public override Vector3 GetScenePosition()
{
if (ActionObjectMetadata.HasPose)
{
return(TransformConvertor.ROSToUnity(DataHelper.PositionToVector3(Data.Pose.Position)));
}
else
{
return(PlayerPrefsHelper.LoadVector3("scene/" + SceneManager.Instance.SceneMeta.Id + "/action_object/" + Data.Id + "/pose/position",
Vector3.zero));
}
}
public override Quaternion GetSceneOrientation()
{
if (ActionObjectMetadata.HasPose)
{
return(TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(Data.Pose.Orientation)));
}
else
{
return(PlayerPrefsHelper.LoadQuaternion("scene/" + SceneManager.Instance.SceneMeta.Id + "/action_object/" + Data.Id + "/pose/rotation",
Quaternion.identity));
}
}
public void UpdateOrientationsVisuals()
{
foreach (Transform transform in orientations.transform)
{
Destroy(transform.gameObject);
}
if (!ProjectManager.Instance.APOrientationsVisible)
{
return;
}
if (!OrientationsVisible)
{
return;
}
foreach (IO.Swagger.Model.NamedOrientation orientation in Data.Orientations)
{
APOrientation apOrientation = Instantiate(ActionsManager.Instance.ActionPointOrientationPrefab, orientations.transform).GetComponent <APOrientation>();
apOrientation.transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(orientation.Orientation));
apOrientation.ActionPoint = this;
apOrientation.OrientationId = orientation.Id;
}
}
public async Task UpdateMenu()
{
CalibrateBtn.gameObject.SetActive(false);
if (!SceneManager.Instance.SceneStarted)
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
Hide();
return;
}
CalibrateBtn.Button.onClick.RemoveAllListeners();
if (currentObject.IsRobot())
{
CalibrateBtn.gameObject.SetActive(true);
CalibrateBtn.SetDescription("Calibrate robot");
CalibrateBtn.Button.onClick.AddListener(() => ShowCalibrateRobotDialog());
if (SceneManager.Instance.GetCamerasNames().Count > 0)
{
CalibrateBtn.SetInteractivity(true);
}
else
{
CalibrateBtn.SetInteractivity(false, "Could not calibrate robot without camera");
}
}
else if (currentObject.IsCamera())
{
CalibrateBtn.gameObject.SetActive(true);
CalibrateBtn.SetDescription("Calibrate camera");
CalibrateBtn.Button.onClick.AddListener(() => ShowCalibrateCameraDialog());
}
if (SceneManager.Instance.IsRobotAndEESelected())
{
if (currentObject.ActionObjectMetadata.ObjectModel?.Type == IO.Swagger.Model.ObjectModel.TypeEnum.Mesh &&
currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints?.Count > 0)
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(true);
int idx = 0;
foreach (AimingPointSphere sphere in spheres)
{
if (sphere != null)
{
Destroy(sphere.gameObject);
}
}
spheres.Clear();
foreach (IO.Swagger.Model.Pose point in currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints)
{
AimingPointSphere sphere = Instantiate(Sphere, currentObject.transform).GetComponent <AimingPointSphere>();
sphere.transform.localScale = new Vector3(0.02f, 0.02f, 0.02f);
sphere.transform.localPosition = TransformConvertor.ROSToUnity(DataHelper.PositionToVector3(point.Position));
sphere.transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(point.Orientation));
sphere.Init(idx, $"Aiming point #{idx}");
spheres.Add(sphere);
++idx;
}
try {
List <int> finishedIndexes = await WebsocketManager.Instance.ObjectAimingAddPoint(0, true);
foreach (AimingPointSphere sphere in spheres)
{
sphere.SetAimed(finishedIndexes.Contains(sphere.Index));
}
if (!automaticPointSelection)
{
currentFocusPoint = 0;
}
StartObjectFocusingButton.SetInteractivity(false, "Already started");
SavePositionButton.SetInteractivity(true);
CancelAimingButton.SetInteractivity(true);
await CheckDoneBtn();
AimingInProgress = true;
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.UnHighlight();
}
UpdateCurrentPointLabel();
if (!automaticPointSelection && currentObject.ActionObjectMetadata.ObjectModel.Mesh.FocusPoints.Count > 1)
{
NextButton.SetInteractivity(true);
PreviousButton.SetInteractivity(true);
PreviousPoint();
}
} catch (RequestFailedException ex) {
StartObjectFocusingButton.SetInteractivity(true);
FocusObjectDoneButton.SetInteractivity(false, "No aiming in progress");
NextButton.SetInteractivity(false, "No aiming in progress");
PreviousButton.SetInteractivity(false, "No aiming in progress");
SavePositionButton.SetInteractivity(false, "No aiming in progress");
CancelAimingButton.SetInteractivity(false, "No aiming in progress");
AimingInProgress = false;
if (currentObject is ActionObject3D actionObject3D)
{
actionObject3D.Highlight();
}
}
}
else if (!currentObject.IsRobot() && !currentObject.IsCamera() && currentObject.ActionObjectMetadata.ObjectModel != null)
{
UpdatePositionBlockVO.SetActive(true);
UpdatePositionBlockMesh.SetActive(false);
ShowModelSwitch.Interactable = SceneManager.Instance.RobotsEEVisible;
if (ShowModelSwitch.Interactable && ShowModelSwitch.Switch.isOn)
{
ShowModelOnEE();
}
}
else
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
}
}
else
{
UpdatePositionBlockVO.SetActive(false);
UpdatePositionBlockMesh.SetActive(false);
}
}
public override Vector3 GetScenePosition()
{
return(TransformConvertor.ROSToUnity(DataHelper.PositionToVector3(Data.Position)));
}
public void SetOrientation(IO.Swagger.Model.Orientation orientation)
{
transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(orientation));
}
public override Quaternion GetSceneOrientation()
{
return(TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(Data.Pose.Orientation)));
}
