private void HandleControlButtonUp(byte controlId, MLInputControllerButton button)
{
//wrong or no control?
if (Control == null || controlId != Control.Id)
{
return;
}
switch (button)
{
case MLInputControllerButton.Bumper:
StopCoroutine("BumperHold");
Bumper = false;
OnBumperUp?.Invoke();
break;
}
}
/// <summary>
/// Handles the event for button down and cycles the raycast mode.
/// </summary>
/// <param name="controllerId">The id of the controller.</param>
/// <param name="button">The button that is being pressed.</param>
private void OnButtonDown(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid(controllerId) && button == MLInputControllerButton.Bumper)
{
//maybe should clean up
MeshRenderer gameObjectRenderer = _raycastController.gameObject.GetComponent <MeshRenderer>();
Material newMaterial = new Material(Shader.Find("GreenCursor"));
newMaterial.color = Color.blue;
// gameObjectRenderer.material = newMaterial;
//Thread.Sleep(10000);ssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssxxxxxxxxxxxxxxxx
//_raycastMode = (RaycastMode)((int)(_raycastMode + 1) % _modeCount);
UpdateRaycastMode();
UpdateStatusText();
}
}
/// <summary>
/// Handles the event for button down. Changes render mode if bumper is pressed or
/// changes from bounded to boundless and viceversa if home button is pressed.
/// </summary>
/// <param name="controllerId">The id of the controller.</param>
/// <param name="button">The button that is being released.</param>
private void OnButtonDown(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid(controllerId))
{
if (button == MLInputControllerButton.Bumper)
{
_renderMode = (MeshingVisualizer.RenderMode)((int)(_renderMode + 1) % _renderModeCount);
_meshingVisualizer.SetRenderers(_renderMode);
}
else if (button == MLInputControllerButton.HomeTap)
{
_bounded = !_bounded;
_mlSpatialMapper.gameObject.transform.localScale = _bounded ? _boundedExtentsSize : _boundlessExtentsSize;
}
}
}
private void HandleOnButtonDown(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid(controllerId))
{
if (button == MLInputControllerButton.HomeTap)
{
for (int i = 0; i < _vignette.Count; i++)
{
_vignette[i].CycleVignetteState();
}
}
else if (button == MLInputControllerButton.HomeTap)
{
// _vignette.Reset();
}
}
}
/// <summary>
///
/// </summary>
/// <param name="controllerId"></param>
/// <param name="button"></param>
void HandleControllerButtonDown(byte controllerId, MLInputControllerButton button)
{
if (!_controller.IsControllerValid(controllerId))
{
return;
}
if (button == MLInputControllerButton.Bumper)
{
Vector3 position = _controller.transform.position + _controller.transform.forward * _distance;
CreateContent(position, _controller.transform.rotation);
}
else if (button == MLInputControllerButton.HomeTap)
{
_pcfVisualizer.ToggleDebug();
}
}
void OnButtonDown(byte controller_id, MLInputControllerButton button)
{
if ((button == MLInputControllerButton.Bumper))
{
_bumper = true;
_beginAnimation = true;
GameObject newObject = Instantiate(cloneObject);
// transform tutorial
// unity tutorial
newObject.transform.parent = GameObject.Find("GameObject1").transform;
}
}
void OnButtonUp(byte controller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.Bumper)
{
_bumperPressed = false;
}
else if (button == MLInputControllerButton.HomeTap)
{
_homePressed = false;
}
if (_curScreen == -1)
{
_Settings.SetActive(false);
_screens[_storedScreen].SetActive(true);
_curScreen = _storedScreen;
}
}
/// <summary>
/// Handles the event for button down. Changes render mode if bumper is pressed or
/// changes from bounded to boundless and viceversa if home button is pressed.
/// </summary>
/// <param name="controller_id">The id of the controller.</param>
/// <param name="button">The button that is being released.</param>
private void OnButtonDown(byte controller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.Bumper)
{
_renderMode = (MeshingVisualizer.RenderMode)((int)(_renderMode + 1) % _renderModeCount);
_meshingVisualizer.SetRenderers(_renderMode);
}
if (button == MLInputControllerButton.HomeTap)
{
_bounded = !_bounded;
_visualBounds.SetActive(_bounded);
_mlSpatialMapper.gameObject.transform.localScale = _bounded ? _boundedExtentsSize : _boundlessExtentsSize;
}
UpdateStatusText();
}
void OnButtonUp(byte controller_id, MLInputControllerButton button)
{
if ((button == MLInputControllerButton.HomeTap))
{
print("HomeTap");
if (menueIsActive)
{
menue.SetActive(false);
menueIsActive = false;
}
else
{
menue.SetActive(true);
menueIsActive = true;
}
}
}
/// <summary>
/// Handles the event for button down.
/// </summary>
/// <param name="controllerId">The id of the controller.</param>
/// <param name="button">The button that is being pressed.</param>
private void OnButtonDown(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid(controllerId) && MLInputControllerButton.Bumper == button)
{
if (_autoCapture)
{
_autoCapture = false;
if (!_isCapturing)
{
GenerateJsonReport();
}
}
else
{
_autoCapture = true;
TriggerAsyncCapture();
}
}
}
/// <summary>
/// Handles the event for button down. Changes render mode if bumper is pressed or
/// changes from bounded to boundless and viceversa if home button is pressed.
/// </summary>
/// <param name="controller_id">The id of the controller.</param>
/// <param name="button">The button that is being released.</param>
private void OnButtonDown(byte controller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.Bumper)
{
_renderMode = (MeshingVisualizer.RenderMode)((int)(_renderMode + 1) % _renderModeCount);
_meshingVisualizer.SetRenderers(_renderMode);
}
if (button == MLInputControllerButton.HomeTap)
{
_bounded = !_bounded;
// Disable the bounds visual.
_spatialMapper.ShowBounds(_bounded);
_spatialMapper.transform.localScale = _bounded ? _boundedExtentsSize : _boundlessExtentsSize;
_spatialMapper.ClearMesh();
}
UpdateStatusText();
}
void OnButtonDown(byte contorller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.Bumper)
{
RaycastHit hit;
if (Physics.Raycast(controller.Position, transform.forward, out hit))
{
GameObject test = hit.collider.gameObject;
test.transform.position = new Vector3(0, 0, 400);
}
}
if (button == MLInputControllerButton.HomeTap)
{
GameObject globe = GameObject.Find("Globe");
globe.transform.position = new Vector3(0, 0, 3);
GameObject barChart = GameObject.Find("Plane");
barChart.transform.position = new Vector3(-0.5f, 0, 1f);
}
}
private void HandleControllerButtonUp(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid(controllerId))
{
if (_lastButtonHit != null)
{
if (_lastButtonHit.OnControllerButtonUp != null)
{
_lastButtonHit.OnControllerButtonUp(button);
}
_pointerLight.color = _pointerLightColorHit;
_isGrabbing = false;
}
else
{
_pointerLight.color = _pointerLightColorNoHit;
}
}
}
void MLInput_OnButtonUp(byte controller_id, MLInputControllerButton button)
{
//Debug.Log("On button up: " + controller_id + " (mine is " + _controller.Id + ")");
if (controller_id != _controller.Id)
{
//Debug.Log("Not mine, return");
return;
}
int buttonId = -1;
switch (button)
{
case MLInputControllerButton.Bumper:
buttonId = (int)Control.Bumper;
break;
case MLInputControllerButton.HomeTap:
buttonId = (int)Control.Home;
break;
}
Debug.Log("Button id is " + buttonId);
if (buttonId != -1)
{
buttonFrameState[buttonId] = ButtonFrameState.ClickedUp;
buttonDownState[buttonId] = false;
#if DEBUG_ML_CONTROLLER
Debug.Log(Time.frameCount + ": Setting frame state - " + (Control)buttonId + " to up");
#endif
Debug.Log("Do the callback");
if (OnMagicLeapControllerButtonStateChange != null)
{
OnMagicLeapControllerButtonStateChange(this, (Control)buttonId, ButtonFrameState.ClickedUp);
}
}
else
{
Debug.LogError("Not catching a button: " + buttonId);
}
}
// Home button to spawn soldier
void OnButtonUp(byte controller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.HomeTap && canBuildSoldier > 0 && Island != GameObject.Find("GameObject1") &&
Island != GameObject.Find("GameObject4") && Island != GameObject.Find("GameObject5"))
{
GameObject newSoldier = Instantiate(soldierList[soldierCount % 3]) as GameObject;
soldierCount = soldierCount + 1;
canBuildSoldier = canBuildSoldier - 1;
// at some position of the island
newSoldier.transform.parent = Island.transform;
newSoldier.transform.localPosition = new Vector3(-((soldierCount / 5) % 3) - 1, 0, (soldierCount % 5) * (-1) + 2);
newSoldier.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f);
}
}
/// <summary>
/// Handles the event for trigger down.
/// </summary>
/// <param name="controllerId">The id of the controller.</param>
/// <param name="button">The button that was pressed.</param>
private void HandleOnButtonDown(byte controllerId, MLInputControllerButton button)
{
MLInputController controller = _controllerConnectionHandler.ConnectedController;
if (controller != null && controller.Id == controllerId)
{
if (button == MLInputControllerButton.HomeTap &&
GameStateManager.instance.currentGamePhase == GameStateManager.Phase.ONBOARDING_P1)
{
Bomb.transform.SetParent(transform);
var rb = Bomb.GetComponent <Rigidbody>();
rb.AddForce(Vector3.zero);
rb.useGravity = false;
rb.isKinematic = true;
rb.constraints = RigidbodyConstraints.None;
Bomb.transform.position = Bomb.transform.parent.position;
GameStateManager.instance.currentGamePhase = GameStateManager.Phase.PLACING_BOMB;
}
}
}
/// <summary>
/// Toggles the placement of the plant model.
/// </summary>
/// <param name="controllerId"></param>
/// <param name="button"></param>
private void HandleOnButtonDown(byte controllerId, MLInputControllerButton button)
{
if (button == MLInputControllerButton.Bumper)
{
if (_plantModel.transform.parent == null)
{
_raycastCursor.gameObject.SetActive(true);
_plantModel.transform.SetParent(_raycastCursor);
_plantModel.transform.localPosition = Vector3.zero;
_plantModel.transform.localRotation = Quaternion.Euler(90, 0, 0);
}
else if (_plantModel.transform.parent == _raycastCursor)
{
_raycastCursor.gameObject.SetActive(false);
_plantModel.transform.SetParent(null);
}
}
}
private void HandleOnButtonDown(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid(controllerId))
{
if (_canCapture && button == MLInputControllerButton.Bumper)
{
_captureMode = (_captureMode == CaptureMode.Delayed) ? CaptureMode.Inactive : _captureMode + 1;
// Stop & Start to clear the previous mode.
if (_isCapturing)
{
StopCapture();
}
if (_captureMode != CaptureMode.Inactive)
{
StartCapture();
}
}
}
}
///<summary>
/// Handles the event for button up.
///</summary>
/// <param name="controller_id">The id of the controller.</param>
/// <param name="button">The button that is being pressed.</param>
private void OnControllerButtonUp(byte controller_id, MLInputControllerButton button)
{
#if !UNITY_EDITOR // Removing calibration step from ML Remote Host builds.
// Reset to new calibration spot in front of view.
if (button == MLInputControllerButton.HomeTap)
{
if (!_isCalibrated)
{
// Calculate the calibration offsets.
_calibratedPosition = _calibratedPosition - _controller.Position;
_calibratedOrientation = _calibratedOrientation * Quaternion.Inverse(_controller.Orientation);
}
else
{
// If already calibrated then reset to static calibration in front of view.
ResetTransform();
}
_isCalibrated = !_isCalibrated;
}
#endif
}
/// <summary>
/// Handles the event for button up.
/// </summary>
/// <param name="controllerId">The id of the controller.</param>
/// <param name="button">The button that is being released.</param>
private void HandleOnButtonUp(byte controllerId, MLInputControllerButton button)
{
if (_controllerConnectionHandler.IsControllerValid() && _controllerConnectionHandler.ConnectedController.Id == controllerId)
{
if (button == MLInputControllerButton.Bumper)
{
// Sets the color of the Bumper to the default color.
_bumperButtonMaterial.color = _defaultColor;
}
else if (button == MLInputControllerButton.HomeTap)
{
// Note: HomeTap is NOT a button. It's a physical button on the controller.
// But in the application side, the tap registers as a ButtonUp event and there is NO
// ButtonDown equivalent. We cannot detect holding down the Home (button). The OS will
// handle it as either a return to the icon grid or turning off the controller.
_homeButtonMaterial.color = _activeColor;
StartCoroutine(RestoreHomeColor());
}
}
}
void OnButtonUp(byte controller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.HomeTap)
{
_enabled = !_enabled;
if (_enabled)
{
exitObj.SetActive(true);
}
else
{
exitObj.SetActive(false);
GameObject.FindGameObjectWithTag("ActivitySequenceManager").GetComponent <ActivitySequenceManager>().goToNextActivity();
}
}
if (button == MLInputControllerButton.Bumper)
{
_bumper = false;
}
}
private void HandleControlButtonDown(byte controlId, MLInputControllerButton button)
{
//wrong or no control?
if (Control == null || controlId != Control.Id)
{
return;
}
switch (button)
{
case MLInputControllerButton.Bumper:
StartCoroutine("BumperHold");
Bumper = true;
OnBumperDown?.Invoke();
//double?
if (Time.realtimeSinceStartup - _lastBumperTime < _bumperDoubleTapDuration)
{
OnDoubleBumper?.Invoke();
}
_lastBumperTime = Time.realtimeSinceStartup;
break;
case MLInputControllerButton.HomeTap:
OnHomeButtonTap?.Invoke();
//double?
if (Time.realtimeSinceStartup - _lastHomeTime < _homeDoubleDuration)
{
OnDoubleHome?.Invoke();
}
_lastHomeTime = Time.realtimeSinceStartup;
break;
}
}
void HandleOnButtonDown(byte controller_id, MLInputControllerButton button)
{
// Callback - Button Down
if (button == MLInputControllerButton.Bumper)
{
_bumperIndex++;
BtnState = ButtonStates.Pressed;
//Our code
if (_bumperIndex < 3)
{
_audioSource.Play();
_textController.NextItem();
}
if (_bumperIndex == 3)
{
_textController.gameObject.SetActive(false);
FruitTray.SetActive(true);
}
if (_bumperIndex == 4)
{
Hydroponics_1.SetActive(true);
FruitTray.SetActive(false);
}
if (_bumperIndex == 5)
{
Hydroponics_2.SetActive(true);
}
if (_bumperIndex == 6)
{
Hydroponics_3.SetActive(true);
}
}
}
/// <summary>
/// Handles the event for button down. Changes render mode if bumper is pressed or
/// changes from bounded to boundless and viceversa if home button is pressed.
/// </summary>
/// <param name="controller_id">The id of the controller.</param>
/// <param name="button">The button that is being released.</param>
private void OnButtonDown(byte controller_id, MLInputControllerButton button)
{
if (button == MLInputControllerButton.Bumper || button == MLInputControllerButton.Move)
{
_renderMode = (MeshingVisualizer.RenderMode)((int)(_renderMode + 1) % _renderModeCount);
_meshingVisualizer.SetRenderers(_renderMode);
}
// On MLMA, trigger is represented with the app button.
if (button == MLInputControllerButton.App)
{
OnTriggerDown(0, 1.0f);
}
if (button == MLInputControllerButton.HomeTap)
{
_bounded = !_bounded;
// Disable the bounds visual.
_spatialMapper.ShowBounds(_bounded);
_spatialMapper.transform.localScale = _bounded ? _boundedExtentsSize : _boundlessExtentsSize;
_spatialMapper.ClearFragments();
}
UpdateStatusText();
}
void OnButtonUp(byte controller_id, MLInputControllerButton button)
{
//Debug.Log("On button up!");
string curState = PickPlaceState.GetComponent <PickAndPlaceState>().GetState();
if (button == MLInputControllerButton.HomeTap) //Home Button tapped
{
if (curState == "CALIBRATE") //Robot calibration is on. We should switch to stable mode, and turn off the laser
{
LaserEnd.transform.parent.transform.parent.transform.parent.gameObject.SetActive(false);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("STABLE");
}
if (curState == "STABLE") //Robot is in stable mode. Should switchg to calibrate mode, and turn on laser
{
LaserEnd.transform.parent.transform.parent.transform.parent.gameObject.SetActive(true);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("CALIBRATE");
}
if (curState == "SELECT_ITEM_MESH") //in menu screen and home button, should global reset to stable.
{
menu.SetActive(false);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("STABLE");
}
if (curState == "SELECT_ITEM_POSE" || curState == "SELECT_GRASP_POSE" || curState == "SELECT_PICK_POSE" || curState == "SELECT_PLACE_POSE" || curState == "SELECT_PLACE_LOC_POSE")
{
Destroy(SetParentGO);
LaserEnd.transform.parent.transform.parent.transform.parent.gameObject.SetActive(false);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("STABLE");
}
}
if (button == MLInputControllerButton.Bumper) //bumper tapped
{
if (curState == "CALIBRATE")
{
robot.transform.position = LaserEnd.transform.position;
}
if (curState == "STABLE") //Robot is in stable mode. Should switchg to SelectItemMesh mode, turn on menu
{
menu.SetActive(true);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("SELECT_ITEM_MESH");
}
if (curState == "SELECT_ITEM_MESH") //select item mesh is on. Switch to SetItemPose, deactivate menu, get grounded item model, set it to child of Grounded Items, reactive laser.
{
menu.SetActive(false);
SetItemGO = Instantiate(menu.GetComponent <MenuScriptPickAndPlace>().getSelectedGO());
SetParentGO = new GameObject(SetItemGO.name);
SetParentGO.transform.SetParent(GroundedItems.transform);
SetItemGO.transform.SetParent(SetParentGO.transform);
SetItemGO.name = "PICK_ITEM";
SetParentGO.transform.localRotation = Quaternion.identity;
SetParentGO.transform.localPosition = Vector3.zero;
SetItemGO.transform.localRotation = Quaternion.identity;
SetItemGO.transform.localPosition = Vector3.zero;
SetParentGO.transform.localPosition = new Vector3(0, 0, 0);
LaserEnd.transform.parent.transform.parent.transform.parent.gameObject.SetActive(true);
LaserEnd.transform.localPosition = new Vector3(0, 0.1f, 0);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("SELECT_ITEM_POSE");
}
if (curState == "SELECT_ITEM_POSE") //select item pose is on. Switch to End Effector Pose. Add End Effector to scene. Make it child of SetItemGO.
{
//Debug.Log("Select grasp pose has changed");
SetGraspGO = Instantiate(EECopyModel);
Debug.Log("enter color");
Material colormat = SetItemGO.GetComponent <MeshRenderer>().material;
Component[] partsToColor = SetGraspGO.GetComponentsInChildren <MeshRenderer>();
foreach (MeshRenderer colorpart in partsToColor)
{
Debug.Log("COLORING!");
colorpart.material = colormat;
}
//GameObject wtf = Instantiate(UnityRobotLeftHand, robot.transform.GetChild(0)).gameObject;
//GameObject wtf = Instantiate(robot).gameObject;
//GameObject wtff = wtf.Find("left_ee_link");
//wtf.name = "wtf";
SetGraspGO.name = "GRASP_POSE_PICK";
//GameObject wtff = wtf.transform.GetChild(0).GetChild(1).GetChild(2).GetChild(2).GetChild(2).GetChild(5).GetChild(2).GetChild(2).GetChild(2).GetChild(2).GetChild(2).GetChild(2).GetChild(2).GetChild(2).GetChild(2).gameObject;
//Debug.Log
//Quaternion globpos = wtff.transform.rotation;
// Debug.Log("Glob1");
//Debug.Log(wtff.transform.rotation);
//Quaternion wtffpos = wtff.transform.localRotation;
//wtff.transform.SetParent(SetGraspGO.transform, true);
//Debug.Log("Glob2");
//wtff.transform.rotation = globpos;
//Debug.Log(wtff.transform.rotation);
//wtff.transform.localRotation = wtffpos;
//SetGraspGO.transform.SetParent(SetItemGO.transform); //REDO THIS LATER
SetGraspGO.transform.SetParent(SetParentGO.transform);
SetGraspGO.transform.localRotation = Quaternion.identity;
SetGraspGO.transform.localPosition = Vector3.zero;
//SetGraspGO.transform.SetParent(SetParentGO.transform);
//Debug.Log("Scoop scoop");
//Debug.Log(ROSRobotLeftHand.getRotation());
//Debug.Log(ROSRobotLeftHand.getRotation().eulerAngles);
//SetGraspGO.transform.localRotation = ROSRobotLeftHand.getRotation(); //apply rotation to the temp object
//Debug.Log("(ERIC) UNITY quaterion to be sent - temp");
//Debug.Log(SetGraspGO.transform.localRotation);
//Debug.Log("Rotaiton values of unity hand are below");
//Debug.Log(UnityRobotLeftHand.transform.rotation);
//SetGraspGO.transform.GetChild(0).rotation = ROSRobotLeftHand.getRotation();
//SetGraspGO.transform.GetChild(0).rotation = new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
//Debug.Log("UnityRobotLeftHandGlobal");
//Debug.Log(SetGraspGO.transform.GetChild(0).localRotation.eulerAngles);
//Debug.Log("UnityVirtualLeftHandGlobal");
//Debug.Log(ROSRobotLeftHand.getRotation());
//SetGraspGO.transform.GetChild(0).localRotation = Quaternion.Inverse(UnityRobotLeftHand.transform.rotation) * robot.transform.rotation;
//wtf.transform.rotation = Quaternion.Inverse(UnityRobotLeftHand.transform.rotation)*robot.transform.rotation;
//Debug.Log("Instantied a grasper!");
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("SELECT_GRASP_POSE");
}
if (curState == "SELECT_GRASP_POSE") //select item pose is on. Switch to End Effector Pose. Add End Effector to scene. Make it child of SetItemGO.
{
SetItemGO.transform.SetParent(SetGraspGO.transform); //already placed the gripper, make it a child of object
SetPickGO = Instantiate(SetPoseCopyModel);
Material colormat = SetItemGO.GetComponent <MeshRenderer>().material;
Component[] partsToColor = SetPickGO.GetComponentsInChildren <MeshRenderer>();
foreach (MeshRenderer colorpart in partsToColor)
{
Debug.Log("COLORING!");
colorpart.material = colormat;
}
SetPickGO.name = "PICK_LOC";
LaserEnd.transform.localPosition = new Vector3(0, 1.5f, 0);
//Debug.Log("Instantied a go to!");
SetPickGO.transform.SetParent(SetParentGO.transform);
SetPickGO.transform.localRotation = Quaternion.identity;
SetPickGO.transform.localPosition = Vector3.zero;
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("SELECT_PICK_POSE");
}
if (curState == "SELECT_PICK_POSE")
{
//SetPlaceGO = Instantiate(menu.GetComponent<MenuScriptPickAndPlace>().getSelectedGO());
//eric you touched this line below last
//SetPlaceGO = Instantiate(SetGraspGO);
SetPlaceGO = Instantiate(EECopyModel);
SetPlaceGO.name = "GRASP_POSE_PLACE";
LaserEnd.transform.localPosition = new Vector3(0, 0.1f, 0);
SetPlaceGO.transform.SetParent(SetParentGO.transform);
SetPlaceGO.transform.localRotation = Quaternion.identity;
SetPlaceGO.transform.localPosition = Vector3.zero;
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("SELECT_PLACE_POSE");
}
if (curState == "SELECT_PLACE_POSE") //go into mode to place final base
{
SetPlaceLocGO = Instantiate(SetPoseCopyModel);
Material colormat = SetItemGO.GetComponent <MeshRenderer>().material;
Component[] partsToColor = SetPlaceLocGO.GetComponentsInChildren <MeshRenderer>();
foreach (MeshRenderer colorpart in partsToColor)
{
Debug.Log("COLORING!");
colorpart.material = colormat;
}
LaserEnd.transform.localPosition = new Vector3(0, 1.5f, 0);
SetPlaceLocGO.name = "PLACE_LOC";
Debug.Log("Instantied a go to!");
SetPlaceLocGO.transform.SetParent(SetParentGO.transform);
SetPlaceLocGO.transform.localRotation = Quaternion.identity;
SetPlaceLocGO.transform.localPosition = Vector3.zero;
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("SELECT_PLACE_LOC_POSE");
}
if (curState == "SELECT_PLACE_LOC_POSE")
{
//Correc the GRASP POSE
SetGraspGO.transform.SetParent(SetParentGO.transform);
//SetPlaceGO.transform.GetChild(0).name = "GRASP_POSE_PLACE";
//SetPlaceGO.transform.GetChild(0).SetParent(SetParentGO.transform);
LaserEnd.transform.parent.transform.parent.transform.parent.gameObject.SetActive(false);
PickPlaceState.GetComponent <PickAndPlaceState>().SetState("STABLE");
}
}
}
void OnButtonDown(byte controller_id, MLInputControllerButton button)
{
}
/// <summary>
/// Returns true if given MLInputControllerButton has been released during this frame (just one frame).
/// </summary>
public bool IsButtonReleased(MLInputControllerButton button)
{
return(buttons[(int)button] == ButtonState.Released);
}
private void OnButtonDown(byte controllerId, MLInputControllerButton button)
{
}
private void HandleOnButtonUp(byte controllerId, MLInputControllerButton button)
{
}
void OnButtonDown(byte controller_id, MLInputControllerButton button)
{
Debug.Log("Button pressed");
text.text = "Is it changed?";
//StartCoroutine(SendRequest());
}
