public void SetFollowMode()
{
if (!followee)
{
Debug.LogError("ERROR: Followee needs to be set in the inspector.");
SetMaintainMode();
}
else if (curFollowMode == DroneFollowMode.Constrained && !nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
}
else
{
curMode = userMode = DroneMode.Follow;
if (userFollowMode == DroneFollowMode.Constrained)
{
targetBehavior = targetConstrainedBehavior;
}
else // (userFollowMode == DroneFollowMode.Direct)
{
targetBehavior = targetDirectBehavior;
}
targetBehavior.DroneTargetInit(thisScript);
// Set the target to be the followee (XZ), but at the same height as the drone (Y).
target = GeometryClass.TargetSameHeight(transform.position, followee.transform.position);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustLateralState();
}
}
public void SetLandMode()
{
curMode = userMode = DroneMode.Land;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = droneScr.HeightOfGround();
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterLandingState();
}
public void SetHoverMode()
{
curMode = userMode = DroneMode.Hover;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = hoverHeight;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
// This is called by FixedUpdate(), but with a quick exit if there is no change.
private void SetUserMode(bool force = false)
{
if (force || (userMode != curMode))
{
switch (userMode)
{
case DroneMode.Follow:
SetFollowMode();
break;
case DroneMode.Hover:
SetHoverMode();
break;
case DroneMode.Land:
SetLandMode();
break;
case DroneMode.Maintain:
SetMaintainMode();
break;
case DroneMode.Manual:
SetManualMode();
break;
case DroneMode.Patrol:
SetPatrolMode();
break;
default:
SetMaintainMode();
break;
}
}
// Adjust the targetBehavior if necessary.
if (userMode == DroneMode.Follow && (force || userFollowMode != curFollowMode))
{
switch (userFollowMode)
{
case DroneFollowMode.Constrained:
targetBehavior = targetConstrainedBehavior;
curFollowMode = DroneFollowMode.Constrained;
break;
default:
targetBehavior = targetDirectBehavior;
curFollowMode = DroneFollowMode.Direct;
break;
}
}
}
private void InitializeModes()
{
// Get all travel scripts.
travelBehaviorDirect = ScriptableObject.CreateInstance <DroneTravelDirect>();
travelBehaviorTurnThenMove = ScriptableObject.CreateInstance <DroneTravelTurnThenMove>();
travelBehaviorIncremental = ScriptableObject.CreateInstance <DroneTravelIncremental>();
// Get all motion scripts.
motionBehaviorSine = ScriptableObject.CreateInstance <DroneMotionSinusoidal>();
motionBehaviorSimple = ScriptableObject.CreateInstance <DroneMotionSimple>();
motionBehaviorNone = ScriptableObject.CreateInstance <DroneMotionNone>();
// Get all targeting scripts.
targetDirectBehavior = ScriptableObject.CreateInstance <DroneTargetDirect>();
targetWaypointBehavior = ScriptableObject.CreateInstance <DroneTargetWaypoint>();
targetConstrainedBehavior = ScriptableObject.CreateInstance <DroneTargetConstrained>();
targetBehavior = targetDirectBehavior; // Set initial targeting to direct.
}
public void SetPatrolMode()
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
}
else
{
curMode = userMode = DroneMode.Patrol;
targetBehavior = targetWaypointBehavior;
targetBehavior.DroneTargetInit(thisScript);
// Find the closest waypoint. This may be any of the waypoints if the drone has been controlled manually.
DroneWaypointScript wpScript = nextWaypoint.GetComponent <DroneWaypointScript>();
nextWaypoint = wpScript.NearestWaypoint(transform.position);
//prevWaypoint = null;
target = nextWaypoint.transform.position;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
}
// This is called by FixedUpdate(), but with a quick exit if there is no change.
private void SetUserMode(bool force = false)
{
if (force || (userMode != curMode))
{
switch (userMode)
{
case DroneMode.Follow:
SetFollowMode();
break;
case DroneMode.Hover:
SetHoverMode();
break;
case DroneMode.Land:
SetLandMode();
break;
case DroneMode.Maintain:
SetMaintainMode();
break;
case DroneMode.Manual:
SetManualMode();
break;
case DroneMode.Patrol:
SetPatrolMode();
break;
default:
SetMaintainMode();
break;
}
}
// Adjust the targetBehavior if necessary.
if (userMode == DroneMode.Follow && (force || userFollowMode != curFollowMode))
{
switch (userFollowMode)
{
case DroneFollowMode.Constrained:
targetBehavior = targetConstrainedBehavior;
curFollowMode = DroneFollowMode.Constrained;
break;
default:
targetBehavior = targetDirectBehavior;
curFollowMode = DroneFollowMode.Direct;
break;
}
}
}
private void InitializeModes()
{
// Get all travel scripts.
travelBehaviorDirect = ScriptableObject.CreateInstance<DroneTravelDirect>();
travelBehaviorTurnThenMove = ScriptableObject.CreateInstance<DroneTravelTurnThenMove>();
travelBehaviorIncremental = ScriptableObject.CreateInstance<DroneTravelIncremental>();
// Get all motion scripts.
motionBehaviorSine = ScriptableObject.CreateInstance<DroneMotionSinusoidal>();
motionBehaviorSimple = ScriptableObject.CreateInstance<DroneMotionSimple>();
motionBehaviorNone = ScriptableObject.CreateInstance<DroneMotionNone>();
// Get all targeting scripts.
targetDirectBehavior = ScriptableObject.CreateInstance<DroneTargetDirect>();
targetWaypointBehavior = ScriptableObject.CreateInstance<DroneTargetWaypoint>();
targetConstrainedBehavior = ScriptableObject.CreateInstance<DroneTargetConstrained>();
targetBehavior = targetDirectBehavior; // Set initial targeting to direct.
}
public void SetFollowMode()
{
if (!followee)
{
Debug.LogError("ERROR: Followee needs to be set in the inspector.");
SetMaintainMode();
}
else if (curFollowMode == DroneFollowMode.Constrained && !nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
}
else
{
curMode = userMode = DroneMode.Follow;
if (userFollowMode == DroneFollowMode.Constrained)
targetBehavior = targetConstrainedBehavior;
else // (userFollowMode == DroneFollowMode.Direct)
targetBehavior = targetDirectBehavior;
targetBehavior.DroneTargetInit(thisScript);
// Set the target to be the followee (XZ), but at the same height as the drone (Y).
target = GeometryClass.TargetSameHeight(transform.position, followee.transform.position);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustLateralState();
}
}
public void SetPatrolMode()
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
}
else
{
curMode = userMode = DroneMode.Patrol;
targetBehavior = targetWaypointBehavior;
targetBehavior.DroneTargetInit(thisScript);
// Find the closest waypoint. This may be any of the waypoints if the drone has been controlled manually.
DroneWaypointScript wpScript = nextWaypoint.GetComponent<DroneWaypointScript>();
nextWaypoint = wpScript.NearestWaypoint(transform.position);
//prevWaypoint = null;
target = nextWaypoint.transform.position;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
}
public void SetManualMode()
{
// REALSENSE
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm == null)
Debug.LogError("SenseManager Initialization Failed");
/* Enable hand tracking and retrieve an hand module instance to configure */
sts = sm.EnableHand();
handAnalyzer = sm.QueryHand();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
Debug.LogError("PXCSenseManager.EnableHand: " + sts);
/* Initialize the execution pipeline */
sts = sm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
Debug.LogError("PXCSenseManager.Init: " + sts);
/* Retrieve the the DataSmoothing instance */
sm.QuerySession().CreateImpl<PXCMSmoother>(out smoother);
/* Create a 3D Weighted algorithm */
smoother3D = new PXCMSmoother.Smoother3D[MaxHands][];
/* Configure a hand - Enable Gestures and Alerts */
PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration();
if (hcfg != null)
{
hcfg.EnableAllGestures();
hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
hcfg.SubscribeGesture(OnFiredGesture);
hcfg.ApplyChanges();
hcfg.Dispose();
}
// handAnalyzer = sm.QueryHand();
//////
curMode = userMode = DroneMode.Manual;
targetBehavior = targetDirectBehavior;
EnterFreeMovementState();
}
public void SetLandMode()
{
curMode = userMode = DroneMode.Land;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = droneScr.HeightOfGround();
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterLandingState();
}
public void SetHoverMode()
{
curMode = userMode = DroneMode.Hover;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = hoverHeight;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
public void SetMaintainMode()
{
curMode = userMode = DroneMode.Maintain;
targetBehavior = targetDirectBehavior;
EnterAtDestinationState();
}
public void SetManualMode()
{
curMode = userMode = DroneMode.Manual;
targetBehavior = targetDirectBehavior;
EnterFreeMovementState();
}
public void SetMaintainMode()
{
curMode = userMode = DroneMode.Maintain;
targetBehavior = targetDirectBehavior;
EnterAtDestinationState();
}
