HDRobotics/Assets/Scripts/View/InteractionView.cs

using System;
using System.Threading;
using System.Threading.Tasks;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;
using UnityEngine.XR.Interaction.Toolkit.Interactables;
using UnityEngine.XR.Interaction.Toolkit.Interactors;

public interface IInteractionView
{

}

public class InteractionView : MonoBehaviour, IInteractionView
{
    public event Action<Vector3, Quaternion> OnRobotGrabbed;
    public event Action<RobotData> OnRobotReleased;
    public event Action<int> OnPointClicked;
    public event Action<int> OnPointDragStart;
    public event Action<int, Vector3, Quaternion> OnPointDragUpdate;
    public event Action<int> OnPointDragEnd;

    [SerializeField]private NearFarInteractor nearFarInteractor;
    private XRBaseInteractor baseInteractor;
    private IXRRayProvider rayProvider;

    [SerializeField]
    [Tooltip("<22>巡<EFBFBD><E5B7A1> <20><> <20><>ġ<EFBFBD><C4A1> ǥ<><C7A5><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>κ<EFBFBD> <20><><EFBFBD><EFBFBD>")]
    private GameObject ghostRobot;
    [SerializeField]
    [Tooltip("<22>巡<EFBFBD>׿<EFBFBD> <20><><EFBFBD>콺 <20>̹<EFBFBD><CCB9><EFBFBD>")]
    private GameObject dragArrow;

    private bool isInitialized = false;
    private bool isGrabbingPoint = false;
    private int currentGrabbedPointIndex = -1;

    public bool isGrabbingRobot = false;

    void Start()
    {
        nearFarInteractor = GetComponent<NearFarInteractor>();

        if (nearFarInteractor == null)
        {
            Debug.LogError("InteractionView: 'nearFarInteractor'<27><> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>", this);
            return;
        }

        baseInteractor = nearFarInteractor as XRBaseInteractor;
        rayProvider = nearFarInteractor as IXRRayProvider;

        if (baseInteractor == null)
        {
            Debug.LogError("NearFarInteractor<6F><72> XRBaseInteractor<6F><72> <20><>ȯ<EFBFBD><C8AF> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>.", this);
            return;
        }

        InitializeInteraction();
    }

    void Update()
    {
        if (!isInitialized || rayProvider == null)
        {
            if (nearFarInteractor == null)
            {
                nearFarInteractor = GetComponentInChildren<NearFarInteractor>(true);
                baseInteractor = nearFarInteractor as XRBaseInteractor;
                rayProvider = nearFarInteractor as IXRRayProvider;
            }
            if (nearFarInteractor != null && nearFarInteractor.gameObject.activeInHierarchy)
            {
                InitializeInteraction();
            }
        }
        else
        {
            Vector3 currentTargetPosition = Vector3.zero;
            Quaternion currentTargetRotation = Quaternion.identity;

            currentTargetPosition = rayProvider.rayEndPoint;
            currentTargetRotation = baseInteractor.attachTransform.rotation;


            if (isGrabbingPoint)
            {
                OnPointDragUpdate?.Invoke(currentGrabbedPointIndex, currentTargetPosition, currentTargetRotation);
            }
            else if (isGrabbingRobot)
            {
                OnRobotGrabbed?.Invoke(currentTargetPosition, currentTargetRotation);
            }
        }
    }

    private void InitializeInteraction()
    {
        // XRI <20>̺<EFBFBD>Ʈ <20><><EFBFBD><EFBFBD>
        baseInteractor.selectEntered.AddListener(HandleGrabStart);
        baseInteractor.selectExited.AddListener(HandleGrabEnd);

        isInitialized = true;
        AppManager.Instance.RegisterView(this);
    }

    private void OnDestroy()
    {
        if (baseInteractor != null)
        {
            baseInteractor.selectEntered.RemoveListener(HandleGrabStart);
            baseInteractor.selectExited.RemoveListener(HandleGrabEnd);
            //interactor.activated.RemoveListener(OnActivated);
            //interactor.deactivated.RemoveListener(OnDeactivated);
        }
    }

    // --- XRI <20>̺<EFBFBD>Ʈ <20>ڵ鷯 ---

    private void HandleGrabStart(SelectEnterEventArgs args)
    {
        GameObject grabbedGO = args.interactableObject.transform.gameObject;

        RobotPoint point = grabbedGO.GetComponent<RobotPoint>();
        if (point != null)
        {
            isGrabbingPoint = true;
            isGrabbingRobot = false;
            currentGrabbedPointIndex = point.pointIndex;

            OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
        else if (grabbedGO.CompareTag("RobotArm"))
        {
            isGrabbingPoint = false;
            isGrabbingRobot = true;
            currentGrabbedPointIndex = -1;

            OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
    }

    private void HandleGrabEnd(SelectExitEventArgs args)
    {
        if (isGrabbingPoint)
        {
            OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
        }
        else if (isGrabbingRobot)
        {
            OnRobotReleased?.Invoke(new RobotData());
        }

        // <20><><EFBFBD><EFBFBD> <20>ʱ<EFBFBD>ȭ
        isGrabbingPoint = false;
        isGrabbingRobot = false;
        currentGrabbedPointIndex = -1;
    }

    // <20>κ<EFBFBD> <20><>ǥ<EFBFBD><C7A5>(mm)<29><> Unity <20><><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5>(m)<29><> <20><>ȯ
    private Vector3 ConvertRobotDataToVector3(RobotData pose)
    {
        float x = Convert.ToSingle(pose.x / -1000.0);
        float y = Convert.ToSingle(pose.z / 1000.0);
        float z = Convert.ToSingle(pose.y / -1000.0);
        return new Vector3(x, y, z);
    }

    // <20>κ<EFBFBD> <20><><EFBFBD>Ϸ<EFBFBD> <20><>(rx,ry,rz)<29><> Unity <20><><EFBFBD>ʹϾ<CDB4><CFBE><EFBFBD><EFBFBD><EFBFBD> <20><>ȯ
    private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
    {
        return Quaternion.Euler(pose.rx, pose.ry, pose.rz);
    }

    // <20><><EFBFBD><EFBFBD>Ʈ <20>κ<EFBFBD><CEBA><EFBFBD> <20><>ġ/ȸ<><C8B8> <20><><EFBFBD><EFBFBD>
    public void ShowGhostRobot()
    {
        if (ghostRobot == null)
        {
            Debug.LogWarning("Ghost Robot<6F><74> Inspector<6F><72> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>.");
            return;
        }

        ghostRobot.SetActive(true);
    }

    // <20><><EFBFBD><EFBFBD>Ʈ <20>κ<EFBFBD> <20><>Ȱ<EFBFBD><C8B0>ȭ
    public void HideGhostRobot()
    {
        if (ghostRobot != null)
        {
            ghostRobot.SetActive(false);
        }
    }

    // <20>巡<EFBFBD><E5B7A1> ȭ<><C8AD>ǥ Ȱ<><C8B0>ȭ <20><> <20><>ġ <20><><EFBFBD><EFBFBD>
    public void ShowDragArrow(Vector3 position)
    {
        if (dragArrow == null)
        {
            Debug.LogWarning("Drag Arrow<6F><77> Inspector<6F><72> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>.");
            return;
        }

        dragArrow.SetActive(true);
        dragArrow.transform.position = position;
    }

    // <20>巡<EFBFBD><E5B7A1> ȭ<><C8AD>ǥ <20><>Ȱ<EFBFBD><C8B0>ȭ
    public void HideDragArrow()
    {
        if (dragArrow != null)
        {
            dragArrow.SetActive(false);
        }
    }

    // <20><><EFBFBD><EFBFBD> <20><> <20><>ġ <20><>ȯ
    public Vector3 GetCurrentRayPosition()
    {
        if (rayProvider != null)
        {
            return rayProvider.rayEndPoint;
        }

        if (baseInteractor != null)
        {
            return baseInteractor.attachTransform.position;
        }

        return transform.position;
    }
}