public override void Hover_Start(DHUI_HoverEventArgs _hoverEvent)
{
base.Hover_Start(_hoverEvent);
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_center.position, m_center.rotation, _droneSpeed);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
}
private void NextTarget()
{
if (!back)
{
WriteFile("Test5_Target" + target + "_To.txt");
back = true;
_target = _baseTransform;
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(_baseTransform.position, _baseTransform.rotation, 0.2f);
_flightControl.AddToFrontOfQueue(cmd, true, true);
}
else
{
WriteFile("Test5_Target" + target + "_Back.txt");
back = false;
target++;
if (target >= _transforms.Count)
{
Debug.Log("Done Recording");
record = false;
return;
}
_target = _transforms[target];
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(_transforms[target].position, _transforms[target].rotation, 0.2f);
_flightControl.AddToFrontOfQueue(cmd, true, true);
}
errors = new List <float>();
errorsRetargeted = new List <float>();
errorsRot = new List <float>();
counter = 0;
}
public override void Hover_Start(DHUI_HoverEventArgs _hand)
{
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_centerPoint.position, m_centerPoint.rotation);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
SetDebugText(0, buttonMode);
SetDebugText(5, _activationDistance.ToString());
}
protected void UpdateDronePosition(float _speed = 0.5f)
{
if (m_droneTargetPoint == null)
{
return;
}
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_droneTargetPoint.position, m_droneTargetPoint.rotation, _speed);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
}
protected void SentDroneToInitialPosition()
{
if (m_droneTargetPoint == null)
{
m_droneTargetPoint = new GameObject("DroneTargetPoint").transform;
m_droneTargetPoint.transform.parent = transform;
m_droneTargetPoint.transform.position = m_centerPoint.position;
m_droneTargetPoint.transform.rotation = m_centerPoint.rotation;
}
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_droneTargetPoint.position, m_droneTargetPoint.rotation, _initialPositioningDroneSpeed);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
}
public override void Hover_Stay(DHUI_HoverEventArgs _hoverEvent)
{
base.Hover_Stay(_hoverEvent);
if (_invertActivation)
{
SwitchState = m_movingPart.transform.localRotation.y > _activationThreshold;
}
else
{
SwitchState = m_movingPart.transform.localRotation.y < _activationThreshold;
}
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_center.position, m_center.rotation, _droneSpeed);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
if (SwitchState)
{
Activation_Stay();
}
}
protected void FixedUpdate()
{
if (record)
{
errors.Add(Vector3.Distance(_target.position, _drone.position));
errorsRetargeted.Add(GetHapticRetargetingDist());
errorsRot.Add(Quaternion.Angle(_target.rotation, _drone.rotation));
Debug.Log(Vector3.Distance(coll.ClosestPoint(_target.position), _target.position));
if (counter == maxCounter)
{
NextTarget();
return;
}
counter++;
}
if (Input.GetKeyDown(KeyCode.A))
{
if (record)
{
}
else
{
Debug.Log("Start");
errors = new List <float>();
errorsRetargeted = new List <float>();
errorsRot = new List <float>();
record = true;
counter = 0;
_target = _transforms[0];
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(_transforms[0].position, _transforms[0].rotation, 0.2f);
_flightControl.AddToFrontOfQueue(cmd, true, true);
}
}
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.UpArrow))
{
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(transform.position, transform.rotation, 0.2f);
controller.AddToFrontOfQueue(cmd, true, true);
}
if (Input.GetKeyDown(KeyCode.RightArrow))
{
DHUI_FlightCommand_WaitForDrone cmd = new DHUI_FlightCommand_WaitForDrone();
cmd.waitingTimeout = 20;
controller.AddToFrontOfQueue(cmd, true, true);
}
if (Input.GetKeyDown(KeyCode.LeftArrow))
{
DHUI_FlightCommand_LandAtStart cmd = new DHUI_FlightCommand_LandAtStart();
controller.AddToFrontOfQueue(cmd, true, true);
}
if (Input.GetKeyDown(KeyCode.DownArrow))
{
DHUI_FlightCommand_LandHere cmd = new DHUI_FlightCommand_LandHere();
controller.AddToFrontOfQueue(cmd, true, true);
}
}
protected virtual void UpdateFlightController()
{
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_droneTargetPoint.position, m_droneTargetPoint.rotation, _droneSpeed);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
}
public override void Hover_Stay(DHUI_HoverEventArgs _hand)
{
if (m_debugCanvas != null)
{
m_debugCanvas.SetActive(true);
}
float dist = Mathf.Abs(_hand.InteractorPosition.z - CenterPoint.z);
SetDebugText(2, dist.ToString());
if (mode == ModeTesting.Activated || mode == ModeTesting.Released)
{
SetMode(ModeTesting.Released);
}
else if (Vector3.Angle(_hand.InteractorPosition - CenterPoint, m_centerPoint.forward) > 90)
{
if (dist < 0.01f)
{
SetMode(ModeTesting.Touched);
}
else
{
SetMode(ModeTesting.Hovered);
}
m_hoverInformationObject.gameObject.SetActive(true);
}
else
{
SetMode(ModeTesting.Pressed);
m_hoverInformationObject.gameObject.SetActive(false);
}
float x = _hand.InteractorPosition.x;
float y = _hand.InteractorPosition.y;
float minX = CenterPoint.x - transform.localScale.x * 0.5f;
float maxX = CenterPoint.x + transform.localScale.x * 0.5f;
float minY = CenterPoint.y - transform.localScale.y * 0.5f;
float maxY = CenterPoint.y + transform.localScale.y * 0.5f;
if (x < minX)
{
x = minX;
}
if (x > maxX)
{
x = maxX;
}
if (y < minY)
{
y = minY;
}
if (y > maxY)
{
y = maxY;
}
float z = CenterPoint.z;
m_hoverInformationObject.position = new Vector3(x, y, z);
SetDebugText(3, "X: " + ((x - CenterPoint.x) / (transform.localScale.x / 2)).ToString("F2") + " Y: " + ((y - CenterPoint.y) / (transform.localScale.y / 2)).ToString("F2"));
DHUI_FlightCommand_MoveTo cmd = new DHUI_FlightCommand_MoveTo(m_hoverInformationObject.position, m_hoverInformationObject.rotation);
m_interactionManager.FlightController.AddToFrontOfQueue(cmd, true, true);
if (m_hoverDistanceInformationObject != null)
{
if (dist > 0.2f)
{
dist = 0.2f;
}
m_hoverDistanceInformationObject.localScale = new Vector3(dist * 15, dist * 15, 1);
}
if (m_movingPart != null && m_staticPart != null && _activationDistance > 0)
{
float pressDist = Vector3.Distance(m_pressedDistanceMovingObject.position, m_pressedDistanceStaticObject.position);
SetDebugText(4, pressDist.ToString("F2"));
if (pressDist > _activationDistance)
{
SetMode(ModeTesting.Activated);
OnActivated?.Invoke();
}
}
}
