void Start()
{
newer = new rTransform();
older = new rTransform();
pushPosition();
pushPosition();
oldTime = 0;
}
//get the target position of the camera
rTransform getCameraTarget()
{
//variable for the target rTransform of the camera
rTransform target = new rTransform();
//calculate the position/rotation of the camera
switch (camMode)
{
case CameraMode.Track:
target.position = robotTransform.position + Quaternion.Euler(0f, 270f, 0f) * (cameraOffset.position * (float)zoom);
target.rotation = cameraOffset.rotation + new Vector3(0f, 270f, 0f);
break;
case CameraMode.Chase:
target.position = Quaternion.Euler(0f, robotTransform.rotation.y, 0f) * (cameraOffset.position * (float)zoom) + robotTransform.position;
target.rotation = new Vector3(0f, robotTransform.rotation.y, 0f) + cameraOffset.rotation;
break;
case CameraMode.BirdsEye:
target.rotation = new Vector3(90f, 270f, 0f);
target.position = robotTransform.position + new Vector3(0f, 100f, 0f);
cam.orthographicSize = cameraOffset.position.y * (float)zoom;
break;
case CameraMode.DriverStation:
target.position = driverStation.transform.position + Quaternion.Euler(0f, 270f, 0f) * (cameraOffset.position * (float)zoom);
target.rotation = cameraOffset.rotation + new Vector3(0f, 270f, 0f);
break;
case CameraMode.FullField:
target.rotation = new Vector3(90f, 270f, 0f);
target.position = new Vector3(0f, 100f, 0f);
cam.orthographicSize = cameraOffset.position.y * (float)zoom;
break;
case CameraMode.VR:
target.rotation = new Vector3(17.178f, -106.465f, 0f);
target.position = new Vector3(9.486f, 1.735f, 2.133f);
cam.orthographicSize = cameraOffset.position.y * (float)zoom;
break;
default:
//something messed up!
print("Failed to read camera mode. Setting default values.");
//set pos & rotation to 0
target.rotation = Vector3.zero;
target.position = Vector3.zero;
break;
}
return(target);
}
//initializes robot rotation & orientation variables,
//as well as setting camera position.
void Start()
{
robotTransform = new rTransform();
cameraTransform = new rTransform();
getRobotPosition();
cameraTransform = getCameraTarget();
setCameraTransform();
//if the camera is in birdseye mode, go to orthographic projection
if (camMode == CameraMode.BirdsEye)
{
cam.orthographic = true;
cam.orthographicSize = cameraOffset.position.y;
}
else
{
cam.orthographic = false;
}
}
//interpolate between this transform and another one
public void lerp(double pAlpha, double rAlpha, rTransform t2)
{
position = Vector3.Lerp(position, t2.position, (float)pAlpha);
rotation = Quaternion.Lerp(Quaternion.Euler(rotation), Quaternion.Euler(t2.rotation), (float)rAlpha).eulerAngles;
}