/// <summary>
/// Sends a message to the simulation to apply an external force at a certain position.
/// </summary>
/// <param name="roboyPart">The roboypart where the force should be applied.</param>
/// <param name="position">The relative position of the force to the roboypart.</param>
/// <param name="force">The direction and the amount of force relative to roboypart.</param>
/// <param name="duration">The duration for which the force should be applied.</param>
public void ReceiveExternalForce(RoboyPart roboyPart, Vector3 position, Vector3 force, int duration)
{
ROSBridgeLib.custom_msgs.ExternalForceMsg msg =
new ROSBridgeLib.custom_msgs.ExternalForceMsg(roboyPart.gameObject.name, GazeboUtility.UnityPositionToGazebo(position), GazeboUtility.UnityPositionToGazebo(force), duration);
ROSBridge.Instance.Publish(RoboyForcePublisher.GetMessageTopic(), msg);
//Debug.Log(msg.ToYAMLString());
}
public void CreatePages(int motorCount, int pagesCount, RoboyPart roboyPart)
{
if (pagesCount < 1)
{
Debug.Log("Pages count cannot be smaller than 1!");
return;
}
int motorCountLeft = motorCount;
for (int i = 0; i < pagesCount; i++)
{
UIPanelPage panelPage = Instantiate(UIPanelPagePrefab, Vector3.zero, Quaternion.identity);
panelPage.transform.SetParent(transform, false);
panelPage.CreateGraphRenderers(motorCountLeft, i, PanelMode, roboyPart);
PanelPages.Add(panelPage);
panelPage.gameObject.SetActive(false);
motorCountLeft = motorCountLeft - 4;
}
}
//public void Initialize(List<float> values)
//{
// transform.GetComponentsInChildren()
//}
public void CreateGraphRenderers(int motorCountLeft, int currentPage, ModeManager.Panelmode panelMode, RoboyPart roboyPart)
{
int motorsToCreate = Mathf.Min(4, motorCountLeft);
for (int i = 0; i < motorsToCreate; i++)
{
GraphRenderer graphRenderer = Instantiate(GraphRendererPrefab, Vector3.zero, Quaternion.identity);
graphRenderer.transform.SetParent(transform, false);
string motorIndex = "Motor" + (i + currentPage * 4);
graphRenderer.TextForValueName.text = motorIndex;
//Debug.Log(motorIndex);
graphRenderer.Initialize(roboyPart.Categories[panelMode].Motors[motorIndex].Values, 30, 0f);
graphRenderer.Play();
GraphRenderers.Add(graphRenderer);
}
}
