HDRobotics/Assets/Scripts/View/PathLineView.cs

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

// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̽<EFBFBD>
public interface IPathLineView
{
}

[RequireComponent(typeof(LineRenderer))]
public class PathLineView : MonoBehaviour, IPathLineView
{
    private LineRenderer lineRenderer;

    void Awake()
    {
        lineRenderer = GetComponent<LineRenderer>();
        // Line Renderer <20>⺻ <20><><EFBFBD><EFBFBD>
        lineRenderer.startWidth = 0.01f;
        lineRenderer.endWidth = 0.01f;
        lineRenderer.material = new Material(Shader.Find("Legacy Shaders/Particles/Alpha Blended Premultiply"));
        lineRenderer.startColor = Color.cyan;
        lineRenderer.endColor = Color.cyan;
    }

    private Vector3 ConvertRobotDataToVector3(RobotData pose)
    {
        float x = Convert.ToSingle(pose.x / -1000.0); // mm -> 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);
    }

    /// <summary>
    /// <20><><EFBFBD>α׷<CEB1><D7B7><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>մ<EFBFBD> <20><><EFBFBD><EFBFBD> <20>׸<EFBFBD>
    /// </summary>
    public void DrawPath(List<RobotData> poses)
    {
        if (poses == null || poses.Count < 2)
        {
            lineRenderer.positionCount = 0; // <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> 2<><32> <20≯<EFBFBD><CCB8≯<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
            return;
        }

        Vector3[] positions = poses.Select(ConvertRobotDataToVector3).ToArray();

        lineRenderer.positionCount = positions.Length;
        lineRenderer.SetPositions(positions);
    }

    // <20>ǽð<C7BD> <20><><EFBFBD><EFBFBD> <20>׸<EFBFBD><D7B8><EFBFBD>
    public void DrawPath(List<RobotData> poses, int modifiedIndex, RobotData tempPose)
    {
        if (poses == null || poses.Count < 2 ||
            modifiedIndex < 0 || modifiedIndex >= poses.Count)
        {
            DrawPath(poses);
            return;
        }

        Vector3[] positions = poses.Select(ConvertRobotDataToVector3).ToArray();

        positions[modifiedIndex] = ConvertRobotDataToVector3(tempPose);

        lineRenderer.positionCount = positions.Length;
        lineRenderer.SetPositions(positions);
    }
}