// Update is called once per frame
void Update()
{
//dependant on the message defintion:
msg = new CombinedInfo(lin, ang, rota);
rosObj.GetComponent <ROSInitializer>().ros.Publish(
CombinedInfo_pub.GetMessageTopic(), msg
);
}
//檢查亭的交界情況
List <CombinedInfo> CheckConnectedInfo(List <BuildingObj> BuildingsList)
{
List <CombinedInfo> combinedInfos = new List <CombinedInfo>();
for (int i = 0; i < BuildingsList.Count; i++)
{
CombinedInfo combinedInfo = new CombinedInfo();
combinedInfos.Add(combinedInfo);
}
for (int i = 0; i < BuildingsList.Count; i++)
{
Dictionary <int, List <int> > info = new Dictionary <int, List <int> >();
BuildingObj LTing = BuildingsList[i];
for (int j = BuildingsList.Count - 1; j >= 0; j--)
{
if (i == j)
{
continue;
}
BuildingObj RTing = BuildingsList[j];
if (isNeedCombine(LTing, RTing))
{
//Debug.Log(i + "&" + j + " Nedd to be combined");
//檐柱
List <Vector3> LEaveColPosList = LTing.bodyController.GetColumnStructBottomPosList(LTing.bodyController.eaveCornerColumnList);
List <Vector3> REaveColPosList = RTing.bodyController.GetColumnStructBottomPosList(RTing.bodyController.eaveCornerColumnList);
//中心點位置
Vector3 LTingCenter = LTing.platformCenter;
Vector3 RTingCenter = RTing.platformCenter;
//交平面
Plane midPlan = new Plane((LTingCenter - RTingCenter).normalized, (LTingCenter + RTingCenter) / 2);
//i亭交j亭的交界點
List <int> LIntersectionIndexList = new List <int>(FindOtherSideIndex(LEaveColPosList, RTingCenter, midPlan));
//與j亭交LIntersectionIndexList
info.Add(j, LIntersectionIndexList);
}
}
combinedInfos[i].Info = info;
}
/**
* 紀錄所有柱子個別交了多少亭
*/
for (int i = 0; i < BuildingsList.Count; i++)
{
List <int> colStates = new List <int>();
for (int j = 0; j < BuildingsList[i].bodyController.eaveCornerColumnList.Count; j++)
{
colStates.Add(0);
}
foreach (KeyValuePair <int, List <int> > kvp in combinedInfos[i].Info)
{
List <int> value = kvp.Value;
for (int j = 0; j < value.Count; j++)
{
colStates[value[j]]++;
}
}
combinedInfos[i].colStates = colStates;
//檢查是否有cycle
for (int j = 0; j < combinedInfos[i].colStates.Count; j++)
{
if (combinedInfos[i].colStates[j] == 3) //為內部點
{
combinedInfos[i].count++;
combinedInfos[i].startCount++;
}
}
}
for (int i = 0; i < combinedInfos.Count; i++)
{
combinedInfos[i].init_Count = combinedInfos[i].count;
}
return(combinedInfos);
}
public static string ToYAMLString(CombinedInfo msg)
{
return(msg.ToYAMLString());
}
public new static void CallBack(CombinedInfo msg)
{
int [] temp;
temp = msg.GetData_linear_acceleration();
Debug.Log("Hello Hello !" + temp);
}
