public void createPathPoint(Transform pos)
{
point = new Point(pos);
wp = new WaypointUpdateParameters();
Gb = new GimballParameters();
Rc = new RecCamParameters();
wp.gimbal_parameters = Gb;
wp.reccam_parameters = Rc;
wp.gimbal_parameters.id_pointer = Id;
wp.reccam_parameters.id_pointer = Id;
}
public void createPathPointWithPoint(Point pos, int gbId, int rcId)
{
point = pos;
gbId = 0;
rcId = 0;
wp = new WaypointUpdateParameters();
Gb = new GimballParameters();
Rc = new RecCamParameters();
wp.gimbal_parameters = Gb;
wp.reccam_parameters = Rc;
Gb.id_pointer = gbId;
Rc.id_pointer = rcId;
}
public void copyPoint(Point secondPoint, GimballParameters gbParam, RecCamParameters rcParam, Transform transf)
{
point.PointTransf1 = transf;
point.Speed = secondPoint.Speed;
if (gbParam != null)
{
Gb.poi_or_angles = gbParam.poi_or_angles;
Gb.mode = gbParam.mode;
Rc.resolution = rcParam.resolution; // ## Necesitamos saber resoluciones mínimas y/o máximas
Rc.brightness = rcParam.brightness;
}
point.setPointType(secondPoint.getPointType());
point.id = secondPoint.Id;
point.SegmentsTop = secondPoint.SegmentsTop;
point.SegmentsRight = secondPoint.SegmentsRight;
point.Poi1 = secondPoint.Poi;
}
/// <summary>
/// This function assigns the reccam parameters saved to a waypoint
/// </summary>
/// <param name="rc"> The reccamparameters to assign</param>
/// <param name="point">Waypoint that will get reccam parameters assigned</param>
void reSetRecCamGuis(RecCamParameters rc, PathPoint point)
{
//This switch is based on messagecodes RCamCommandType
for (int i = 0; i < rc.reccam_parameters.Count; i++)
{
switch (rc.reccam_parameters[i].array[0])
{
case 6:
point.Rc.active = true;
point.Rc.switchToRec = 1;
break;
case 7:
point.Rc.active = true;
point.Rc.switchToRec = 0;
break;
case 9:
point.Rc.active = true;
point.Rc.switchToRec = 1;
break;
case 10:
point.Rc.active = false;
break;
case 11:
point.Rc.active = true;
point.Rc.switchToRec = 0;
break;
case 12:
point.Rc.active = true;
point.Rc.switchToRec = 0;
break;
case 17:
//This switch is based on RCamConfigParameter
switch (rc.reccam_parameters[i].array[1])
{
case 0:
point.Rc.resolution = (rc.reccam_parameters[i].array[2]);
break;
case 1:
point.Rc.megaPixels = rc.reccam_parameters[i].array[2];
break;
case 2:
point.Rc.autoManualWB = rc.reccam_parameters[i].array[2];
break;
case 54:
point.Rc.WBTint = rc.reccam_parameters[i].array[2];
break;
case 3:
point.Rc.ISO = rc.reccam_parameters[i].array[2];
break;
case 4:
point.Rc.sharpness = rc.reccam_parameters[i].array[2];
break;
case 5:
point.Rc.contrast = new byte[] { rc.reccam_parameters[i].array[2], rc.reccam_parameters[i].array[3], rc.reccam_parameters[i].array[4], rc.reccam_parameters[i].array[5] };
break;
case 6:
point.Rc.AE = rc.reccam_parameters[i].array[2];
break;
case 12:
point.Rc.AF = 1;
break;
case 14:
point.Rc.saturation = new byte[] { rc.reccam_parameters[i].array[2], rc.reccam_parameters[i].array[3], rc.reccam_parameters[i].array[4], rc.reccam_parameters[i].array[5] };
break;
case 15:
point.Rc.brightness = new byte[] { rc.reccam_parameters[i].array[2], rc.reccam_parameters[i].array[3], rc.reccam_parameters[i].array[4], rc.reccam_parameters[i].array[5] };
break;
case 17:
point.Rc.photoQuality = rc.reccam_parameters[i].array[2];
break;
case 19:
point.Rc.upsideDown = rc.reccam_parameters[i].array[2];
break;
case 21:
point.Rc.irisAperture = rc.reccam_parameters[i].array[2];
break;
case 36:
point.Rc.burstMode = rc.reccam_parameters[i].array[2];
break;
case 64:
point.Rc.burstSpeed = rc.reccam_parameters[i].array[2];
break;
default:
break;
}
break;
case 32:
point.Rc.active = true;
point.Rc.switchToRec = 0;
break;
case 33:
point.Rc.active = false;
break;
default:
break;
}
}
point.Rc.edited = true;
}
/// <summary>
/// This is the main fucntion that loads the map and the plan waypoints
/// </summary>
/// <param name="path"></param>
void LoadMap(string path)
{
//We load the main path
if (ownPath == null)
{
ownPath = Path.Instance;
}
//laod the metadata
string json = System.IO.File.ReadAllText(path);
MapMetadata metadata = JsonUtility.FromJson <MapMetadata>(json);
UnityEngine.Debug.Log("Loading map");
BinaryFormatter bFormatter = new BinaryFormatter();
//if (!AskForMap())
// return;
FileStream file;
//If it is a pointcloud we load a pointcloud map, and if it isn't a collada
if (metadata.Map_type == (byte)MapMetadata.MapType.PointCloud)
{
file = File.OpenRead(Application.persistentDataPath + "/PersistentData/Maps/" + MissionManager.guid + ".dpl.map");
}
else
{
file = File.OpenRead(Application.persistentDataPath + "/PersistentData/Maps/" + MissionManager.guid + ".dae.map");
}
//var xmlWriter = new XmlTextWriter(file, Encoding.UTF8);
//xmlWriter.
XmlDocument doc = new XmlDocument();
string aux;
GameObject auxGameObject = new GameObject();
UnityEngine.Debug.Log(MissionManager.invMatrix);
//An empty box and a 3d model are the same
if (metadata.Map_type == (byte)MapMetadata.MapType.EmptyBox)
{
using (StreamReader reader = new StreamReader(file))
{
aux = reader.ReadToEnd();
}
doc.LoadXml(aux);
ColladaImporter importer = new ColladaImporter(ref auxGameObject);
StartCoroutine(importer.getMesh(doc, cullBackShader));
}
else if (metadata.Map_type == (byte)MapMetadata.MapType.Model3D)
{
using (StreamReader reader = new StreamReader(file))
{
aux = reader.ReadToEnd();
}
doc.LoadXml(aux);
ColladaImporter importer = new ColladaImporter(ref auxGameObject);
StartCoroutine(importer.getMesh(doc, shader));
}//But pointclouds are loaded different
else
{
//MapLoader used in mapalignment uses this exact function and they are already explained there
createBaseTriangle();
byte[] pclBytes = File.ReadAllBytes(Application.persistentDataPath + "/PersistentData/Maps/" + MissionManager.guid + ".dpl.map");
GameObject daeModel = new GameObject();
daeModel.name = "DaeModel";
daeModel.transform.parent = auxGameObject.transform;
LoadPointCloud(pclBytes, ref daeModel);
//SavedPointCloud pointCloud = JsonUtility.FromJson<SavedPointCloud>(aux);
//
//for (int i = 0; i < pointCloud.PointCloud.Count; i++)
//{
//
// GameObject gameObject = Instantiate(pcPrefab, auxGameObject.transform);
// gameObject.GetComponent<MeshFilter>().sharedMesh = new Mesh();
// gameObject.GetComponent<MeshFilter>().sharedMesh.name = "cmesh" + i.ToString();
// gameObject.GetComponent<MeshFilter>().mesh.vertices = pointCloud.PointCloud[i].vertex;
// int[] indices = new int[pointCloud.PointCloud[i].vertex.Length];
// Color[] colors = new Color[indices.Length];
// for (int j = 0; j < pointCloud.PointCloud[i].vertex.Length; j++)
// {
// indices[j] = j;
// colors[j] = new Color(pointCloud.PointCloud[i].colors[j].x, pointCloud.PointCloud[i].colors[j].y, pointCloud.PointCloud[i].colors[j].z, 1);
// }
// gameObject.GetComponent<MeshFilter>().mesh.colors = colors;
// gameObject.GetComponent<MeshFilter>().mesh.RecalculateNormals();
// gameObject.GetComponent<MeshFilter>().mesh.SetIndices(indices, MeshTopology.Triangles, 0, true);
// gameObject.GetComponent<MeshFilter>().mesh.RecalculateBounds();
// Matrix4x4 auxMat = pointCloud.PointCloud[i].matrix;
// gameObject.transform.rotation = auxMat.rotation;
// gameObject.transform.position = new Vector3(auxMat.m03, auxMat.m13, auxMat.m23);
//
//
//}
}
//Once the maps are loaded, we start with the waypoints. First a mission is loaded
auxGameObject.name = "DaemodelChild";
string mapJson = File.ReadAllText(Application.persistentDataPath + "/PersistentData/Missions/" + MissionManager.guid + ".json.mission");
Map map = JsonUtility.FromJson <Map>(mapJson);
Path waypointPath = Path.Instance;
//sphereParentGO.transform.position = auxGameObject.transform.position;
//If this isn't a new plan, we load the plan selected previously
if (MissionManager.planIndex != -1)
{
//Here we get a plan from all the paths saved in missionmanager
waypointPath = map.Paths[MissionManager.planIndex];
ownPath.setPath(waypointPath);
//And give them the default parameters previously selected
MissionManager.planDefaultHeight = waypointPath.FlightParams.height;
MissionManager.planDefaultSpeed = waypointPath.FlightParams.speed;
MissionManager.planDefaultDuration = waypointPath.FlightParams.duration;
//Here we instantiate the waypoints
for (int i = 0; i < waypointPath.Count(); i++)
{
//waypointPath.GetPoint(i).PointPosition = new Vector3(waypointPath.GetPoint(i).PointPosition.x, waypointPath.GetPoint(i).PointPosition.z, waypointPath.GetPoint(i).PointPosition.y);
GameObject auxPoint = Instantiate(pointGO, waypointPath.GetPoint(i).PointPosition, Quaternion.Euler(0, 0, 0), sphereParentGO.transform);
//assign them the transform to the script
waypointPath.GetPoint(i).PointTransf = auxPoint.transform;
auxPoint.SetActive(true);
//Scale it
TransformSphere(topCam, auxPoint);
//And if it is the first one, we assign it the yellow colour, and to the last one, the green colour. The rest use the normal waypoint colour
if (i == 0)
{
auxPoint.transform.GetChild(0).GetComponent <Renderer>().sharedMaterial = homeNotSelectedMaterial;
//auxPoint.transform.GetChild(1).GetComponent<Renderer>().sharedMaterial.color = Color.white;
}
else if (i != waypointPath.Count() - 1)
{
auxPoint.transform.GetChild(0).GetComponent <Renderer>().sharedMaterial = waypointNotSelectedMaterial;
// auxPoint.transform.GetChild(1).GetComponent<Renderer>().sharedMaterial.color = Color.white;
//auxPoint.transform.GetChild(0).GetComponent<Renderer>().sharedMaterial = whiteOutlineMaterial;
//auxPoint.transform.GetChild(1).GetComponent<Renderer>().sharedMaterial = whiteOutlineMaterial;
}
else
{
//auxPoint.transform.GetChild(0).GetComponent<Renderer>().sharedMaterial = landingMaterial;
//auxPoint.transform.GetChild(1).GetComponent<Renderer>().sharedMaterial = landingMaterial;
auxPoint.transform.GetChild(0).GetComponent <Renderer>().sharedMaterial = landingNotSelectedMaterial;
//auxPoint.transform.GetChild(1).GetComponent<Renderer>().sharedMaterial.color = Color.white;
}
//We assign the monobehaviour that contains the point parameters
auxPoint.AddComponent <PathPoint>().createPathPointWithPoint(waypointPath.GetPoint(i), 0, 0);
}
//here we create the middlepoints that the curve contains
for (int i = 0; i < waypointPath.Count() - 1; i++)
{
lineMat.SetPass(0);
if (topCam != null)
{
CatmullRomSpline.DisplayCatmullRomSpline2(waypointPath, i, ref waypointPath.middlePointsTop, topCam.orthographicSize / 2.0f, true, topCam);
}
if (frontCam != null)
{
CatmullRomSpline.DisplayCatmullRomSpline(waypointPath, i, ref waypointPath.middlePointsRight, frontCam.orthographicSize / 2.0f, true, frontCam);
}
}
//This script is also used on recording, where we don't want points of interests. We adjust the path to the adjustmnets doen in model alignment and exit
if (GeneralSceneManager.sceneState == GeneralSceneManager.SceneState.Recording)
{
sphereParentGO.transform.position = new Vector3(map.unityToAnchors.m03 * 0.001f, map.unityToAnchors.m23 * 0.001f, map.unityToAnchors.m13 * 0.001f);
sphereParentGO.transform.localScale = new Vector3(map.unityToAnchors.m00 * 0.001f, map.unityToAnchors.m11 * 0.001f, map.unityToAnchors.m22 * 0.001f);
return;
}
//If not we create the points of interest
poisCreated = new List <GameObject>();
for (int i = 0; i < waypointPath.wpParametersCount(); i++)
{
//for each waypoint of interest that the path contains, we assign it to the respective waypoint
GimballParameters auxGimballUpdateParameters = waypointPath.getGbUpdateParameter(i);
Point auxPoint = waypointPath.GetPoint(auxGimballUpdateParameters.id_pointer);
auxPoint.PointTransf.gameObject.GetComponent <PathPoint>().Wp.gimbal_parameters = auxGimballUpdateParameters;
//And now depending on the type of point of interest, one behaviour is assigned. It can be a look at point, look at the curve,
//locked in yaw only while looking in a direction or looking in a direction without locks
switch (auxGimballUpdateParameters.mode)
{
case 0:
GameObject newpoi;
//First we search for a POI
System.Predicate <GameObject> predicate = (GameObject p) => { return(p.transform.position == auxGimballUpdateParameters.poi_or_angles); };
//If one POI has been placed at least
if (poisCreated.Count > 0)
{
//we find if the POI was already there, just in case multiple waypoints share the same POI
newpoi = poisCreated.Find(predicate);
if (newpoi == null)
{
newpoi = Instantiate(poi, auxGimballUpdateParameters.poi_or_angles, Quaternion.Euler(new Vector3(0, 0, 0)));
poisCreated.Add(newpoi);
newpoi.AddComponent <POI>();
}
}
else
{
newpoi = Instantiate(poi, auxGimballUpdateParameters.poi_or_angles, Quaternion.Euler(new Vector3(0, 0, 0)));
poisCreated.Add(newpoi);
newpoi.AddComponent <POI>();
}
//We create a new line that points from the POI to the waypoint. The poi object already has one, but if there is more than one waypoint
//related to the POI, we need to create more lines
GameObject newLine = newpoi.transform.GetChild(2).gameObject;
if (i > 0)
{
newLine = Instantiate(poi.transform.GetChild(2).gameObject, newpoi.transform.position, Quaternion.Euler(new Vector3(0, 0, 0)), newpoi.transform);
}
//All of this calculate the rotation, position and size of the line
Vector3 centerPos = new Vector3(auxPoint.PointTransf.position.x + newpoi.transform.position.x, auxPoint.PointTransf.position.y + newpoi.transform.position.y, auxPoint.PointTransf.position.z + newpoi.transform.position.z) / 2f;
float scaleX = Mathf.Abs((auxPoint.PointTransf.position - newpoi.transform.position).magnitude);
newLine.transform.localScale = new Vector3(scaleX, 3f, 3f);
//Esto es para rotar las imagenes de las camaras que tienen cada Waypoint
Transform cube = auxPoint.PointTransf.Find("CubeTop");
cube.gameObject.SetActive(true);
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from = new Vector2(-1, 0);
Vector3 aux2 = newpoi.transform.position - auxPoint.PointTransf.position;
Vector2 to = new Vector2(aux2.x, aux2.z).normalized;
float angle = Vector2.SignedAngle(from, to);
Transform cube2 = auxPoint.PointTransf.Find("CubeFront");
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from2 = new Vector2(-1, 0);
Vector3 aux3 = newpoi.transform.position - auxPoint.PointTransf.position;
Vector2 to2 = new Vector2(aux3.x, aux3.y).normalized;
float angle2 = Vector2.SignedAngle(from2, to2);
//float angle = Mathf.Acos(distance2 / distance);
//item.transform.Rotate(new Vector3(0, 1, 0), Vector2.Angle(from, to));
cube.transform.rotation = Quaternion.Euler(new Vector3(0, -angle, 0));
cube2.transform.rotation = Quaternion.Euler(new Vector3(0, 0, angle2));
cube.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.white;
cube2.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.white;
auxPoint.PointTransf.GetComponent <PathPoint>().Poi = newpoi.transform;
newpoi.GetComponent <POI>().addPoint(auxPoint.PointTransf.GetComponent <PathPoint>(), newLine);
//UnityEngine.Debug.Log(newpoi.GetComponent<POI>().Referenced.Count);
float sineC = (auxPoint.PointTransf.position.y - newpoi.transform.position.y) / scaleX;
newLine.transform.rotation = Quaternion.Euler(0, -angle, Mathf.Asin(sineC) * Mathf.Rad2Deg);
newLine.transform.position = newpoi.transform.position;
var rotation = Quaternion.Euler(0, -angle, Mathf.Asin(sineC) * Mathf.Rad2Deg).eulerAngles;
auxPoint.PointTransf.GetComponent <PathPoint>().GimbalRotation = new Vector3(rotation.z, rotation.y, rotation.x + 90);
auxPoint.PointTransf.GetComponent <PathPoint>().getGimballMode = 0;
TransformSphere(topCam, newpoi);
break;
case 1:
//This is the case where the direction will always point to the curve
float angle3 = 0;
float angle4 = 0;
int middlePointsIndexTop = 0;
int middlePointsIndexRight = 0;
//We iterate through the array to see the closest point from the curve to the waypoint. The signal that indicates this mode is activated is a green camera looking at that point on the waypoint.
for (i = 0; i < waypointPath.Count(); i++)
{
if (waypointPath.GetPoint(i) == auxPoint)
{
break;
}
middlePointsIndexTop += waypointPath.GetPoint(i).SegmentsTop;
middlePointsIndexRight += waypointPath.GetPoint(i).SegmentsRight;
}
//If this is the last point, there is no curve to look at anymore
if (middlePointsIndexRight >= waypointPath.middlePointsRight.Count)
{
break;
}
//Now from here we calculate the rotation of the camera mentioned above
Vector3 pointRight = waypointPath.middlePointsRight[middlePointsIndexRight];
Vector3 pointTop = waypointPath.middlePointsTop[middlePointsIndexTop];
//Esto es para rotar las imagenes de las camaras que tienen cada Waypoint
Transform cube3 = auxPoint.PointTransf.Find("CubeTop");
cube3.gameObject.SetActive(true);
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from3 = new Vector2(-1, 0);
Vector3 aux4 = pointTop - auxPoint.PointTransf.position;
Vector2 to3 = new Vector2(aux4.x, aux4.z).normalized;
angle3 = Vector2.SignedAngle(from3, to3);
Transform cube4 = auxPoint.PointTransf.Find("CubeFront");
cube4.gameObject.SetActive(true);
cube3.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.green;
cube4.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.green;
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from4 = new Vector2(-1, 0);
Vector3 aux5 = pointRight - auxPoint.PointTransf.position;
Vector2 to4 = new Vector2(aux5.x, aux5.y).normalized;
angle4 = Vector2.SignedAngle(from4, to4);
//float angle = Mathf.Acos(distance2 / distance);
//item.transform.Rotate(new Vector3(0, 1, 0), Vector2.Angle(from, to));
cube3.transform.rotation = Quaternion.Euler(new Vector3(0, -angle3, 0));
cube4.transform.rotation = Quaternion.Euler(new Vector3(0, 0, angle4));
//UnityEngine.Debug.Log(newpoi.GetComponent<POI>().Referenced.Count);
break;
case 2:
//This mode is for a direction with the yaw? locked
//We only show a line in this mode, so even if we instantiate a poi, is not shown
GameObject newpoi2 = Instantiate(poi, auxGimballUpdateParameters.poi_or_angles + auxPoint.PointTransf.position, Quaternion.Euler(new Vector3(0, 0, 0)));
//UnityEngine.Debug.Log(" POI POS: " + auxGimballUpdateParameters.poi_or_angles + " ITEM POS: " + auxPoint.PointTransf.position);
/*
* if (Input.mousePosition.x < Camera.main.pixelWidth / 2)
* {
* newpoi.transform.position = new Vector3(newpoi.transform.position.x, 0, newpoi.transform.position.z);
*
* }
* else
* {
* newpoi.transform.position = new Vector3(newpoi.transform.position.x, newpoi.transform.position.y, 1);
*
* }*/
newpoi2.SetActive(true);
newpoi2.transform.GetChild(0).gameObject.SetActive(false);
newpoi2.transform.GetChild(1).gameObject.SetActive(false);
newpoi2.AddComponent <POI>();
newpoi2.GetComponent <POI>().Direction = true;
float angle5 = 0;
float angle6 = 0;
float sineC5 = 0;
//from now on, we isntantiate a line and calculate position and direction
GameObject newLine2 = newpoi2.transform.GetChild(2).gameObject;
if (i > 0)
{
newLine2 = Instantiate(poi.transform.GetChild(2).gameObject, newpoi2.transform.position, Quaternion.Euler(new Vector3(0, 0, 90)), newpoi2.transform);
}
newLine2.transform.GetChild(0).GetComponent <Renderer>().material.color = Color.grey;
newLine2.transform.GetChild(0).gameObject.layer = 10;
//Que tamaño tendra
float scaleX5 = Mathf.Abs((auxPoint.PointTransf.position - newpoi2.transform.position).magnitude);
newLine2.transform.localScale = new Vector3(scaleX5, 3f, 3f);
//Esto es para rotar las imagenes de las camaras que tienen cada Waypoint
Transform cube5 = auxPoint.PointTransf.Find("CubeTop");
cube5.gameObject.SetActive(false);
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from5 = new Vector2(-1, 0);
Vector3 aux6 = newpoi2.transform.position - auxPoint.PointTransf.position;
Vector2 to5 = new Vector2(aux6.x, aux6.z).normalized;
if (i == 0)
{
angle5 = Vector2.SignedAngle(from5, to5);
}
Transform cube6 = auxPoint.PointTransf.Find("CubeFront");
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from6 = new Vector2(-1, 0);
Vector3 aux7 = newpoi2.transform.position - auxPoint.PointTransf.position;
Vector2 to6 = new Vector2(aux7.x, aux7.y).normalized;
if (i == 0)
{
angle6 = Vector2.SignedAngle(from6, to6);
}
//float angle = Mathf.Acos(distance2 / distance);
//item.transform.Rotate(new Vector3(0, 1, 0), Vector2.Angle(from, to));
cube5.transform.rotation = Quaternion.Euler(new Vector3(0, -angle5, 0));
cube6.transform.rotation = Quaternion.Euler(new Vector3(0, 0, angle6));
cube5.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.white;
cube6.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.white;
auxPoint.PointTransf.GetComponent <PathPoint>().Poi = newpoi2.transform;
newpoi2.GetComponent <POI>().addPoint(auxPoint.PointTransf.GetComponent <PathPoint>(), newLine2);
//UnityEngine.Debug.Log(newpoi.GetComponent<POI>().Referenced.Count);
sineC5 = (auxPoint.PointTransf.transform.position.y - newpoi2.transform.position.y) / scaleX5;
newLine2.transform.rotation = Quaternion.Euler(0, -angle5, Mathf.Asin(sineC5) * Mathf.Rad2Deg);
newLine2.transform.position = auxPoint.PointTransf.transform.position;
var rotation2 = Quaternion.Euler(0, -angle5, Mathf.Asin(sineC5) * Mathf.Rad2Deg).eulerAngles;
break;
case 3:
//Same as above without locking yaw
GameObject newpoi3 = Instantiate(poi, auxGimballUpdateParameters.poi_or_angles + auxPoint.PointTransf.position, Quaternion.Euler(new Vector3(0, 0, 0)));
newpoi3.transform.GetChild(0).gameObject.SetActive(false);
newpoi3.transform.GetChild(1).gameObject.SetActive(false);
newpoi3.AddComponent <POI>();
newpoi3.GetComponent <POI>().Direction = true;
float angle7 = 0;
float angle8 = 0;
float sineC7 = 0;
//Creamos una nueva linea que apunta del waypoint al POI
GameObject newLine3 = newpoi3.transform.GetChild(2).gameObject;
//newLine3 = Instantiate(poi.transform.GetChild(2).gameObject, newpoi3.transform.position, Quaternion.Euler(new Vector3(0, 0, 0)), newpoi3.transform);
newLine3.transform.GetChild(0).GetComponent <Renderer>().material.color = Color.gray;
//Que tamaño tendra
float scaleX7 = Mathf.Abs((auxPoint.PointTransf.position - newpoi3.transform.position).magnitude);
newLine3.transform.localScale = new Vector3(scaleX7, 3f, 3f);
//Esto es para rotar las imagenes de las camaras que tienen cada Waypoint
Transform cube7 = auxPoint.PointTransf.Find("CubeTop");
cube7.gameObject.SetActive(true);
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from7 = new Vector2(-1, 0);
Vector3 aux8 = newpoi3.transform.position - auxPoint.PointTransf.position;
Vector2 to7 = new Vector2(aux8.x, aux8.z).normalized;
if (i == 0)
{
angle7 = Vector2.SignedAngle(from7, to7);
}
Transform cube8 = auxPoint.PointTransf.Find("CubeFront");
//float distance = Vector3.Distance(item.transform.position, newpoi.transform.position);
//float distance2 = Vector3.Distance(cube.position, item.transform.position) * 2;
Vector2 from8 = new Vector2(-1, 0);
Vector3 aux9 = newpoi3.transform.position - auxPoint.PointTransf.position;
Vector2 to8 = new Vector2(aux8.x, aux8.y).normalized;
if (i == 0)
{
angle2 = Vector2.SignedAngle(from8, to8);
}
//float angle = Mathf.Acos(distance2 / distance);
//item.transform.Rotate(new Vector3(0, 1, 0), Vector2.Angle(from, to));
cube7.transform.rotation = Quaternion.Euler(new Vector3(0, -angle7, 0));
cube8.transform.rotation = Quaternion.Euler(new Vector3(0, 0, angle8));
cube7.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.white;
cube8.GetChild(0).GetComponent <MeshRenderer>().material.color = Color.white;
auxPoint.PointTransf.GetComponent <PathPoint>().Poi = newpoi3.transform;
newpoi3.GetComponent <POI>().addPoint(auxPoint.PointTransf.GetComponent <PathPoint>(), newLine3);
//UnityEngine.Debug.Log(newpoi.GetComponent<POI>().Referenced.Count);
sineC7 = (auxPoint.PointTransf.position.y - newpoi3.transform.position.y) / scaleX7;
newLine3.transform.rotation = Quaternion.Euler(0, -angle7, Mathf.Asin(sineC7) * Mathf.Rad2Deg);
newLine3.transform.position = auxPoint.PointTransf.transform.position;
break;
default:
break;
}
}
//This assigns reccam parameters to the waypoints that had them
for (int i = 0; i < waypointPath.rcParametersCount(); i++)
{
RecCamParameters auxRcUpdateParameters = waypointPath.getRcUpdateParameter(i);
reSetRecCamGuis(auxRcUpdateParameters, waypointPath.GetPoint(auxRcUpdateParameters.id_pointer).PointTransf.gameObject.GetComponent <PathPoint>());
}
if (poiEditorPanel != null)
{
poiEditorPanel.GetComponent <POIEditor>().Deactivate();
}
//activate every panel. If we saved a path, there has to be enough points to make sure this can be done
if (editPointButton != null)
{
editPointButton.interactable = true;
editPOIButton.interactable = true;
previewButton.interactable = true;
CurveButton.interactable = true;
}
}
else //We assign an index to the new path
{
if (waypointPath != null)
{
MissionManager.planIndex = map.Paths.Count;
}
}
//importedGO.name = "DaeModel";
}
/// <summary>
/// Set camera parameters to the ones the waypoint clicked contains
/// </summary>
/// <param name="rc"></param>
void reSetRecCamGuis(RecCamParameters rc)
{
if (!rc.active)
{
configParametersButton.gameObject.SetActive(false);
activeCameraToggle.isOn = false;
return;
}
else
{
configParametersButton.gameObject.SetActive(true);
activeCameraToggle.isOn = true;
}
if (rc.switchToRec == 0)
{
changeToPhotoButton.gameObject.SetActive(false);
changeToVideoButton.gameObject.SetActive(true);
videoParametersPanel.SetActive(false);
photoParametersPanel.SetActive(true);
activeCameraToggle.transform.GetChild(1).GetComponent <Text>().text = "Take Photo";
imageStateRecording.sprite = photoSprite;
}
else
{
changeToVideoButton.gameObject.SetActive(false);
changeToPhotoButton.gameObject.SetActive(true);
photoParametersPanel.SetActive(false);
videoParametersPanel.SetActive(true);
activeCameraToggle.transform.GetChild(1).GetComponent <Text>().text = "Recording";
imageStateRecording.sprite = videoSprite;
}
switch (rc.resolution)
{
case 22:
resolutionDropDown.value = 0;
break;
case 23:
resolutionDropDown.value = 1;
break;
case 24:
resolutionDropDown.value = 2;
break;
case 25:
resolutionDropDown.value = 3;
break;
case 26:
resolutionDropDown.value = 4;
break;
case 35:
resolutionDropDown.value = 5;
break;
case 41:
resolutionDropDown.value = 6;
break;
case 47:
resolutionDropDown.value = 7;
break;
default:
break;
}
megapixels.value = rc.megaPixels;
brightness.value = (float)BitConverter.ToInt32(rc.brightness, 0);
if (rc.autoManualWB == 0)
{
whiteBalance.isOn = true;
}
else
{
whiteBalance.isOn = false;
}
tintWB.value = rc.WBTint;
RCamConfigISO isoPointParam = (RCamConfigISO)rc.ISO;
switch (isoPointParam)
{
case RCamConfigISO.RCAM_ISO_AUTO:
Iso.transform.GetChild(0).GetComponent <Text>().text = "Auto";
break;
case RCamConfigISO.RCAM_ISO_100:
Iso.transform.GetChild(0).GetComponent <Text>().text = "100";
break;
case RCamConfigISO.RCAM_ISO_125:
Iso.transform.GetChild(0).GetComponent <Text>().text = "125";
break;
case RCamConfigISO.RCAM_ISO_160:
Iso.transform.GetChild(0).GetComponent <Text>().text = "160";
break;
case RCamConfigISO.RCAM_ISO_200:
Iso.transform.GetChild(0).GetComponent <Text>().text = "200";
break;
case RCamConfigISO.RCAM_ISO_250:
Iso.transform.GetChild(0).GetComponent <Text>().text = "250";
break;
case RCamConfigISO.RCAM_ISO_320:
Iso.transform.GetChild(0).GetComponent <Text>().text = "320";
break;
case RCamConfigISO.RCAM_ISO_400:
Iso.transform.GetChild(0).GetComponent <Text>().text = "400";
break;
case RCamConfigISO.RCAM_ISO_500:
Iso.transform.GetChild(0).GetComponent <Text>().text = "500";
break;
case RCamConfigISO.RCAM_ISO_640:
Iso.transform.GetChild(0).GetComponent <Text>().text = "640";
break;
case RCamConfigISO.RCAM_ISO_800:
Iso.transform.GetChild(0).GetComponent <Text>().text = "800";
break;
case RCamConfigISO.RCAM_ISO_1000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "1000";
break;
case RCamConfigISO.RCAM_ISO_1250:
Iso.transform.GetChild(0).GetComponent <Text>().text = "1250";
break;
case RCamConfigISO.RCAM_ISO_1600:
Iso.transform.GetChild(0).GetComponent <Text>().text = "1600";
break;
case RCamConfigISO.RCAM_ISO_2000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "2000";
break;
case RCamConfigISO.RCAM_ISO_2500:
Iso.transform.GetChild(0).GetComponent <Text>().text = "2500";
break;
case RCamConfigISO.RCAM_ISO_3200:
Iso.transform.GetChild(0).GetComponent <Text>().text = "3200";
break;
case RCamConfigISO.RCAM_ISO_4000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "4000";
break;
case RCamConfigISO.RCAM_ISO_5000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "5000";
break;
case RCamConfigISO.RCAM_ISO_6400:
Iso.transform.GetChild(0).GetComponent <Text>().text = "6400";
break;
case RCamConfigISO.RCAM_ISO_8000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "8000";
break;
case RCamConfigISO.RCAM_ISO_10000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "100000";
break;
case RCamConfigISO.RCAM_ISO_12800:
Iso.transform.GetChild(0).GetComponent <Text>().text = "12800";
break;
case RCamConfigISO.RCAM_ISO_16000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "16000";
break;
case RCamConfigISO.RCAM_ISO_20000:
Iso.transform.GetChild(0).GetComponent <Text>().text = "20000";
break;
case RCamConfigISO.RCAM_ISO_25600:
Iso.transform.GetChild(0).GetComponent <Text>().text = "25600";
break;
default:
break;
}
sharpness.value = rc.sharpness;
contrast.value = (float)BitConverter.ToInt32(rc.contrast, 0);
AE.value = rc.AE;
saturation.value = (float)BitConverter.ToInt32(rc.saturation, 0);
photoQuality.value = rc.photoQuality;
if (rc.upsideDown == 3)
{
upsideDownCamera.isOn = true;
}
else
{
upsideDownCamera.isOn = false;
}
RCamConfigIris irisValueFromButton = (RCamConfigIris)rc.irisAperture;
switch (irisValueFromButton)
{
case RCamConfigIris.RCAM_IRIS_F0_7:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F0.7";
break;
case RCamConfigIris.RCAM_IRIS_F0_8:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F0.8";
break;
case RCamConfigIris.RCAM_IRIS_F0_9:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F0.9";
break;
case RCamConfigIris.RCAM_IRIS_F1:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F1";
break;
case RCamConfigIris.RCAM_IRIS_F1_1:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F1.1";
break;
case RCamConfigIris.RCAM_IRIS_F1_2:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F1.2";
break;
case RCamConfigIris.RCAM_IRIS_F1_4:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F1.4";
break;
case RCamConfigIris.RCAM_IRIS_F1_6:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F1.6";
break;
case RCamConfigIris.RCAM_IRIS_F1_8:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F1.8";
break;
case RCamConfigIris.RCAM_IRIS_F2:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F2";
break;
case RCamConfigIris.RCAM_IRIS_F2_2:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F2.2";
break;
case RCamConfigIris.RCAM_IRIS_F2_5:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F2.5";
break;
case RCamConfigIris.RCAM_IRIS_F2_8:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F2.8";
break;
case RCamConfigIris.RCAM_IRIS_F3_2:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F3.2";
break;
case RCamConfigIris.RCAM_IRIS_F3_5:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F3.5";
break;
case RCamConfigIris.RCAM_IRIS_F4:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F4";
break;
case RCamConfigIris.RCAM_IRIS_F4_5:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F4.5";
break;
case RCamConfigIris.RCAM_IRIS_F5:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F5";
break;
case RCamConfigIris.RCAM_IRIS_F5_6:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F5.6";
break;
case RCamConfigIris.RCAM_IRIS_F6_3:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F6.3";
break;
case RCamConfigIris.RCAM_IRIS_F7_1:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F7.1";
break;
case RCamConfigIris.RCAM_IRIS_F8:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F8";
break;
case RCamConfigIris.RCAM_IRIS_F9:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F9";
break;
case RCamConfigIris.RCAM_IRIS_F10:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F10";
break;
case RCamConfigIris.RCAM_IRIS_F11:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F11";
break;
case RCamConfigIris.RCAM_IRIS_F13:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F13";
break;
case RCamConfigIris.RCAM_IRIS_F14:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F14";
break;
case RCamConfigIris.RCAM_IRIS_F16:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F16";
break;
case RCamConfigIris.RCAM_IRIS_F18:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F18";
break;
case RCamConfigIris.RCAM_IRIS_F20:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F20";
break;
case RCamConfigIris.RCAM_IRIS_F22:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F22";
break;
case RCamConfigIris.RCAM_IRIS_F25:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F25";
break;
case RCamConfigIris.RCAM_IRIS_F29:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F29";
break;
case RCamConfigIris.RCAM_IRIS_F32:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F32";
break;
case RCamConfigIris.RCAM_IRIS_F36:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F36";
break;
case RCamConfigIris.RCAM_IRIS_F40:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F40";
break;
case RCamConfigIris.RCAM_IRIS_F45:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F45";
break;
case RCamConfigIris.RCAM_IRIS_F51:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F51";
break;
case RCamConfigIris.RCAM_IRIS_F57:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F57";
break;
case RCamConfigIris.RCAM_IRIS_F64:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F64";
break;
case RCamConfigIris.RCAM_IRIS_F72:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F72";
break;
case RCamConfigIris.RCAM_IRIS_F80:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F80";
break;
case RCamConfigIris.RCAM_IRIS_F90:
irisaperture.transform.GetChild(0).GetComponent <Text>().text = "F90";
break;
default:
break;
}
if (rc.burstMode == 1)
{
burstMode.isOn = true;
}
else
{
burstMode.isOn = false;
}
burstSpeed.value = rc.burstSpeed;
if (rc.AF == 0)
{
AF.isOn = false;
}
else
{
AF.isOn = true;
}
}
public void updateParamRc(int pos, RecCamParameters param)
{
rcam_update_parameters[pos] = param;
}
public void addNewParamRcAtBeggining(RecCamParameters param)
{
rcam_update_parameters.Insert(0, param);
}
public void addNewParamRc(RecCamParameters param)
{
rcam_update_parameters.Add(param);
}