/// <summary>
/// Toggles between different dynamic camera states
/// </summary>
/// <param name="mode"></param>
public void OnCameraDropdownValueChanged(int mode)
{
switch (mode)
{
case 1:
camera.SwitchCameraState(new DynamicCamera.DriverStationState(camera));
DynamicCamera.ControlEnabled = true;
break;
case 2:
camera.SwitchCameraState(new DynamicCamera.OrbitState(camera));
DynamicCamera.ControlEnabled = true;
break;
case 3:
camera.SwitchCameraState(new DynamicCamera.FreeroamState(camera));
DynamicCamera.ControlEnabled = true;
break;
case 4:
camera.SwitchCameraState(new DynamicCamera.OverviewState(camera));
DynamicCamera.ControlEnabled = true;
break;
}
}
//In game UI switches view using UI icons
public void SwitchViewClickMoreBetterer(int joe)
{
Debug.Log(joe);
switch (joe)
{
case 1:
dynamicCamera.SwitchCameraState(new DynamicCamera.DriverStationState(dynamicCamera));
DynamicCamera.MovingEnabled = true;
break;
case 2:
dynamicCamera.SwitchCameraState(new DynamicCamera.OrbitState(dynamicCamera));
DynamicCamera.MovingEnabled = true;
break;
case 3:
dynamicCamera.SwitchCameraState(new DynamicCamera.FreeroamState(dynamicCamera));
DynamicCamera.MovingEnabled = true;
break;
case 4:
dynamicCamera.SwitchCameraState(new DynamicCamera.OverviewState(dynamicCamera));
DynamicCamera.MovingEnabled = true;
break;
}
}
/// <summary>
/// Toggles between different dynamic camera states
/// </summary>
/// <param name="joe"></param>
public void SwitchCameraView(int joe)
{
switch (joe)
{
case 1:
camera.SwitchCameraState(new DynamicCamera.DriverStationState(camera));
DynamicCamera.MovingEnabled = true;
break;
case 2:
camera.SwitchCameraState(new DynamicCamera.OrbitState(camera));
DynamicCamera.MovingEnabled = true;
break;
case 3:
camera.SwitchCameraState(new DynamicCamera.FreeroamState(camera));
DynamicCamera.MovingEnabled = true;
break;
case 4:
camera.SwitchCameraState(new DynamicCamera.OverviewState(camera));
DynamicCamera.MovingEnabled = true;
break;
}
}
// Use this for initialization
public override void Start()
{
moveArrows = GameObject.Instantiate(Resources.Load <GameObject>("Prefabs\\MoveArrows"));
moveArrows.name = "IndicatorMoveArrows";
moveArrows.transform.parent = sensor.transform;
moveArrows.transform.rotation = sensor.transform.rotation;
moveArrows.transform.localPosition = UnityEngine.Vector3.zero;
moveArrows.GetComponent <MoveArrows>().Translate = (translation) =>
sensor.transform.Translate(translation, Space.World);
StateMachine.SceneGlobal.Link <SensorSpawnState>(moveArrows);
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, sensor));
Button resetButton = GameObject.Find("ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(ResetSpawn);
Button returnButton = GameObject.Find("ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(ReturnToMainState);
}
// Use this for initialization
public override void Start()
{
#region init
ui = GameObject.Find("GoalStateUI");
helpMenu = Auxiliary.FindObject(ui, "Help");
toolbar = Auxiliary.FindObject(ui, "ResetStateToolbar");
overlay = Auxiliary.FindObject(ui, "Overlay");
#endregion
if (goalIndicator != null)
{
GameObject.Destroy(goalIndicator);
}
if (goalIndicator == null)
{
goalIndicator = GameObject.CreatePrimitive(PrimitiveType.Cube); // Create cube to show goal region
goalIndicator.name = "GoalIndicator";
Renderer render = goalIndicator.GetComponentInChildren <Renderer>();
render.material.shader = Shader.Find("Transparent/Diffuse");
Color newColor = new Color(0, 0.88f, 0, 0.6f);
render.material.color = newColor;
}
goalIndicator.transform.position = color.Equals("Red") ? gm.redGoals[gamepieceIndex][goalIndex].GetComponent <Goal>().position : gm.blueGoals[gamepieceIndex][goalIndex].GetComponent <Goal>().position;
goalIndicator.transform.localScale = color.Equals("Red") ? gm.redGoals[gamepieceIndex][goalIndex].GetComponent <Goal>().scale : gm.blueGoals[gamepieceIndex][goalIndex].GetComponent <Goal>().scale;
settingGamepieceGoalVertical = false;
GameObject moveArrows = GameObject.Instantiate(Resources.Load <GameObject>("Prefabs\\MoveArrows"));
moveArrows.name = "IndicatorMoveArrows";
moveArrows.transform.parent = goalIndicator.transform;
moveArrows.transform.localPosition = UnityEngine.Vector3.zero;
if (move)
{
moveArrows.GetComponent <MoveArrows>().Translate = (translation) => goalIndicator.transform.Translate(translation, Space.World);
}
else
{
moveArrows.GetComponent <MoveArrows>().Translate = (translation) => goalIndicator.transform.localScale += translation;//goalIndicator.transform.localScale.Scale(translation);
}
StateMachine.SceneGlobal.Link <GoalState>(moveArrows);
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, goalIndicator));
Button resetButton = GameObject.Find("ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(Reset);
Button helpButton = GameObject.Find("HelpButton").GetComponent <Button>();
helpButton.onClick.RemoveAllListeners();
helpButton.onClick.AddListener(HelpMenu);
Button returnButton = GameObject.Find("ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(ReturnToMainState);
Button closeHelp = Auxiliary.FindObject(helpMenu, "CloseHelpButton").GetComponent <Button>();
closeHelp.onClick.RemoveAllListeners();
closeHelp.onClick.AddListener(CloseHelpMenu);
}
/// <summary>
/// Method for "Add/Configure Sensor" button. End configuration ends all window related to sensor addition/configuration
/// </summary>
public void ToggleSensorOption()
{
isChoosingOption = !isChoosingOption;
sensorOptionPanel.SetActive(isChoosingOption);
if (isChoosingOption)
{
preConfigState = dynamicCamera.cameraState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera));
configureSensorButton.GetComponentInChildren <Text>().text = "End Configuration";
}
else
{
configureSensorButton.GetComponentInChildren <Text>().text = "Add/Configure Sensor";
EndProcesses();
}
}
/// <summary>
/// End the reset process and puts the robot back down
/// </summary>
public void EndReset()
{
IsResetting = false;
EndRobotReset();
if (lastCameraState != null)
{
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
dynamicCamera.SwitchCameraState(lastCameraState);
lastCameraState = null;
}
OnEndReset();
Destroy(resetMoveArrows);
resetMoveArrows = null;
foreach (Tracker t in GetComponentsInChildren <Tracker>())
{
t.Clear();
}
InputControl.freeze = false;
canvas.GetComponent <Canvas>().enabled = true;
resetCanvas.SetActive(false);
SimUI.getSimUI().CloseNavigationTooltip();
}
/// <summary>
/// Toggles between different dynamic camera states
/// </summary>
/// <param name="mode"></param>
public void OnCameraDropdownValueChanged(int mode)
{
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.CameraView,
AnalyticsLedger.EventAction.Clicked,
"View - Camera Dropdown",
AnalyticsLedger.getMilliseconds().ToString());
DynamicCamera.ControlEnabled = true;
switch (mode)
{
case 0:
camera.SwitchCameraState(new DynamicCamera.DriverStationState(camera));
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.CameraView,
AnalyticsLedger.EventAction.Changed,
"View - Driver Station",
AnalyticsLedger.getMilliseconds().ToString());
break;
case 1:
camera.SwitchCameraState(new DynamicCamera.OrbitState(camera));
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.CameraView,
AnalyticsLedger.EventAction.Changed,
"View - Orbit",
AnalyticsLedger.getMilliseconds().ToString());
break;
case 2:
camera.SwitchCameraState(new DynamicCamera.FreeroamState(camera));
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.CameraView,
AnalyticsLedger.EventAction.Changed,
"View - Freeroam",
AnalyticsLedger.getMilliseconds().ToString());
break;
case 3:
camera.SwitchCameraState(new DynamicCamera.OverviewState(camera));
AnalyticsManager.GlobalInstance.LogEventAsync(AnalyticsLedger.EventCatagory.CameraView,
AnalyticsLedger.EventAction.Changed,
"View - Overview",
AnalyticsLedger.getMilliseconds().ToString());
break;
}
}
private void ReturnToMainState()
{
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
dynamicCamera.SwitchCameraState(lastCameraState);
GameObject.Destroy(moveArrows);
StateMachine.PopState();
}
/// <summary>
/// Method for "Add/Configure Sensor" button. End configuration ends all window related to sensor addition/configuration
/// </summary>
public void ToggleSensorOption()
{
//Deal with UI conflicts between robot camera & sensors
robotCameraGUI.EndProcesses();
toolkit.EndProcesses(true);
isChoosingOption = !isChoosingOption;
if (isChoosingOption)
{
preConfigState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera));
ShowAllSensors();
}
else
{
EndProcesses();
}
}
private void ReturnToMainState()
{
if (helpMenu.activeSelf)
{
CloseHelpMenu();
}
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
dynamicCamera.SwitchCameraState(lastCameraState);
GameObject.Destroy(spawnIndicator);
StateMachine.PopState();
}
public void FinishGamepieceSpawn()
{
settingSpawn = 0;
if (spawnIndicator != null)
{
Destroy(spawnIndicator);
}
if (lastCameraState != null)
{
DynamicCamera dynamicCamera = Camera.main.transform.GetComponent <DynamicCamera>();
dynamicCamera.SwitchCameraState(lastCameraState);
lastCameraState = null;
}
//MainState.ControlsDisabled = false;
}
public void StartGamepieceSpawn(int index)
{
if (definingRelease || definingIntake || addingGamepiece)
{
Debug.Log("User Error"); //Message Manager already dispatches error message to user
}
else if (settingSpawn == 0)
{
if (GameObject.Find(gamepieceNames[index]) != null)
{
if (spawnIndicator != null)
{
Destroy(spawnIndicator);
}
if (spawnIndicator == null)
{
spawnIndicator = Instantiate(AuxFunctions.FindObject(gamepieceNames[index]).GetComponentInParent <BRigidBody>().gameObject, new UnityEngine.Vector3(0, 3, 0), UnityEngine.Quaternion.identity);
spawnIndicator.name = "SpawnIndicator";
Destroy(spawnIndicator.GetComponent <BRigidBody>());
if (spawnIndicator.transform.GetChild(0) != null)
{
spawnIndicator.transform.GetChild(0).name = "SpawnIndicatorMesh";
}
Renderer render = spawnIndicator.GetComponentInChildren <Renderer>();
render.material.shader = Shader.Find("Transparent/Diffuse");
Color newColor = render.material.color;
newColor.a = 0.6f;
render.material.color = newColor;
}
spawnIndicator.transform.position = gamepieceSpawn[index];
settingSpawn = index + 1;
DynamicCamera dynamicCamera = Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.cameraState;
dynamicCamera.SwitchCameraState(new DynamicCamera.SateliteState(dynamicCamera));
//MainState.ControlsDisabled = true;
}
else
{
UserMessageManager.Dispatch("You must define the gamepiece first!", 5f);
}
}
else
{
FinishGamepieceSpawn(); //if already setting spawn, end editing process
}
}
/// <summary>
/// Activate the configure camera panel and start position configuration (which is the main configuration state for robot camera)
/// </summary>
public void ToggleCameraConfiguration()
{
robotCameraManager.ChangingCameraPosition = !robotCameraManager.ChangingCameraPosition;
configureCameraPanel.SetActive(robotCameraManager.ChangingCameraPosition);
if (robotCameraManager.ChangingCameraPosition)
{
preConfigCamState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, robotCameraManager.CurrentCamera));
}
else
{
configureRobotCameraButton.GetComponentInChildren <Text>().text = "Configure";
ResetConfigurationWindow();
dynamicCamera.SwitchToState(preConfigCamState);
}
}
/// <summary>
/// Activate the configure camera panel and start position configuration
/// </summary>
public void ConfigureCameraPosition()
{
robotCamera.ChangingCameraPosition = !robotCamera.ChangingCameraPosition;
configureCameraPanel.SetActive(robotCamera.ChangingCameraPosition);
if (robotCamera.ChangingCameraPosition)
{
preConfigCamState = dynamicCamera.cameraState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, robotCamera.CurrentCamera));
//Update the node where current camera is attached to
cameraNodeText.text = "Current Node: " + robotCamera.CurrentCamera.transform.parent.gameObject.name;
configureRobotCameraButton.GetComponentInChildren <Text>().text = "End Configuration";
}
else
{
configureRobotCameraButton.GetComponentInChildren <Text>().text = "Configure Robot Camera";
dynamicCamera.SwitchToState(preConfigCamState);
}
}
/// <summary>
/// End the reset process and puts the robot back down
/// </summary>
public void EndReset()
{
IsResetting = false;
foreach (RigidNode n in RootNode.ListAllNodes())
{
BRigidBody br = n.MainObject.GetComponent <BRigidBody>();
if (br == null)
{
continue;
}
RigidBody r = (RigidBody)br.GetCollisionObject();
r.LinearFactor = r.AngularFactor = BulletSharp.Math.Vector3.One;
}
if (lastCameraState != null)
{
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
dynamicCamera.SwitchCameraState(lastCameraState);
lastCameraState = null;
}
OnEndReset();
Destroy(resetMoveArrows);
resetMoveArrows = null;
foreach (Tracker t in GetComponentsInChildren <Tracker>())
{
t.Clear();
}
if (helpMenu.activeSelf)
{
CloseHelpMenu();
}
InputControl.freeze = false;
canvas.GetComponent <Canvas>().enabled = true;
resetCanvas.SetActive(false);
}
// Use this for initialization
public override void Start()
{
#region init
ui = GameObject.Find("ResetSensorSpawnpointUI");
helpMenu = Auxiliary.FindObject(ui, "Help");
toolbar = Auxiliary.FindObject(ui, "ResetStateToolbar");
overlay = Auxiliary.FindObject(ui, "Overlay");
#endregion
moveArrows = GameObject.Instantiate(Resources.Load <GameObject>("Prefabs\\MoveArrows"));
moveArrows.name = "IndicatorMoveArrows";
moveArrows.transform.parent = sensor.transform;
moveArrows.transform.rotation = sensor.transform.rotation;
moveArrows.transform.localPosition = UnityEngine.Vector3.zero;
moveArrows.GetComponent <MoveArrows>().Translate = (translation) =>
sensor.transform.Translate(translation, Space.World);
StateMachine.SceneGlobal.Link <SensorSpawnState>(moveArrows);
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, sensor));
Button resetButton = GameObject.Find("ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(ResetSpawn);
Button helpButton = GameObject.Find("HelpButton").GetComponent <Button>();
helpButton.onClick.RemoveAllListeners();
helpButton.onClick.AddListener(HelpMenu);
Button returnButton = GameObject.Find("ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(ReturnToMainState);
Button closeHelp = Auxiliary.FindObject(helpMenu, "CloseHelpButton").GetComponent <Button>();
closeHelp.onClick.RemoveAllListeners();
closeHelp.onClick.AddListener(CloseHelpMenu);
}
// Use this for initialization
public override void Start()
{
//create indicator
if (goalIndicator != null)
{
GameObject.Destroy(goalIndicator);
}
if (goalIndicator == null)
{
goalIndicator = GameObject.CreatePrimitive(PrimitiveType.Cube); // Create cube to show goal region
goalIndicator.name = "GoalIndicator";
Renderer render = goalIndicator.GetComponentInChildren <Renderer>();
render.material.shader = Shader.Find("Transparent/Diffuse");
Color newColor = new Color(0, 0.88f, 0, 0.6f);
render.material.color = newColor;
}
GameObject goal = color.Equals("Red") ? gm.redGoals[gamepieceIndex][goalIndex] : gm.blueGoals[gamepieceIndex][goalIndex];
goalIndicator.transform.position = goal.GetComponent <Goal>().position;
goalIndicator.transform.eulerAngles = goal.GetComponent <Goal>().rotation;
goalIndicator.transform.localScale = goal.GetComponent <Goal>().scale;
settingGamepieceGoalVertical = false;
//move arrow attachment
GameObject moveArrows = GameObject.Instantiate(Resources.Load <GameObject>("Prefabs\\MoveArrows"));
moveArrows.name = "IndicatorMoveArrows";
moveArrows.transform.parent = goalIndicator.transform;
moveArrows.transform.localPosition = UnityEngine.Vector3.zero;
if (move)
{
moveArrows.GetComponent <MoveArrows>().Translate = (translation) => goalIndicator.transform.Translate(translation, Space.World);
}
else
{
moveArrows.GetComponent <MoveArrows>().Translate = (translation) => goalIndicator.transform.localScale += translation;
}
StateMachine.SceneGlobal.Link <GoalState>(moveArrows);
//camera stuff
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, goalIndicator));
//UI callbacks
Button resetButton = GameObject.Find("ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(Reset);
Button returnButton = GameObject.Find("ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(ReturnToMainState);
if (move)
{
SimUI.getSimUI().OpenNavigationTooltip();
}
}
void OnGUI()
{
// Draws stats window on to GUI
if (showStatWindow)
{
GUI.Window(0, statsWindowRect, StatsWindow, "Stats");
}
// Draws help window on to GUI
if (showHelpWindow)
{
int windowWidth = 900;
int windowHeight = 450;
float paddingX = (Screen.width - windowWidth) / 2.0f;
float paddingY = (Screen.height - windowHeight) / 2.0f;
helpWindowRect = new Rect(paddingX, paddingY, windowWidth, windowHeight);
GUI.Window(0, helpWindowRect, HelpWindow, "Help");
}
if (gui == null)
{
gui = new GUIController();
gui.hideGuiCallback = HideGuiSidebar;
gui.showGuiCallback = ShowGuiSidebar;
gui.AddWindow("Load Robot", new FileBrowser("Load Robot"), (object o) =>
{
string fileLocation = (string)o;
// If dir was selected...
if (File.Exists(fileLocation + "\\skeleton.bxdj"))
{
fileLocation += "\\skeleton.bxdj";
}
DirectoryInfo parent = Directory.GetParent(fileLocation);
if (parent != null && parent.Exists && File.Exists(parent.FullName + "\\skeleton.bxdj"))
{
this.filePath = parent.FullName + "\\";
reloadRobotInFrames = 2;
}
else
{
UserMessageManager.Dispatch("Invalid selection!", 10f);
}
dynamicCamera.EnableMoving();
});
gui.AddAction("Reset Robot", () =>
{
resetRobot();
});
//shows button to manually orient the robot
ShowOrient();
if (!File.Exists(filePath + "\\skeleton.bxdj"))
{
gui.DoAction("Load Model");
}
gui.AddWindow("Switch View", new DialogWindow("Switch View",
"Driver Station [D]", "Orbit Robot [R]", "Freeroam [F]"), (object o) =>
{
HideGuiSidebar();
switch ((int)o)
{
case 0:
dynamicCamera.SwitchCameraState(new DynamicCamera.DriverStationState(dynamicCamera));
break;
case 1:
dynamicCamera.SwitchCameraState(new DynamicCamera.OrbitState(dynamicCamera));
dynamicCamera.EnableMoving();
break;
case 2:
dynamicCamera.SwitchCameraState(new DynamicCamera.FreeroamState(dynamicCamera));
break;
default:
Debug.Log("Camera state not found: " + (string)o);
break;
}
});
gui.AddWindow("Quit Simulation", new DialogWindow("Exit?", "Yes", "No"), (object o) =>
{
if ((int)o == 0)
{
Application.Quit();
}
});
}
if (Input.GetMouseButtonUp(0) && !gui.ClickedInsideWindow())
{
HideGuiSidebar();
gui.HideAllWindows();
}
if (fieldBrowser == null)
{
fieldBrowser = new FileBrowser("Load Field", false);
fieldBrowser.Active = true;
fieldBrowser.OnComplete += (object obj) =>
{
fieldBrowser.Active = true;
string fileLocation = (string)obj;
// If dir was selected...
if (File.Exists(fileLocation + "\\definition.bxdf"))
{
fileLocation += "\\definition.bxdf";
}
DirectoryInfo parent = Directory.GetParent(fileLocation);
if (parent != null && parent.Exists && File.Exists(parent.FullName + "\\definition.bxdf"))
{
this.filePath = parent.FullName + "\\";
fieldBrowser.Active = false;
reloadFieldInFrames = 2;
}
else
{
UserMessageManager.Dispatch("Invalid selection!", 10f);
}
};
}
if (showHelpWindow && Input.GetMouseButtonUp(0) && !auxFunctions.MouseInWindow(helpWindowRect) && !auxFunctions.MouseInWindow(helpButtonRect))
{
showHelpWindow = false;
}
gui.guiBackgroundVisible = showHelpWindow;
if (!fieldLoaded)
{
fieldBrowser.Render();
}
else
{
// The Menu button on the top left corner
GUI.Window(1, new Rect(0, 0, gui.GetSidebarWidth(), 25),
(int windowID) =>
{
if (GUI.Button(new Rect(0, 0, gui.GetSidebarWidth(), 25), "Menu"))
{
gui.EscPressed();
}
},
""
);
helpButtonRect = new Rect(Screen.width - 25, 0, 25, 25);
// The Help button on top right corner
GUI.Window(2, helpButtonRect,
(int windowID) =>
{
if (GUI.Button(new Rect(0, 0, 25, 25), helpButtonContent))
{
showHelpWindow = !showHelpWindow;
}
},
""
);
gui.Render();
}
UserMessageManager.Render();
if (reloadRobotInFrames >= 0 || reloadFieldInFrames >= 0)
{
GUI.backgroundColor = new Color(1, 1, 1, 0.5f);
GUI.Box(new Rect(Screen.width / 2 - 100, Screen.height / 2 - 25, 200, 50), "Loading... Please Wait", gui.BlackBoxStyle);
}
}
/// <summary>
/// Change to driver station view to the opposite side
/// </summary>
public void ToggleDriverStation()
{
oppositeSide = !oppositeSide;
camera.SwitchCameraState(new DynamicCamera.DriverStationState(camera, oppositeSide));
}
void OnGUI()
{
//Custom style for windows
menuWindow = new GUIStyle(GUI.skin.window);
menuWindow.normal.background = transparentWindowTexture;
menuWindow.onNormal.background = transparentWindowTexture;
menuWindow.font = russoOne;
//Custom style for buttons
menuButton = new GUIStyle(GUI.skin.button);
menuButton.font = russoOne;
menuButton.normal.background = buttonTexture;
menuButton.hover.background = buttonSelected;
menuButton.active.background = buttonSelected;
menuButton.onNormal.background = buttonSelected;
menuButton.onHover.background = buttonSelected;
menuButton.onActive.background = buttonSelected;
// Draws stats window on to GUI
if (showStatWindow)
{
GUI.Window(0, statsWindowRect, StatsWindow, "Stats", statsWindow);
}
if (gui == null)
{
gui = new GUIController();
gui.hideGuiCallback = HideGuiSidebar;
gui.showGuiCallback = ShowGuiSidebar;
gui.AddWindow("Load Robot", new FileBrowser("Load Robot"), (object o) =>
{
string fileLocation = (string)o;
// If dir was selected...
if (File.Exists(fileLocation + "\\skeleton.bxdj"))
{
fileLocation += "\\skeleton.bxdj";
}
DirectoryInfo parent = Directory.GetParent(fileLocation);
if (parent != null && parent.Exists && File.Exists(parent.FullName + "\\skeleton.bxdj"))
{
this.filePath = parent.FullName + "\\";
reloadRobotInFrames = 2;
}
else
{
UserMessageManager.Dispatch("Invalid selection!", 10f);
}
dynamicCamera.EnableMoving();
});
gui.AddAction("Reset Robot", () =>
{
resetRobot();
});
//shows button to manually orient the robot
ShowOrient();
if (!File.Exists(filePath + "\\skeleton.bxdj"))
{
gui.DoAction("Load Model");
}
gui.AddWindow("Switch View", new DialogWindow("Switch View",
"Driver Station", "Orbit Robot", "Freeroam"), (object o) =>
{
HideGuiSidebar();
switch ((int)o)
{
case 0:
dynamicCamera.SwitchCameraState(new DynamicCamera.DriverStationState(dynamicCamera));
break;
case 1:
dynamicCamera.SwitchCameraState(new DynamicCamera.OrbitState(dynamicCamera));
dynamicCamera.EnableMoving();
break;
case 2:
dynamicCamera.SwitchCameraState(new DynamicCamera.FreeroamState(dynamicCamera));
break;
default:
Debug.Log("Camera state not found: " + (string)o);
break;
}
});
gui.AddWindow("Quit to Main Menu", new DialogWindow("Quit to Main Menu?", "Yes", "No"), (object o) =>
{
if ((int)o == 0)
{
Application.LoadLevel("MainMenu");
}
});
gui.AddWindow("Quit to Desktop", new DialogWindow("Quit to Desktop?", "Yes", "No"), (object o) =>
{
if ((int)o == 0)
{
Application.Quit();
}
});
}
if (Input.GetMouseButtonUp(0) && !gui.ClickedInsideWindow())
{
HideGuiSidebar();
gui.HideAllWindows();
}
if (fieldBrowser == null)
{
fieldBrowser = new FileBrowser("Load Field", false);
fieldBrowser.Active = false;
fieldBrowser.OnComplete += (object obj) =>
{
fieldBrowser.Active = false;
string fileLocation = (string)obj;
// If dir was selected...
if (File.Exists(fileLocation + "\\definition.bxdf"))
{
fileLocation += "\\definition.bxdf";
}
DirectoryInfo parent = Directory.GetParent(fileLocation);
if (parent != null && parent.Exists && File.Exists(parent.FullName + "\\definition.bxdf"))
{
this.filePath = parent.FullName + "\\";
fieldBrowser.Active = false;
reloadFieldInFrames = 2;
}
else
{
UserMessageManager.Dispatch("Invalid selection!", 10f);
}
};
}
if (!fieldLoaded)
{
fieldBrowser.Render();
}
else
{
// The Menu button on the top left corner
GUI.Window(1, new Rect(0, 0, gui.GetSidebarWidth(), 25),
(int windowID) =>
{
if (GUI.Button(new Rect(0, 0, gui.GetSidebarWidth(), 25), "Menu", menuButton))
{
gui.EscPressed();
}
},
"",
menuWindow
);
gui.Render();
}
UserMessageManager.Render();
if (reloadRobotInFrames >= 0 || reloadFieldInFrames >= 0)
{
GUI.backgroundColor = new Color(1, 1, 1, 0.5f);
GUI.Box(new Rect(Screen.width / 2 - 100, Screen.height / 2 - 25, 200, 25), "Loading... Please Wait", gui.BlackBoxStyle);
}
}
/// <summary>
/// Return the robot to robotStartPosition and destroy extra game pieces
/// </summary>
/// <param name="resetTransform"></param>
public void BeginReset()
{
//GetDriverPractice().DestroyAllGamepieces();
InputControl.freeze = true;
if (canvas == null)
{
canvas = GameObject.Find("Main Camera").transform.GetChild(0).gameObject;
}
if (resetCanvas == null)
{
resetCanvas = GameObject.Find("Main Camera").transform.GetChild(1).gameObject;
}
canvas.GetComponent <Canvas>().enabled = false;
resetCanvas.SetActive(true);
#region init
if (helpMenu == null)
{
helpMenu = Auxiliary.FindObject(resetCanvas, "Help");
}
if (toolbar == null)
{
toolbar = Auxiliary.FindObject(resetCanvas, "ResetStateToolbar");
}
if (overlay == null)
{
overlay = Auxiliary.FindObject(resetCanvas, "Overlay");
}
if (helpBodyText == null)
{
helpBodyText = Auxiliary.FindObject(resetCanvas, "BodyText").GetComponent <Text>();
}
#endregion
Button resetButton = Auxiliary.FindObject(resetCanvas, "ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(BeginRevertSpawnpoint);
Button helpButton = Auxiliary.FindObject(resetCanvas, "HelpButton").GetComponent <Button>();
helpButton.onClick.RemoveAllListeners();
helpButton.onClick.AddListener(HelpMenu);
Button returnButton = Auxiliary.FindObject(resetCanvas, "ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(EndReset);
Button closeHelp = Auxiliary.FindObject(helpMenu, "CloseHelpButton").GetComponent <Button>();
closeHelp.onClick.RemoveAllListeners();
closeHelp.onClick.AddListener(CloseHelpMenu);
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.OrbitState(dynamicCamera));
foreach (SimulatorRobot robot in state.SpawnedRobots)
{
foreach (BRigidBody rb in robot.GetComponentsInChildren <BRigidBody>())
{
if (rb != null && !rb.GetCollisionObject().IsActive)
{
rb.GetCollisionObject().Activate();
}
}
}
if (!state.DynamicCameraObject.GetComponent <DynamicCamera>().ActiveState.GetType().Equals(typeof(DynamicCamera.ConfigurationState)))
{
IsResetting = true;
foreach (RigidNode n in RootNode.ListAllNodes())
{
BRigidBody br = n.MainObject.GetComponent <BRigidBody>();
if (br == null)
{
continue;
}
RigidBody r = (RigidBody)br.GetCollisionObject();
r.LinearVelocity = r.AngularVelocity = BulletSharp.Math.Vector3.Zero;
r.LinearFactor = r.AngularFactor = BulletSharp.Math.Vector3.Zero;
BulletSharp.Math.Matrix newTransform = r.WorldTransform;
newTransform.Origin = (robotStartPosition + n.ComOffset).ToBullet();
newTransform.Basis = BulletSharp.Math.Matrix.Identity;
r.WorldTransform = newTransform;
}
OnBeginReset();
//Where "save orientation" works
RotateRobot(robotStartOrientation);
AttachMoveArrows();
}
else
{
UserMessageManager.Dispatch("Please don't reset robot during configuration!", 5f);
}
}
// Use this for initialization
public override void Start()
{
#region init
ui = GameObject.Find("ResetGamepieceSpawnpointUI");
helpMenu = Auxiliary.FindObject(ui, "Help");
toolbar = Auxiliary.FindObject(ui, "ResetStateToolbar");
overlay = Auxiliary.FindObject(ui, "Overlay");
#endregion
Gamepiece gamepiece = FieldDataHandler.gamepieces[gamepieceIndex];
//gamepiece indicator
if (spawnIndicator != null)
{
GameObject.Destroy(spawnIndicator);
}
if (spawnIndicator == null)
{
spawnIndicator = GameObject.Instantiate(Auxiliary.FindGameObject(gamepiece.name), new UnityEngine.Vector3(0, 3, 0), UnityEngine.Quaternion.identity);
spawnIndicator.SetActive(true);
spawnIndicator.name = "SpawnIndicator";
GameObject.Destroy(spawnIndicator.GetComponent <BRigidBody>());
GameObject.Destroy(spawnIndicator.GetComponent <BCollisionShape>());
GameObject.Destroy(spawnIndicator.GetComponent <Tracker>());
if (spawnIndicator.transform.GetChild(0) != null)
{
spawnIndicator.transform.GetChild(0).name = "SpawnIndicatorMesh";
}
Renderer render = spawnIndicator.GetComponentInChildren <Renderer>();
render.material.shader = Shader.Find("Transparent/Diffuse");
Color newColor = render.material.color;
newColor.a = 0.6f;
render.material.color = newColor;
}
spawnIndicator.transform.position = gamepiece.spawnpoint;
//move arrow attachment
GameObject moveArrows = GameObject.Instantiate(Resources.Load <GameObject>("Prefabs\\MoveArrows"));
moveArrows.name = "IndicatorMoveArrows";
moveArrows.transform.parent = spawnIndicator.transform;
moveArrows.transform.localPosition = UnityEngine.Vector3.zero;
//IMPORTANT
moveArrows.GetComponent <MoveArrows>().Translate = (translation) =>
spawnIndicator.transform.Translate(translation, Space.World);
StateMachine.SceneGlobal.Link <GamepieceSpawnState>(moveArrows);
//camera stuff
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.ConfigurationState(dynamicCamera, spawnIndicator));
//help menu
Button resetButton = GameObject.Find("ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(ResetSpawn);
Button helpButton = GameObject.Find("HelpButton").GetComponent <Button>();
helpButton.onClick.RemoveAllListeners();
helpButton.onClick.AddListener(HelpMenu);
Button returnButton = GameObject.Find("ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(ReturnToMainState);
Button closeHelp = Auxiliary.FindObject(helpMenu, "CloseHelpButton").GetComponent <Button>();
closeHelp.onClick.RemoveAllListeners();
closeHelp.onClick.AddListener(CloseHelpMenu);
}
//Camera Functions
public void SwitchCameraFreeroam()
{
camera.SwitchCameraState(0);
}
/// <summary>
/// Return the robot to robotStartPosition and destroy extra game pieces
/// </summary>
/// <param name="resetTransform"></param>
public void BeginReset()
{
//GetDriverPractice().DestroyAllGamepieces();
InputControl.freeze = true;
if (canvas == null)
{
canvas = GameObject.Find("Canvas");
}
if (resetCanvas == null)
{
resetCanvas = Auxiliary.FindObject(UnityEngine.Camera.main.gameObject, "ResetRobotSpawnpointUI");
}
canvas.GetComponent <Canvas>().enabled = false;
resetCanvas.SetActive(true);
#region init
if (toolbar == null)
{
toolbar = Auxiliary.FindObject(resetCanvas, "ResetStateToolbar");
}
#endregion
Button resetButton = Auxiliary.FindObject(resetCanvas, "ResetButton").GetComponent <Button>();
resetButton.onClick.RemoveAllListeners();
resetButton.onClick.AddListener(BeginRevertSpawnpoint);
Button returnButton = Auxiliary.FindObject(resetCanvas, "ReturnButton").GetComponent <Button>();
returnButton.onClick.RemoveAllListeners();
returnButton.onClick.AddListener(EndReset);
DynamicCamera dynamicCamera = UnityEngine.Camera.main.transform.GetComponent <DynamicCamera>();
lastCameraState = dynamicCamera.ActiveState;
dynamicCamera.SwitchCameraState(new DynamicCamera.OrbitState(dynamicCamera));
foreach (SimulatorRobot robot in state.SpawnedRobots)
{
foreach (BRigidBody rb in robot.GetComponentsInChildren <BRigidBody>())
{
if (rb != null && !rb.GetCollisionObject().IsActive)
{
rb.GetCollisionObject().Activate();
}
}
}
if (!state.DynamicCameraObject.GetComponent <DynamicCamera>().ActiveState.GetType().Equals(typeof(DynamicCamera.ConfigurationState)))
{
IsResetting = true;
BeginRobotReset();
OnBeginReset();
//Where "save orientation" works
RotateRobot(robotStartOrientation);
AttachMoveArrows();
}
else
{
UserMessageManager.Dispatch("Please don't reset robot during configuration!", 5f);
}
SimUI.getSimUI().OpenNavigationTooltip();
}
