private void HandleRobotMessage(RobotMessage message)
{
const float deadzone = 0.3f;
switch (message.JoystickType)
{
case JoystickType.Direction:
_robot.Direction = message.CalculateHeadingVector(deadzone);
break;
case JoystickType.Rotation:
_robot.Rotation = message.GetScaledX(deadzone, 2, 25);
break;
case JoystickType.Camera:
if (message.MessageType == MessageType.Reset)
{
_cameraController.CenterView();
}
else
{
_cameraController.StartMove(message.CalculateHeadingVector(deadzone));
}
break;
case JoystickType.Translation:
var direction = message.CalculatePinPosition(0.1f);
const float scaleBy = 5;
var newTransform = new Vector3(-direction.X * scaleBy, -direction.Y * scaleBy, 0);
if (!newTransform.Similar(_robot.RelaxedStance, 0.5f))
{
_robot.UpdateAboluteRelaxedStance(newTransform, _robot.RelaxedStanceRotation);
}
break;
case JoystickType.Height:
var heightAdjust = -message.CalculatePinPosition(0.1f).X;
const float scaleByHeight = 5;
newTransform = new Vector3(0, 0, heightAdjust * scaleByHeight);
if (!newTransform.Similar(_robot.RelaxedStance, 0.5f))
{
_robot.UpdateAboluteRelaxedStance(newTransform, _robot.RelaxedStanceRotation);
}
break;
case JoystickType.BodyRotation:
direction = message.CalculatePinPosition(0.1f);
const float scaleByRotation = 10;
var newRotation = new Rotation(0, -direction.X * scaleByRotation, direction.Y * scaleByRotation);
if (!newRotation.Similar(_robot.RelaxedStanceRotation, 0.5f))
{
_robot.UpdateAboluteRelaxedStance(_robot.RelaxedStance, newRotation);
}
break;
default:
throw new NotImplementedException();
}
}
