannot set it in a contructor
this.rman = rman;
var gt = new graphtex();
var sca = new Vector3(7, 1, 9.76f);
var rot = new Vector3(0, -90, 0);
var trn = new Vector3(38.55f, 0, -27.79f);
gt.SetMaterialPlane("RedwestBfloor3", 676, 938, sca, rot, trn);
this.gt = gt;
}
public void writeLogToAzureBlob()
{
#if NETFX_CORE
var fname = "hlbirdlog";
#else
var fname = "unbirdlog";
#endif
GraphUtil.writeLinkedListToAzureBlob(loglist, fname);
RouteMan.Log("Wrote " + loglist.Count + " lines to blob " + fname);
Debug.Log("Wrote " + loglist.Count + " lines to blob " + fname);
}
public void ChangeSpatialExtent(float val)
{
var smgo = GetSpatialMapper();
var smr = smgo.GetComponent <SpatialMappingRenderer>();
var hbe = smr.halfBoxExtents;
var newhbe = hbe + new Vector3(val, val, val);
smr.halfBoxExtents = newhbe;
RouteMan.Log("Spatial Mapping halfBoxExtents set to :" + newhbe);
Debug.Log("Spatial Mapping halfBoxExtents set to :" + newhbe);
}
public void ChangeSpatialDetail(int val)
{
var smgo = GetSpatialMapper();
var smr = smgo.GetComponent <UnityEngine.VR.WSA.SpatialMappingRenderer>();
var lod = smr.lodType;
var newlod = NextLodVal(lod, val);
smr.lodType = newlod;
RouteMan.Log("Spatial Mapping Lod Changed old:" + lod + " new:" + newlod);
Debug.Log("Spatial Mapping Lod Changed old:" + lod + " new:" + newlod);
}
public void CorrectPosition()
{
var maincam = Camera.main; // only works with one camera
var campt = maincam.transform.position;
//campt.y = 0;
var pathcampt = pathctrl.FindClosestPointOnPath(campt);
//pathcampt.y = 0;
//var ppwc = pathctrl.pathgo.transform.TransformPoint(pathcampt);
var ppwc = pathcampt;
RouteMan.Log("CP pathcampt:" + pathcampt + " ppwc:" + ppwc);
CorrectPosition(ppwc);
}
void kROnPhraseRecognized2(PhraseRecognizedEventArgs args)
{
System.Action kwAction;
if (keywords2.TryGetValue(args.text, out kwAction))
{
RouteMan.Log("You just said " + args.text);
kwhistory.AddLast(args.text);
kwAction.Invoke();
}
else
{
RouteMan.Log("Could not find " + args.text);
}
}
public void TranslateEverything(Vector3 tinc)
{
if (movecamera)
{
Camera.main.transform.position += tinc;
RouteMan.Log("TranslateEverything tinc:" + tinc + " Moved Camera");
}
else
{
rgoTranslate = rgoTranslate + tinc;
RouteMan.Log("TranslateEverything tinc:" + tinc + " rgoTranslate:" + rgoTranslate);
RefreshRouteManGos();
}
}
// Update is called once per frame
void Update()
{
foreach (char c in Input.inputString)
{
RouteMan.Log("hit " + c);
switch (c)
{
case 's': {
SplitlSelLink();
break;
}
}
}
}
public void SetSpatialMapping(bool onoff)
{
var smgo = GetSpatialMapper();
if (smgo == null)
{
return;
}
var smm = smgo.GetComponent <HoloToolkit.Unity.SpatialMapping.SpatialMappingManager>();
RouteMan.Log("Found Spatial Mapping Component");
Debug.Log("Found Spatial Mapping Component");
smm.DrawVisualMeshes = onoff;
RouteMan.Log("Spatial Mapping " + onoff);
Debug.Log("Spatial Mapping " + onoff);
}
private void CorrectPosition(Vector3 ptwc)
{
var maincam = Camera.main; // only works with one camera
var campt = maincam.transform.position;
//campt.y = 0;
var diff = ptwc - campt;
diff.y += home_height;
var adiff = adjustDiff(diff);
//var adiff = diff;
RouteMan.Log("Campt:" + campt + " ptwc:" + ptwc + " hh:" + home_height + " diff:" + diff + " adiff:" + adiff);
rgoTranslate = rgoTranslate - adiff;
//StopBird();
RefreshRouteManGos();
}
GameObject GetSpatialMapper()
{
if (smgo != null)
{
return(smgo);
}
smgo = GameObject.Find("SpatialMapping");
if (smgo == null)
{
RouteMan.Log("Could not find SpatialMapper GameObject");
return(null);
}
RouteMan.Log("Found SpatialMapper GameObject");
Debug.Log("Found SpatialMapper GameObject");
return(smgo);
}
public void CorrectAngleOnVectors(Vector3 vk1, Vector3 vk2, bool refresh = true)
{
vk1 = Vector3.Normalize(vk1);
vk2 = Vector3.Normalize(vk2);
var ang1 = 180 * Mathf.Atan2(vk1.z, vk1.x) / Mathf.PI;
var ang2 = 180 * Mathf.Atan2(vk2.z, vk2.x) / Mathf.PI;
RouteMan.Log("vk2:" + vk2 + " ang2:" + ang2 + " vk1:" + vk1 + " ang1:" + ang1);
var dang = ang2 - ang1;
rgoRotate = rgoRotate - dang;
if (refresh)
{
//StopBird();
RefreshRouteManGos();
}
}
public void ChangeName()
{
var lcld = node.lc;
var stat = lcld.ChangeNodeName(node.name, nodeName);
lastmsg = stat.fullstatus();
if (stat.ok)
{
RouteMan.Log(lastmsg);
rman.RequestRefresh(nodeName);
}
else
{
RouteMan.Log(lastmsg);
nodeName = node.name; // change the go name back to avoid confusion
}
}
public void OrientToEndNode(string newenodename)
{
RouteMan.Log("OrientToEndNode:" + newenodename);
home_rgoRotate = rgoRotate;
home_rgoScale = rgoScale;
home_rgoTranslate = rgoTranslate;
home_height = Camera.main.transform.position.y;
var lpt = linkcloudctrl.GetNode(newenodename);
if (lpt.wegtos.Count == 0)
{
return;
}
var wa = lpt.wegtos.First(); // get the first one, it should suffice
var lnk = wa.link;
//var p1wc = lnk.lp1.transform.TransformPoint(lnk.lp1.pt);
//var p2wc = lnk.lp2.transform.TransformPoint(lnk.lp2.pt);
//var p1wc = lnk.lp1.ptwc;
//var p2wc = lnk.lp2.ptwc;
//var lnkdir = p2wc - p1wc;
var wfr = wa.frNode.pt;
var wto = wa.toNode.pt;
var wfrwc = rgo.transform.TransformPoint(wfr);
var wtowc = rgo.transform.TransformPoint(wto);
var lnkdir = wfr - wto;
lnkdir = rgo.transform.TransformVector(lnkdir);
RouteMan.Log("CorrectAngle");
RouteMan.Log("lpt.name:" + lpt.name + " wfr:" + wfr + " wto:" + wto);
RouteMan.Log(" wc:" + lpt.name + " wfrwc:" + wfrwc + " wtowc:" + wtowc);
var camfor = Camera.main.transform.forward;
CorrectAngleOnVectors(lnkdir, camfor);
// Position
lpt = linkcloudctrl.GetNode(newenodename);
wa = lpt.wegtos.First();
var wto1 = wa.toNode.pt;
var wto1wc = rgo.transform.TransformPoint(wto1);
CorrectPosition(wto1wc);
RouteMan.Log("CorrectPosition");
RouteMan.Log("Node:" + lpt.name + " wto1:" + wto1 + " wto1wc:" + wto1wc);
}
public void GenAstarPath()
{
if (startnodename == "")
{
LcNode snode = null;
var prefstart = rman.linkcloudctrl.GetKeywordValue("DefStartNode");
snode = rman.linkcloudctrl.GetNodeOrNull(prefstart);
if (snode == null)
{
snode = rman.linkcloudctrl.GetNode(0);
}
if (snode == null)
{
RouteMan.Log("Could not find start node in GenAstarPath");
return;
}
startnodename = snode.name;
}
if (endnodename == "")
{
LcNode enode = null;
var prefstart = rman.linkcloudctrl.GetKeywordValue("DefEndNode");
enode = rman.linkcloudctrl.GetNodeOrNull(prefstart);
if (enode == null)
{
enode = rman.linkcloudctrl.GetNode(-1); // lastpoint
}
if (enode == null)
{
RouteMan.Log("Could not find end node in GenAstarPath");
return;
}
endnodename = enode.name;
}
path = rman.linkcloudctrl.GenAstar(startnodename, endnodename);
if (path == null)
{
RouteMan.Log("A * path was not found");
}
else
{
RouteMan.Log("A * path length:" + _path.waypts.Count + " len:" + _path.pathLength);
}
}
