void Start()
{
camera2d = GameObject.Find("Camera2d").GetComponent <Camera> ();
VectorLine.SetCanvasCamera(camera2d);
VectorLine.canvas3D.sortingLayerName = "World";
gridLine = new VectorLine("Grid", new Vector2[0], null, 1.0f);
drawLine = new VectorLine("DrawLine", new Vector3[0], null, 1.0f, isContinue? LineType.Continuous : LineType.Discrete, isContinue ? Joins.None : Joins.None);
//drawLine.rectTransform.gameObject.AddComponent<Outline>();
rulerLine = new VectorLine("Ruler", new Vector3[0], null, 1.0f, LineType.Discrete);
segmentOutline = new VectorLine("SegmentOutline", new Vector3[0], null, 1.0f, LineType.Discrete);
segmentFill = new WallFill(VectorLine.canvas3D, "SegmentFill");
Vector2[] room = RoomQuad.GetVertex();
//DrawWall(room);
List <Wall2D> roomWalls = DrawHelper.ContinueToDiscrete(room);
Home.Get().AddWallList(roomWalls);
// VectorLine testLine = new VectorLine("test", new Vector3[] { Vector3.zero, new Vector3(1.0f, 0f, 0f), Vector3.one }, null, 2.0f, LineType.Continuous);
// testLine.Draw3D();
// Align 1-pixel lines on the pixel grid, so they don't potentially get messed up by anti-aliasing
//gridLine.rectTransform.anchoredPosition = new Vector2 (.5f, .5f);
gridLine.rectTransform.anchoredPosition = new Vector2(0f, 0f);
//MakeGrid ();
//SetScale(DrawHelper.unitPixels);
DrawHelper.OnScaleChanged = MakeGrid2;
DrawHelper.SetScale(camera2d, DrawHelper.unitPixels);
mState = State2D.Idle;
}
public MainWindow()
{
InitializeComponent();
double r = 0.1;
double d = 0.5;
SimulatedRobotModel robot = new SimulatedRobotModel(r, d);
State2D currState = new State2D(0.0, 0.0, 0.0);
State2D goalState = new State2D(5.0, 5.0, 0.0);
//State2D_Difference err = new State2D_Difference(currState, goalState);
//BodyFrameCommands cmdBody = new BodyFrameCommands(0.1, 0.0);
//WheelCommands cmdWheel = cmdBody.GetWheelCommands(r, d);
//robot.SetWheelVelocityDesired(cmdWheel.OmegaL * r, cmdWheel.OmegaR * r);
robot.CalculateWheelVelocity();
State2D state = robot.Propagate(new State2D(), 1.0, robot.Vl, robot.Vr);
int i = 0;
while (i < 1000)
{
State2D_Difference err = new State2D_Difference(currState, goalState);
WheelCommands cmdWheel = robot.StateController.GetCommands(err);
robot.SetWheelVelocityDesired(cmdWheel.OmegaL * r, cmdWheel.OmegaR * r);
robot.CalculateWheelVelocity();
currState = robot.Propagate(currState, 0.1, robot.Vl, robot.Vr);
i++;
}
}
void Awake()
{
Canvas canvas2d = VectorLine.canvas;
GraphicRaycaster graphicRaycaster = canvas2d.gameObject.AddComponent<GraphicRaycaster>();
graphicRaycaster.blockingObjects = GraphicRaycaster.BlockingObjects.ThreeD;
Button drawBtn = GameObject.Find("UIRoot/DrawBtn").GetComponent<Button>();
bool clicked = false;
drawBtn.onClick.AddListener(() => {
clicked = !clicked;
Debug.Log("On DrawBtn clicked.." + clicked);
if(clicked){
if(this.mState != State2D.Draw){
this.mState = State2D.Draw;
}
}
else{
if(this.mState == State2D.Draw){
this.mState = State2D.Idle;
}
}
});
GameObject background = new GameObject("background", typeof(RectTransform));
RectTransform rectTrans = background.GetComponent<RectTransform>();
rectTrans.parent = canvas2d.transform;
rectTrans.anchoredPosition = new Vector2(0.5f, 0.5f);
rectTrans.anchorMin = new Vector2(0f, 0f);
rectTrans.anchorMax = new Vector2(1f, 1f);
GraphicTest test = background.AddComponent<GraphicTest>();
// test.onDrag = (eventData) => {
// Debug.Log("onDrag..");
// if(mState == State2D.Idle){
// OnDrag(eventData.delta);
// }
// };
test.color = new Color(0.95f, 0.95f, 0.95f, 1.0f);
EventTrigger trigger = background.AddComponent<EventTrigger>();
//OnClick;
EventTrigger.Entry entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.PointerClick;
entry.callback.AddListener((eventData) => {
// PointerEventData data = eventData as PointerEventData;
// if(mState == State2D.Idle){
// //Debug.Log("onClick..");
// Vector2 wordPos = DrawHelper.PixelToReal(camera2d, data.position);
// Wall2D wall;
// if(segmentFill.Select(wordPos, out wall)){
// wall.Color = Color.green;
// }
// }
});
Wall2D selected = null;
//OnPress Down;
entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.PointerDown;
entry.callback.AddListener((eventData) => {
PointerEventData data = eventData as PointerEventData;
if(mState == State2D.Idle){
Vector2 wordPos = DrawHelper.PixelToReal(camera2d, data.position);
if(segmentFill.Select(wordPos, out selected)){
//Debug.Log(string.Format("change green..{0}, {1}", selected.StartPos, selected.EndPos ));
selected.Color = Color.green;
Wall2D wall = selected;
}
}
if(mState == State2D.Draw){
}
});
//OnPress Up;
entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.PointerUp;
entry.callback.AddListener((eventData) => {
PointerEventData data = eventData as PointerEventData;
if(mState == State2D.Idle){
if(selected != null){
selected.Color = Color.red;
selected = null;
}
}
// if(mState == State2D.Draw){
// ShowWallFill();
// }
});
//OnDrag;
entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.Drag;
entry.callback.AddListener((eventData) => {
//Debug.Log("onDrag..");
PointerEventData data = eventData as PointerEventData;
Vector2 realDelta = data.delta * DrawHelper.Scale;
if(mState == State2D.Idle){
if(selected == null){
//camera2d.transform.position = camera2d.transform.position + new Vector3(-realDelta.x, -realDelta.y, 0f);
DrawHelper.MoveRealRect(camera2d, realDelta);
MakeGrid2();
}
else{
Wall2D wall = selected;
Vector2 startT = wall.StartPos + realDelta;
Vector2 endT = wall.EndPos + realDelta;
List<Wall2D> joined = new List<Wall2D>();
if(wall.WallAtStart == null){
joined.Clear();
AddWallsJoined(joined, wall, true);
if(joined.Count > 0){
Vector3 target = joined[joined.Count-1].EndPos;
Vector2 delta = SnapPoint(startT, target);
startT = startT + delta;
endT = endT + delta;
}
}
if(wall.WallAtEnd == null){
joined.Clear();
AddWallsJoined(joined, wall, false);
if(joined.Count > 0){
Vector3 target = joined[joined.Count-1].StartPos;
//Debug.Log(string.Format("endT: ({0}, {1}), target: ({2}, {3})", endT.x, endT.y, target.x - endT.x, target.y - endT.y));
Vector2 delta = SnapPoint(endT, target);
startT = startT + delta;
endT = endT + delta;
}
}
if(wall.WallAtStart != null && wall.WallAtEnd != null){
Parallel.Line line = mParallel.GetOffsetLine(wall, realDelta);
Parallel.Line line1 = mParallel.GetLine(wall.WallAtStart.StartPos, wall.WallAtStart.EndPos);
Parallel.Line line2 = mParallel.GetLine(wall.WallAtEnd.StartPos, wall.WallAtEnd.EndPos);
Vector2 p = Vector2.zero;
if(mParallel.GetCrossPoint(line, line1, out p)){
if(wall.WallAtStart.StartPos != p){
wall.StartPos = p;
wall.WallAtStart.EndPos = p;
}
else{
Debug.Log("wallAtStart duplicate..");
}
}
if(mParallel.GetCrossPoint(line, line2, out p)){
if(wall.WallAtEnd.EndPos != p){
wall.EndPos = p;
wall.WallAtEnd.StartPos = p;
}
else{
Debug.Log("wallAtEnd duplicate..");
}
}
return;
}
wall.StartPos = startT;
if(wall.WallAtStart != null){
// wall.WallAtStart.WallAtEnd = null;
// wall.WallAtStart = null;
wall.WallAtStart.EndPos = startT;
}
wall.EndPos = endT;
if(wall.WallAtEnd != null){
// wall.WallAtEnd.WallAtStart = null;
// wall.WallAtEnd = null;
wall.WallAtEnd.StartPos = endT;
}
}
}
});
}
void Start()
{
camera2d = GameObject.Find ("Camera2d").GetComponent<Camera> ();
VectorLine.SetCanvasCamera (camera2d);
VectorLine.canvas3D.sortingLayerName = "World";
gridLine = new VectorLine ("Grid", new Vector2[0], null, 1.0f);
drawLine = new VectorLine("DrawLine", new Vector3[0], null, 1.0f, isContinue? LineType.Continuous : LineType.Discrete, isContinue ? Joins.None : Joins.None);
//drawLine.rectTransform.gameObject.AddComponent<Outline>();
rulerLine = new VectorLine("Ruler", new Vector3[0], null, 1.0f, LineType.Discrete);
segmentOutline = new VectorLine("SegmentOutline", new Vector3[0], null, 1.0f, LineType.Discrete);
segmentFill = new WallFill(VectorLine.canvas3D, "SegmentFill");
Vector2[] room = RoomQuad.GetVertex();
//DrawWall(room);
List<Wall2D> roomWalls = DrawHelper.ContinueToDiscrete(room);
Home.Get().AddWallList(roomWalls);
// VectorLine testLine = new VectorLine("test", new Vector3[] { Vector3.zero, new Vector3(1.0f, 0f, 0f), Vector3.one }, null, 2.0f, LineType.Continuous);
// testLine.color = Color.red;
// testLine.Draw3D();
// Align 1-pixel lines on the pixel grid, so they don't potentially get messed up by anti-aliasing
//gridLine.rectTransform.anchoredPosition = new Vector2 (.5f, .5f);
gridLine.rectTransform.anchoredPosition = new Vector2(0f, 0f);
//MakeGrid ();
//SetScale(DrawHelper.unitPixels);
DrawHelper.OnScaleChanged = MakeGrid2;
DrawHelper.SetScale(camera2d, DrawHelper.unitPixels);
mState = State2D.Idle;
}
void Awake()
{
Canvas canvas2d = VectorLine.canvas;
GraphicRaycaster graphicRaycaster = canvas2d.gameObject.AddComponent <GraphicRaycaster>();
graphicRaycaster.blockingObjects = GraphicRaycaster.BlockingObjects.ThreeD;
Button drawBtn = GameObject.Find("UIRoot/DrawBtn").GetComponent <Button>();
bool clicked = false;
drawBtn.onClick.AddListener(() => {
clicked = !clicked;
Debug.Log("On DrawBtn clicked.." + clicked);
if (clicked)
{
if (this.mState != State2D.Draw)
{
this.mState = State2D.Draw;
}
}
else
{
if (this.mState == State2D.Draw)
{
this.mState = State2D.Idle;
}
}
});
GameObject background = new GameObject("background", typeof(RectTransform));
RectTransform rectTrans = background.GetComponent <RectTransform>();
rectTrans.parent = canvas2d.transform;
rectTrans.anchoredPosition = new Vector2(0.5f, 0.5f);
rectTrans.anchorMin = new Vector2(0f, 0f);
rectTrans.anchorMax = new Vector2(1f, 1f);
GraphicTest test = background.AddComponent <GraphicTest>();
// test.onDrag = (eventData) => {
// Debug.Log("onDrag..");
// if(mState == State2D.Idle){
// OnDrag(eventData.delta);
// }
// };
test.color = new Color(0.95f, 0.95f, 0.95f, 1.0f);
EventTrigger trigger = background.AddComponent <EventTrigger>();
//OnClick;
EventTrigger.Entry entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.PointerClick;
entry.callback.AddListener((eventData) => {
// PointerEventData data = eventData as PointerEventData;
// if(mState == State2D.Idle){
// //Debug.Log("onClick..");
// Vector2 wordPos = DrawHelper.PixelToReal(camera2d, data.position);
// Wall2D wall;
// if(segmentFill.Select(wordPos, out wall)){
// wall.Color = Color.green;
// }
// }
});
Wall2D selected = null;
//OnPress Down;
entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.PointerDown;
entry.callback.AddListener((eventData) => {
PointerEventData data = eventData as PointerEventData;
if (mState == State2D.Idle)
{
Vector2 wordPos = DrawHelper.PixelToReal(camera2d, data.position);
if (segmentFill.Select(wordPos, out selected))
{
//Debug.Log(string.Format("change green..{0}, {1}", selected.StartPos, selected.EndPos ));
selected.Color = Color.green;
Wall2D wall = selected;
}
}
});
//OnPress Up;
entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.PointerUp;
entry.callback.AddListener((eventData) => {
PointerEventData data = eventData as PointerEventData;
if (mState == State2D.Idle)
{
if (selected != null)
{
selected.Color = Color.red;
selected = null;
}
}
});
//OnDrag;
entry = new EventTrigger.Entry();
trigger.triggers.Add(entry);
entry.eventID = EventTriggerType.Drag;
entry.callback.AddListener((eventData) => {
//Debug.Log("onDrag..");
PointerEventData data = eventData as PointerEventData;
Vector2 realDelta = data.delta * DrawHelper.Scale;
if (mState == State2D.Idle)
{
if (selected == null)
{
//camera2d.transform.position = camera2d.transform.position + new Vector3(-realDelta.x, -realDelta.y, 0f);
DrawHelper.MoveRealRect(camera2d, realDelta);
MakeGrid2();
}
else
{
Wall2D wall = selected;
Vector2 startT = wall.StartPos + realDelta;
Vector2 endT = wall.EndPos + realDelta;
List <Wall2D> joined = new List <Wall2D>();
if (wall.WallAtStart == null)
{
joined.Clear();
AddWallsJoined(joined, wall, true);
if (joined.Count > 0)
{
Vector3 target = joined[joined.Count - 1].EndPos;
Vector2 delta = SnapPoint(startT, target);
startT = startT + delta;
endT = endT + delta;
}
}
if (wall.WallAtEnd == null)
{
joined.Clear();
AddWallsJoined(joined, wall, false);
if (joined.Count > 0)
{
Vector3 target = joined[joined.Count - 1].StartPos;
//Debug.Log(string.Format("endT: ({0}, {1}), target: ({2}, {3})", endT.x, endT.y, target.x - endT.x, target.y - endT.y));
Vector2 delta = SnapPoint(endT, target);
startT = startT + delta;
endT = endT + delta;
}
}
if (wall.WallAtStart != null && wall.WallAtEnd != null)
{
Parallel.Line line = mParallel.GetOffsetLine(wall, realDelta);
Parallel.Line line1 = mParallel.GetLine(wall.WallAtStart.StartPos, wall.WallAtStart.EndPos);
Parallel.Line line2 = mParallel.GetLine(wall.WallAtEnd.StartPos, wall.WallAtEnd.EndPos);
Vector2 p = Vector2.zero;
if (mParallel.GetCrossPoint(line, line1, out p))
{
if (wall.WallAtStart.StartPos != p)
{
wall.StartPos = p;
wall.WallAtStart.EndPos = p;
}
else
{
Debug.Log("wallAtStart duplicate..");
}
}
if (mParallel.GetCrossPoint(line, line2, out p))
{
if (wall.WallAtEnd.EndPos != p)
{
wall.EndPos = p;
wall.WallAtEnd.StartPos = p;
}
else
{
Debug.Log("wallAtEnd duplicate..");
}
}
return;
}
wall.StartPos = startT;
if (wall.WallAtStart != null)
{
// wall.WallAtStart.WallAtEnd = null;
// wall.WallAtStart = null;
wall.WallAtStart.EndPos = startT;
}
wall.EndPos = endT;
if (wall.WallAtEnd != null)
{
// wall.WallAtEnd.WallAtStart = null;
// wall.WallAtEnd = null;
wall.WallAtEnd.StartPos = endT;
}
}
}
});
}
