/// <summary>
/// Add a new camera to the robot using the default position (0, 0.5, 0) and rotation
/// </summary>
/// <returns></returns>
public GameObject AddCamera(SimulatorRobot robot, Transform anchor)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <UnityEngine.Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = new Vector3(0f, 0f, 0f);
newCamera.transform.localRotation = Quaternion.identity;
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
//Set the camera parent robot, which is necessary when changing robot and restoring the configuration
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
//Make sure current camera is the first one on the list
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
return(newCamera);
}
/// <summary>
/// Add a new camera to the robot
/// </summary>
/// <param name="anchor"></param> The robot node to which the camera attaches
/// <param name="positionOffset"></param>
/// <param name="rotationOffset"></param>
/// <returns></returns>
public GameObject AddCamera(SimulatorRobot robot, Transform anchor, Vector3 positionOffset, Vector3 rotationOffset)
{
GameObject newCamera = new GameObject("RobotCamera_" + robotCameraList.Count);
newCamera.AddComponent <UnityEngine.Camera>();
newCamera.transform.parent = anchor;
newCamera.transform.localPosition = positionOffset;
newCamera.transform.localRotation = Quaternion.Euler(rotationOffset);
newCamera.GetComponent <UnityEngine.Camera>().fieldOfView = 60;
RobotCamera configuration = newCamera.AddComponent <RobotCamera>();
configuration.UpdateConfiguration();
//Set the camera parent robot, which is necessary when changing robot and restoring the configuration
configuration.SetParentRobot(robot);
newCamera.SetActive(false);
if (robotCameraList.Count == 0)
{
CurrentCamera = newCamera;
}
robotCameraList.Add(newCamera);
return(newCamera);
}
/// <summary>
/// Return a list of robot cameras attached to a given robot
/// </summary>
/// <param name="parent"></param> A robot on which cameras are attached to
/// <returns></returns> A list of camera attach to that robot
public List <GameObject> GetRobotCamerasFromRobot(SimulatorRobot parent)
{
List <GameObject> camerasOnRobot = new List <GameObject>();
foreach (GameObject camera in robotCameraList)
{
RobotCamera config = camera.GetComponent <RobotCamera>();
if (config.robot.Equals(parent))
{
camerasOnRobot.Add(camera);
}
}
return(camerasOnRobot);
}
