HDRobotics/Assets/HybridIK/Scripts/Main/RobotController.cs

using UnityEngine;
using System.Collections;
using System;
using NUnit.Framework;
using System.Collections.Generic;

public class RobotController : MonoBehaviour
{
    [Header("IK")]
    [SerializeField] private HybridInverseKinematicsNode kinematicsNode;

    [Header("Motor State")]
    [SerializeField] private GameObject motorStatusIndicator1;
    [SerializeField] private GameObject motorStatusIndicator2;

    [SerializeField] private Material indicatorMaterial1; // <20>⺻<EFBFBD><E2BABB>(ȸ<><C8B8>)
    [SerializeField] private Material indicatorMaterial2; // <20>ʷ<EFBFBD>
    
    public event Action OnPoseUpdateRequest;

    private bool isMotorOn;

    void Start()
    {
        if (motorStatusIndicator1 != null)
        {
            motorStatusIndicator1.GetComponent<MeshRenderer>().material = indicatorMaterial1;
        }
        if (motorStatusIndicator2 != null)
        {
            motorStatusIndicator2.GetComponent<MeshRenderer>().material = indicatorMaterial1;
        }
    }

    private void Update()
    {
        OnPoseUpdateRequest?.Invoke();// TODO. <20>κ<EFBFBD><CEBA><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ƴ<EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
    }

    public void SetMotorState(bool isOn)
    {
        isMotorOn = isOn;


        if (isMotorOn)
        {
            if (indicatorMaterial2 != null)
            {
                motorStatusIndicator1.GetComponent<MeshRenderer>().material = indicatorMaterial2;
                motorStatusIndicator2.GetComponent<MeshRenderer>().material = indicatorMaterial2;
            }
        }
        else
        {
            if (indicatorMaterial1 != null)
            {
                motorStatusIndicator1.GetComponent<MeshRenderer>().material = indicatorMaterial1;
                motorStatusIndicator2.GetComponent<MeshRenderer>().material = indicatorMaterial1;
            }
        }
    }

    public void SetRobotPosition(RobotData robotData) // <20><><EFBFBD><EFBFBD> <20>κ<EFBFBD> <20><>ġ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʈ
    {
        // x, y, z, rx, ry, rz => endpoint<6E><74>
        // j1, ..., j6 => 6<><36> <20><><EFBFBD><EFBFBD> ȸ<><C8B8><EFBFBD><EFBFBD>
        kinematicsNode.targetTransform.localPosition = new Vector3(robotData.x, robotData.y, robotData.z);
        kinematicsNode.targetTransform.localRotation = new Quaternion(robotData.rx, robotData.ry, robotData.rz, 0);

        List<float> list_jAngle = new List<float>();
        list_jAngle.Add(robotData.j6);
        list_jAngle.Add(robotData.j5);
        list_jAngle.Add(robotData.j4);
        list_jAngle.Add(robotData.j3);
        list_jAngle.Add(robotData.j2);
        list_jAngle.Add(robotData.j1);

        kinematicsNode.SetCurrentJointAxisRotations(list_jAngle, 'x');
    }
}