public void CreateContactPoint(Vector3 contactPos)
{
var parts = servo.HostPart.FindChildParts <Part>(true);
footParts = new List <Part>();
foreach (var part in parts)
{
footParts.Add(part);
Debug.Log(name + " attatched foot parts " + part.name);
}
contactPoint = new GameObject().transform;
contactPoint.SetParent(transform);
contactPoint.localPosition = contactPos - new Vector3(0, .4f, 0);
//contactPoint.localPosition = Vector3.zero;
contactPoint.rotation = memoryBridge.vesselControl.gimbal.rotation;
DebugVector.DrawVector(contactPoint);
footRenderer = contactPoint.gameObject.AddComponent <LineRenderer>();
Material redMat = new Material(Shader.Find("Transparent/Diffuse"));
redMat.color = Color.red;
footRenderer.material = redMat;
footRenderer.SetWidth(.1f, .1f);
}
public void BuildCameraFeed(MemoryBridge memoryBridge, string fileName)
{
//Debug.Log("Build Camera Feed");
this.memoryBridge = memoryBridge;
this.fileName = fileName;
threadList = new List <int>();
threadList.Add(0);
threadList.Add(1);
// threadList.Add(2);
// threadList.Add(3);
GameObject camObject = new GameObject();
DebugVector.DrawVector(camObject.transform);
camObject.transform.SetParent(FlightGlobals.ActiveVessel.vesselTransform);
feedCam = camObject.AddComponent <Camera>();
rendTextHeight = feedCam.pixelHeight;
rendTextWidth = feedCam.pixelWidth;
//Debug.Log("height " + rendTextHeight + " width " + rendTextWidth);
rendText = new RenderTexture(rendTextWidth, rendTextHeight, 16, RenderTextureFormat.ARGB32);
rendText.Create();
feedCam.targetTexture = rendText;
tex = new Texture2D(rendTextWidth, rendTextWidth, TextureFormat.RGB24, false);
texCopy = new Texture2D(rendTextWidth, rendTextHeight, TextureFormat.RGB24, false);
RenderTexture.active = rendText;
//Debug.Log("Render width " + rendTextWidth);
//Debug.Log("render height " + rendTextHeight);
tex.ReadPixels(new Rect(0, 0, rendTextWidth, rendTextHeight), 0, 0);
tex.Apply();
camTexture = tex;
// var colorBuffer = rendText.colorBuffer;
var textureByte = camTexture.GetRawTextureData();
camFeedFile = MemoryMappedFile.Create(MapProtection.PageReadWrite, textureByte.Length, "CamFeedFile" + fileName + memoryBridge.cameraFeeds.Count);
memoryBridge.SetFloat("rendTextHeight" + fileName + memoryBridge.cameraFeeds.Count, rendTextHeight);
memoryBridge.SetFloat("rendTextWidth" + fileName + memoryBridge.cameraFeeds.Count, rendTextWidth);
memoryBridge.SetFloat("feedByteCount" + fileName + memoryBridge.cameraFeeds.Count, textureByte.Length);
////Debug.Log("ByteSize " + textureByte.Length);
//Debug.Log("mem map loaded");
}
public void CreateContactPoint()
{
// var joint = servo.HostPart.gameObject.AddComponent<SpringJoint>();
contactPoint = new GameObject().transform;
contactPoint.SetParent(transform);
// contactPoint.localPosition = localPos;
contactPoint.localPosition = Vector3.zero;
contactPoint.rotation = memoryBridge.vesselControl.gimbal.rotation;
DebugVector.DrawVector(contactPoint);
footRenderer = contactPoint.gameObject.AddComponent <LineRenderer>();
Material redMat = new Material(Shader.Find("Transparent/Diffuse"));
redMat.color = Color.red;
footRenderer.material = redMat;
footRenderer.SetWidth(.1f, .1f);
}
void CheckVesselClearance()
{
LayerMask mask = (1 << 0) | (1 << 10);
mask = ~mask;
RaycastHit hit;
Vector3 rayRot = -gimbal.up;// -controller.launchVector.trans.up;
float clearance = 0;
if (Physics.Raycast(vessel.vesselTransform.position, rayRot, out hit, 100, mask))
{
clearance = hit.distance;
}
if (!groundPoint)
{
groundPoint = new GameObject().transform;
DebugVector.DrawVector(groundPoint);
}
groundPoint.transform.position = vessel.vesselTransform.position - new Vector3(0, clearance, 0);
}
public void CustomStart(IRWrapper.IServo servo, MemoryBridge memoryBridge)
{
this.servo = servo;
this.servo.Speed = 20;
this.servo.Acceleration = 20;
servoName = servo.Name + servo.HostPart.gameObject.GetInstanceID();
part = servo.HostPart;
this.memoryBridge = memoryBridge;
memoryBridge.SetFloat(servoName + "unityServoPos", servo.Position);
memoryBridge.SetFloat(servoName + "minPos", servo.MinPosition);
Debug.Log("servo min pos " + servo.MinPosition);
memoryBridge.SetFloat(servoName + "maxPos", servo.MaxPosition);
Debug.Log("servo max pos " + servo.MaxPosition);
// memoryBridge.SetFloat(servoName + "ServoSetPos", 210f);
// memoryBridge.SetFloat(servoName + "ServoSetSpeed", 210f);
//search the parent part for a transform named "Base"
var partParent = part.parent;
var parentChildren = partParent.GetComponentsInChildren <Transform>();
var bases = new List <Transform>();
foreach (var child in parentChildren)
{
if (child.name.ToLower().Contains("base"))
{
bases.Add(child);
}
}
Debug.Log("Bases count " + bases.Count);
if (bases.Count == 0)
{
Debug.Log(servo.Name + " does not have a base");
}
else
{
//If there are multiple bases on the parent, use the closest one
if (bases.Count > 1)
{
var minDist = Mathf.Infinity;
foreach (var basePart in bases)
{
var dist = Vector3.Distance(transform.position, basePart.position);
if (dist < minDist)
{
servoBase = basePart;
minDist = dist;
}
}
}
else
{
servoBase = bases[0];
}
var newObject = new GameObject();
newObject.name = "Servo Anchor";
servoAnchor = newObject.transform;
servoAnchor.SetParent(servoBase);
servoAnchor.localPosition = Vector3.zero;
servoAnchor.localEulerAngles = Vector3.zero;
newObject = new GameObject();
newObject.name = "Servo Child";
anchorChild = newObject.transform;
anchorChild.SetParent(servoAnchor);
anchorChild.localPosition = Vector3.zero;
anchorChild.rotation = part.transform.rotation;
Debug.Log(this.servo.HostPart.name);
//Move the x axis of the rotatron part. This happens in Unity script as well in Parts
if (this.servo.HostPart.name == "IR.Rotatron.Basic.v3")
{
servoAnchor.localEulerAngles += new Vector3(0, 0, 90);
anchorChild.localEulerAngles += new Vector3(0, 0, 90);
// DebugVector.DrawVector(servoAnchor);
// DebugVector.DrawVector(anchorChild);
Debug.Log("Draw Vector");
}
DebugVector.DrawVector(servoAnchor);
}
}
public void CheckFootClearance()
{
LayerMask mask = (1 << 0) | (1 << 10);
mask = ~mask;
RaycastHit hit;
//Vector3 rayRot = -hipRotServo.transform.right;
contactPoint.rotation = memoryBridge.vesselControl.gimbal.rotation;
Vector3 rayRot = -contactPoint.up;// -controller.launchVector.trans.up;
float clearance = 0;
if (Physics.Raycast(contactPoint.position, rayRot, out hit, 100, mask))
{
// if (hit.collider.gameObject.tag != "Runway")
// Debug.Log("hitting " + hit.collider.gameObject.name + " at layer " + hit.collider.gameObject.layer.ToString() + " with tag " + hit.collider.gameObject.tag.ToString() + " at distance " + hit.distance);
// if (hit.collider.gameObject.name == "Kerbin Zn123222323")
// controller.walking = false;
footRenderer.SetPosition(0, contactPoint.position);
footRenderer.SetPosition(1, hit.point);
clearance = hit.distance;
}
bool groundContact = false;
foreach (var part in footParts)
{
if (part.GroundContact)
{
if (!footPart)
{
footPart = part;
footBody = footPart.Rigidbody;
footPart.OnJustAboutToBeDestroyed += PartAboutToBeDestroyed;
memoryBridge.SetBool(servoName + "exploded", false);
}
groundContact = true;
var closestPoint = part.collider.ClosestPoint(memoryBridge.vesselControl.vessel.mainBody.transform.position);
if (!collisionPoint)
{
collisionPoint = new GameObject().transform;
DebugVector.DrawVector(collisionPoint);
}
collisionPoint.position = closestPoint;
var collisionPointOffset = transform.InverseTransformPoint(collisionPoint.position);
memoryBridge.SetVector3(servoName + "CollisionPoint", collisionPointOffset);
}
}
if (footPart)
{
memoryBridge.SetVector3(servoName + "torque", footBody.velocity);
memoryBridge.SetFloat(servoName + "explosionPotential", footPart.explosionPotential);
memoryBridge.SetFloat(servoName + "gExplodeChance", footPart.gExplodeChance);
memoryBridge.SetBool(servoName + "active", footPart.gameObject.activeInHierarchy);
// var events = footPart.Events;
// events.
// footPart.explosionPotential;
// footPart.gExplodeChance()
}
// if(servo.HostPart.GroundContact != groundContact)
// {
// groundContact = servo.HostPart.GroundContact;
memoryBridge.SetBool(servoName + "GroundContact", groundContact);
// }
memoryBridge.SetFloat(servoName + "KSPFootClearance", clearance);
}