static ServerMediation()
{
st_ServerCenter = GameObject.Find("Network").GetComponent <ServerCenter>();
st_ScreenBuild = GameObject.Find("MyScreen").GetComponent <ScreenBuild>();
st_ButtonRespond = GameObject.Find("MyButton").GetComponent <ButtonRespond>();
st_RobotMotion = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
st_Camerascript = GameObject.Find("CameraFree").GetComponent <Camerascript>();
}
void OnGUI()
{
RobotMotion motionss = GameObject.Find("MyMotion").GetComponent <RobotMotion>();
//if(GUILayout.Button("go"))
//{
// float[] actual = motionss.CurrentAngle_All();
// Vector3 StartPoint = motionss.IKA.SolutionOfKinematics(actual);
// Quaternion Posture = motionss.IKA.SolutionOfKinematics_posture(actual);
// float[] theory = motionss.IKA.AcceptInterPointPosture(StartPoint, Posture, actual);
// for (int i = 0; i < 6; i++)
// {
// Debug.Log("第"+i+"轴的转动角度："+theory[i]);
// if (Mathf.Abs(actual[i] - theory[i])>0.5)
// {
// Debug.Log("机械臂运动学逆解出现错误！！" + "实际角度：" + actual[i] + ",理论角度：" + theory[i]+".");
// }
// }
//}
if (GUILayout.Button("camera"))
{
Camerascript cameras = GameObject.Find("CameraFree").GetComponent <Camerascript>();
cameras.SwitchCamera();
}
//if (GUILayout.Button("add scene"))
//{
// GSKDATA.Scene_NO++;
//}
if (GUILayout.Button("部件提示功能"))
{
FuncPara.componentTips = !FuncPara.componentTips;
}
//if (GUILayout.Button("姿态检测"))
//{
// float[] actual = motionss.CurrentAngle_All();
// Quaternion Posture = motionss.IKA.SolutionOfKinematics_posture(actual);
// Quaternion Posture2 = GameObject.Find("Shape13").GetComponent<Transform>().rotation;
// Debug.Log("理论姿态" + Posture.ToString("0.000"));
// Debug.Log("实际姿态" + Posture2.ToString("0.000"));
//}
if (GUILayout.Button("IO面板"))
{
GameObject.Find("MyButton").GetComponent <ButtonRespond>().ShowIOPanel();
}
if (GUILayout.Button("示教器面板"))
{
GameObject.Find("MyButton").GetComponent <ButtonRespond>().ShowPanel();
}
if (GUILayout.Button("返回零点"))
{
GameObject.Find("MyMotion").GetComponent <RobotMotion>().ReturnToZero();
}
if (GUILayout.Button("视角还原"))
{
GameObject.Find("CameraFree").GetComponent <Camerascript>().CameraPosition();
}
if (GUILayout.Button("清空画板"))
{
GUILine.TextureInitial(paletter1);
}
if (GUILayout.Button("画画"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("案例一"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("案例二"))
{
GSKDATA.Painting = true;
}
if (GUILayout.Button("方向"))
{
Transform tooldir = GameObject.Find("Circle0571").GetComponent <Transform>();
Transform tooldir2 = GameObject.Find("qt208").GetComponent <Transform>();
Debug.Log(tooldir.forward.ToString("0.00"));
Debug.Log(tooldir2.forward.ToString("0.00"));
}
if (GUILayout.Button("光晕"))
{
GameObject.Find("qt208").AddComponent <FlashingController>();
}
if (GUILayout.Button("GuidPath"))
{
GameObject.Find("CameraFree").GetComponent <Camerascript>().SetPathGuid();
}
if (GUILayout.Button("教学"))
{
}
if (GUILayout.Button("练习"))
{
}
}
