public override void PostFrameCallback()
{
uint frame = Mem.ReadU32(AddrGlobal.NonLagFrameCount);
if ((frame <= _prevF) && !Emu.IsLagged())
{
Emu.SetIsLagged(true);
Emu.SetLagCount(Emu.LagCount() + 1);
}
uint mode = Mem.ReadByte(AddrGlobal.GameMode);
_levelTime = Mem.ReadU16(AddrGlobal.LevelFrameCount);
ResetStatusLine();
StatusText($"Frames: {Mem.ReadU32(AddrGlobal.FrameCount),7} Nonlag: {frame,7} Level: {_levelTime,6} GameMode: {mode:X2}");
switch (mode)
{
case 0x20:
case 0x28:
case 0xAC:
Update2DTickers();
if (_mapDumpState != 0)
{
PostProcessMapDump();
}
DrawTurnSignal();
break;
case 0xF6:
Update3DTickers();
break;
}
Joy.Set("C", null, 1);
Joy.Set("Start", null, 1);
Gui.DrawFinish();
}
public override int GetHashCode()
{
int hash = 1;
if (CtrlNum != 0)
{
hash ^= CtrlNum.GetHashCode();
}
if (pos_ != null)
{
hash ^= Pos.GetHashCode();
}
if (rot_ != null)
{
hash ^= Rot.GetHashCode();
}
if (joy_ != null)
{
hash ^= Joy.GetHashCode();
}
if (Trigger != 0F)
{
hash ^= Trigger.GetHashCode();
}
if (Buttons != 0)
{
hash ^= Buttons.GetHashCode();
}
return(hash);
}
void joyTwistCallback(Joy joy)
{
TwistStamped velocity = new TwistStamped();
velocity.header.Frame_id = baseStabilizedFrame;
velocity.header.Stamp = ROS.GetTime();
velocity.twist.linear.x = getAxis(joy, sAxes.x);
velocity.twist.linear.y = getAxis(joy, sAxes.y);
velocity.twist.linear.z = getAxis(joy, sAxes.z);
velocity.twist.angular.z = getAxis(joy, sAxes.yaw) * Math.PI / 180.0;
if (getButton(joy, sButtons.slow))
{
velocity.twist.linear.x *= slowFactor;
velocity.twist.linear.y *= slowFactor;
velocity.twist.linear.z *= slowFactor;
velocity.twist.angular.z *= slowFactor;
}
velocityPublisher.publish(velocity);
if (getButton(joy, sButtons.stop))
{
enableMotors(false);
}
else if (getButton(joy, sButtons.go))
{
enableMotors(true);
}
}
public XYZrobot()
{
InitializeComponent();
joys = new Joy();
joys.Show();
robot = new Robot();
sw = new Stopwatch();
}
public IndexNode(Joy.Data.IndexUnit indexPage)
{
this.ID = Guid.Empty;
this.IsDeleted = true;
this.Right = new IndexLink();
this.Left = new IndexLink();
this.DataPageID = uint.MaxValue;
this.IndexPage = indexPage;
}
} // 플레이어가 현재 상호작용중인지 정의하는 변수다.
//public
// CheaserHitBButton hitButton;
void Start()
{
animator = GetComponent <Animator>();
JoyStick = GameObject.Find("JoyStickBackground").GetComponent <Joy>(); // 다른클래스를 호출한다.
_cFunc = new CommonFunction();
_moveSpeed = 0;
isInteracting = false;
// hitButton = GameObject.Find("AttckButton").GetComponent<CheaserHitBButton>();
}
Vector2 GetUIPoint(Joy joy)
{
var virtualCenter = GetVirtualCenter(joy);
Vector2 uiPoint = Vector2.zero;
uiPoint.x = virtualCenter.x - joy.parame.radius;
uiPoint.y = virtualCenter.y - joy.parame.radius;
return(uiPoint);
}
public bool getButton(Joy joy, SButton button)
{
if (button.button <= 0 || button.button > joy.buttons.Length)
{
ROS.Error("Button " + button.button + " out of range, joy has " + joy.buttons.Length + " buttons");
return(false);
}
return(joy.buttons[button.button - 1] > 0);
}
Texture2D GetJoyTexture(Joy joy)
{
if (joy.virtualShape == JoyVirtualShape.Circle)
{
return(circleTexture);
}
else
{
return(squarTexture);
}
}
private void AutoFire3D()
{
if ((_player3D.ChargeCtr <= 1) && ((_player3D.State == 0) || (_player3D.BreachCtr != 0)))
{
Joy.Set("B", true, 1);
}
else if (_player3D.ChargeCtr > 1)
{
Joy.Set("B", false, 1);
}
Joy.Set("C", (_levelTime & 1) == 0, 1);
}
public void Start()
{
this.firePosition = this.transform.Find("TankRenderers/TankTurret/firePosition").GetComponent <Transform>();
this.tankInformation = this.GetComponent <TankInfomation>();
this.buller_Scale = 1f;
if (this.isLocalPlayer == true)
{
// 这个主要是要控制坦克joy来动态的给属性firingBullet赋值，因为会同时存在多个坦克，使得joy不知道该是哪个坦克身上的脚本。
this.joy = GameObject.Find("Canvas").transform.Find("YaoGan_ControllFaShe/Joy").GetComponent <Joy>();
this.joy.GetComponent <Joy>().firingBullet = this;
}
Network.sendRate = 60;
}
Vector2 GetVirtualCenter(Joy joy)
{
JoyParame parame = joy.parame;
Vector2 center = Vector2.zero;
if (joy.screenDirection == JoyScreenDirection.Left)
{
center.x = parame.boundary.x + parame.radius;
center.y = Screen.height - parame.boundary.y - parame.radius;
}
else if (joy.screenDirection == JoyScreenDirection.Right)
{
center.x = Screen.width - parame.boundary.x - parame.radius;
center.y = Screen.height - parame.boundary.y - parame.radius;
}
return(center);
}
public double getAxis(Joy joy, SAxis axis)
{
if (axis.axis == 0 || Math.Abs(axis.axis) > joy.axes.Length)
{
ROS.Error("Axis " + axis.axis + " out of range, joy has " + joy.axes.Length + " axes");
return(0);
}
double output = Math.Abs(axis.axis) / axis.axis * joy.axes[Math.Abs(axis.axis) - 1] * axis.factor + axis.offset;
// TODO keep or remove deadzone? may not be needed
// if (Math.Abs(output) < axis.max_ * 0.2)
// {
// output = 0.0;
// }
return(output);
}
public void MergeFrom(Hydra other)
{
if (other == null)
{
return;
}
if (other.CtrlNum != 0)
{
CtrlNum = other.CtrlNum;
}
if (other.pos_ != null)
{
if (pos_ == null)
{
pos_ = new global::Google.Protobuf.VRCom.Position();
}
Pos.MergeFrom(other.Pos);
}
if (other.rot_ != null)
{
if (rot_ == null)
{
rot_ = new global::Google.Protobuf.VRCom.Rotation();
}
Rot.MergeFrom(other.Rot);
}
if (other.joy_ != null)
{
if (joy_ == null)
{
joy_ = new global::Google.Protobuf.VRCom.Joystick();
}
Joy.MergeFrom(other.Joy);
}
if (other.Trigger != 0F)
{
Trigger = other.Trigger;
}
if (other.Buttons != 0)
{
Buttons = other.Buttons;
}
}
public void joyAttitudeCallback(Joy joy)
{
AttitudeCommand attitude = new AttitudeCommand();
ThrustCommand thrust = new ThrustCommand();
YawRateCommand yawrate = new YawRateCommand();
attitude.header.Stamp = thrust.header.Stamp = yawrate.header.Stamp = ROS.GetTime();
attitude.header.Frame_id = yawrate.header.Frame_id = baseStabilizedFrame;
thrust.header.Frame_id = baseLinkFrame;
attitude.roll = (float)(-getAxis(joy, sAxes.y) * Math.PI / 180.0);
attitude.pitch = (float)(getAxis(joy, sAxes.x) * Math.PI / 180.0);
if (getButton(joy, sButtons.slow))
{
attitude.roll *= (float)slowFactor;
attitude.pitch *= (float)slowFactor;
}
attitudePublisher.publish(attitude);
thrust.thrust = (float)getAxis(joy, sAxes.thrust);
thrustPublisher.publish(thrust);
yawrate.turnrate = (float)(getAxis(joy, sAxes.yaw) * Math.PI / 180.0);
if (getButton(joy, sButtons.slow))
{
yawrate.turnrate *= (float)slowFactor;
}
yawRatePublisher.publish(yawrate);
if (getButton(joy, sButtons.stop))
{
enableMotors(false);
}
else if (getButton(joy, sButtons.go))
{
enableMotors(true);
}
}
void joyPoseCallback(Joy joy)
{
Messages.std_msgs.Time now = ROS.GetTime();
double dt = 0.0;
if ((pose.header.Stamp.data.sec == 0 && pose.header.Stamp.data.nsec == 0))
{
TimeData td = (now - pose.header.Stamp).data;
double sec = td.toSec();
dt = Mathf.Max(0, Mathf.Min(1f, (float)sec));
}
if (getButton(joy, sButtons.go))
{
pose.header.Stamp = ROS.GetTime();
pose.header.Frame_id = worldFrame;
pose.pose.position.x += (Math.Cos(yaw) * getAxis(joy, sAxes.x) - Math.Sin(yaw) * getAxis(joy, sAxes.y)) * dt;
pose.pose.position.y += (Math.Cos(yaw) * getAxis(joy, sAxes.y) + Math.Sin(yaw) * getAxis(joy, sAxes.x)) * dt;
pose.pose.position.z += getAxis(joy, sAxes.z) * dt;
yaw += getAxis(joy, sAxes.yaw) * Math.PI / 180.0 * dt;
tf.net.emQuaternion q = tf.net.emQuaternion.FromRPY(new tf.net.emVector3(0, 0, yaw));
pose.pose.orientation = q.ToMsg();
PoseGoal goal = new PoseGoal();
goal.target_pose = pose;
poseClient.sendGoal(goal);
}
if (getButton(joy, sButtons.interrupt))
{
poseClient.cancelGoalsAtAndBeforeTime(ROS.GetTime());
}
if (getButton(joy, sButtons.stop))
{
landingClient.sendGoalAndWait(new LandingGoal(), new Messages.std_msgs.Duration(new TimeData(10, 0)), new Messages.std_msgs.Duration(new TimeData(10, 0)));
}
}
void Handler([NotNull] Joy joy)
{
bool newHasMain = (joy.Buttons.Length == 1 && joy.Buttons[0] == 0) || joy.Buttons.Length == 2;
//Debug.Log("newhasmain " + newHasMain);
if (currentHasMain != newHasMain)
{
if (newHasMain)
{
OnMainDown();
}
else
{
OnMainUp();
}
currentHasMain = newHasMain;
}
bool newHasAlt = (joy.Buttons.Length == 1 && joy.Buttons[0] == 1) || joy.Buttons.Length == 2;
//Debug.Log("newhasalt" + newHasAlt);
if (currentHasAlt != newHasAlt)
{
if (newHasAlt)
{
OnAltDown();
}
else
{
OnAltUp();
}
currentHasAlt = newHasAlt;
}
}
protected override void ReceiveMessage(Joy message)
{
throw new System.NotImplementedException();
}
Rect GetUIRect(Joy joy)
{
var uiPoint = GetUIPoint(joy);
return(new Rect(uiPoint.x, uiPoint.y, joy.parame.radius * 2, joy.parame.radius * 2));
}
public override void PreFrameCallback()
{
Gui.ClearText();
if (!Gui.HasGUISurface)
{
Gui.DrawNew("emu");
}
_camX = Mem.ReadS16(Addr2D.CamX) - _left;
_camY = Mem.ReadS16(Addr2D.CamY) - _top;
switch (Mem.ReadU8(AddrGlobal.GameMode))
{
// Dialog screen
case 0x00:
if (_autofireEnabled)
{
// This doesn't fully work, but gets > 50%
if (Mem.ReadS16(AddrGlobal.TextYSpeed) == -3)
{
Joy.Set("C", true, 1);
}
else
{
Joy.Set("C", false, 1);
}
}
break;
case 0xF6:
UpdatePlayer3D();
if (_autofireEnabled)
{
AutoFire3D();
}
break;
case 0x20:
case 0x28:
case 0xAC:
UpdatePlayer2D();
if (_autofireEnabled)
{
AutoFire2D();
}
break;
default:
break;
}
if (!_mapDumpingEnabled || (_mapDumpState == 0))
{
Color bg = BackdropColor();
Gui.DrawRectangle(0, 0, _left + 320 + _right, _top, bg, bg);
Gui.DrawRectangle(0, 0, _left, _top + 224 + _bottom, bg, bg);
Gui.DrawRectangle(_left + 320, 0, _left + 320 + _right, _top + 224 + _bottom, bg, bg);
Gui.DrawRectangle(0, _top + 224, _left + 320 + _right, _top + 224 + _bottom, bg, bg);
}
switch (Mem.ReadU8(AddrGlobal.GameMode))
{
case 0x20:
case 0x28:
case 0xAC:
if (_mapDumpState <= 1)
{
Draw2DHud();
}
if (_mapDumpingEnabled)
{
PreProcessMapDump();
}
break;
case 0xF6:
Draw3DHud();
break;
default:
break;
}
_prevF = Mem.ReadU32(AddrGlobal.NonLagFrameCount);
}
