void StartPalms()
{
leftPalm = TfListener.GetOrCreateFrame($"{MyId}/controller/left_palm");
leftPalm.transform.localScale = 0.05f * Vector3.one;
leftPalm = TfListener.GetOrCreateFrame($"{MyId}/controller/left_hand");
node = FrameNode.Instantiate("Hololens");
node.Parent = leftPalm;
leftPalmPose = new Pose(Vector3.up * 1f, Quaternion.identity);
leftPalm.SetPose(leftPalmPose);
leftPalm.ParentCanChange = false;
LeftHandScale = 0.1f;
}
public TfModuleData([NotNull] ModuleDataConstructor constructor) :
base(constructor.GetConfiguration <TfConfiguration>()?.Topic ?? constructor.Topic,
constructor.Type)
{
panel = DataPanelManager.GetPanelByResourceType <TfPanelContents>(ModuleType.TF);
listener = new TfListener(this);
if (constructor.Configuration != null)
{
listener.Config = (TfConfiguration)constructor.Configuration;
}
else
{
listener.Config.Topic = Topic;
}
listener.StartListening();
UpdateModuleButton();
}
void Update()
{
if (highlightFrameStart == null)
{
return;
}
float srcAlpha = 1 - (Time.time - highlightFrameStart.Value) / HighlightDuration;
if (srcAlpha < 0)
{
this.ReturnToPool();
return;
}
float alpha = Mathf.Sqrt(srcAlpha);
var color = Color.white.WithAlpha(alpha);
axisResource.Tint = color;
tooltip.CaptionColor = color;
tooltip.BackgroundColor = Resource.Colors.HighlighterBackground.WithAlpha(alpha);
var(pX, pY, pZ) = TfListener.RelativePositionToFixedFrame(node.Transform.position).Unity2RosVector3();
string px = pX.ToString("#,0.##", UnityUtils.Culture);
string py = pY.ToString("#,0.##", UnityUtils.Culture);
string pz = pZ.ToString("#,0.##", UnityUtils.Culture);
StringBuilder str = BuilderPool.Rent();
try
{
str.Append("<font=Bold>").Append(node.ParentId).Append("</font>\n");
str.Append(px).Append(", ").Append(py).Append(", ").Append(pz);
tooltip.SetCaption(str);
}
finally
{
BuilderPool.Return(str);
}
}
