HDRobotics/Assets/Scripts/View/PointManagerView.cs

using System;
using System.Collections.Generic;
using UnityEngine;


public class PointManagerView : MonoBehaviour
{
    [SerializeField] private GameObject pointPrefab;
    private List<GameObject> activePoints = new List<GameObject>();
    public Transform robotBaseTransform; // <20>κ<EFBFBD><CEBA><EFBFBD>ǥ<EFBFBD><C7A5> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ǵ<EFBFBD> <20><> <20><>ġ 

    [SerializeField] public GameObject movingAlert;
    [SerializeField]
    [Tooltip("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>κ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IK")]
    public HybridInverseKinematicsNode kinematicsNode;

    void Start()
    {
        movingAlert.SetActive(false);
    }

    private Vector3 ConvertRobotDataToVector3(RobotData pose)
    {
        float x = Convert.ToSingle(pose.x / -1000.0); // Robot X(mm) -> Unity X(m)
        float y = Convert.ToSingle(pose.z / 1000.0);  // Robot Z(mm) -> Unity Y(m)
        float z = Convert.ToSingle(pose.y / -1000.0); // Robot Y(mm) -> Unity Z(m)
        return new Vector3(x, y, z);
    }

    private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
    {
        float rx = pose.rx;
        float ry = pose.z;
        float rz = pose.y;

        return Quaternion.Euler(pose.rx, -pose.rz, pose.ry);
    }

    public void CreatePoint(RobotData pose, int index)
    {
        if(pointPrefab == null)
        {
            Debug.Log("<22><>Ŀ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>.");
            return;
        }
        Vector3 position = ConvertRobotDataToVector3(pose);
        //Quaternion localRot = ConvertRobotDataToQuaternion(pose);

        //Vector3 toolOffset = new Vector3(0.681004044f, -0.221942063f, -0.447616011f);
        //Vector3 rotatedOffset = localRot * toolOffset;
        //Vector3 finalLocalPos = localPos + rotatedOffset;

        //Vector3 worldPos = localPos;
        ////Quaternion worldRot = localRot;
        
        //// <20>κ<EFBFBD> Base<73><65> <20>ִٸ<D6B4>, <20><><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5> <20><><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5> <20><>ȯ
        //if (robotBaseTransform != null)
        //{
        //    worldPos = robotBaseTransform.TransformPoint(localPos);
        //    //worldRot = robotBaseTransform.rotation * localRot;
        //}
        //else
        //{
        //    Debug.LogWarning("PointManagerView: RobotBaseTransform<72><6D> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>˴ϴ<CBB4>.");
        //}

        // <20><>ȯ<EFBFBD><C8AF> <20><><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5> <20><><EFBFBD><EFBFBD>
        GameObject pointObj = Instantiate(pointPrefab, position, Quaternion.identity, this.transform);
        Debug.Log($"<22><>Ŀ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><>ġ: {position}");
        Debug.Log($"<22>κ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(root <20><>ǥ): {robotBaseTransform.position}");
            
        //pointObj.transform.localRotation = Quaternion.identity;
        activePoints.Add(pointObj);

        RobotPoint pointComponent = pointObj.GetComponent<RobotPoint>();
        if (pointComponent != null)
        {
            pointComponent.pointIndex = activePoints.Count - 1;
        }
        else
        {
            Debug.LogError("point<6E><74><EFBFBD><EFBFBD><EFBFBD>տ<EFBFBD> RobotPoint<6E><74>ũ<EFBFBD><C5A9>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD>");
        }
    }

    public void UpdatePointPosition(int index, Vector3 pose)
    {
        if (index < 0 || index >= activePoints.Count) return;
        activePoints[index].transform.position = pose;
    }

    public void DeletePoint(int index)
    {
        if (index < 0 || index >= activePoints.Count) return;
        Destroy(activePoints[index]);
        activePoints.RemoveAt(index);
    }

    public void RedrawPoints(List<RobotData> poses)
    {
        foreach (var point in activePoints) Destroy(point);
        activePoints.Clear();
        if (poses == null) return;
        for (int i= 0; i < poses.Count; i++) CreatePoint(poses[i], i);
    }
}