HDRobotics/Assets/Scripts/View/PathLineView.cs

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

/// <summary>
/// <20>κ<EFBFBD><CEBA><EFBFBD> <20>̵<EFBFBD> <20><><EFBFBD><EFBFBD>(Path)<29><> 3D <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ð<EFBFBD><C3B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>׷<EFBFBD><D7B7>ִ<EFBFBD> <20><>(View) Ŭ<><C5AC><EFBFBD><EFBFBD>
/// Unity<74><79> LineRenderer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD≯<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
/// </summary>

// <20>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD> LineRenderer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʈ <20>߰<EFBFBD>
[RequireComponent(typeof(LineRenderer))]
public class PathLineView : MonoBehaviour
{
    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;
        }

        // LINQ<4E><51> Select<63><74> <20><><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD> RobotData<74><61> Vector3 <20>迭<EFBFBD><E8BFAD> <20><>ȯ
        Vector3[] positions = poses.Select(ConvertRobotDataToVector3).ToArray();

        // LineRenderer<65><72> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ġ <20>迭 <20><><EFBFBD><EFBFBD>
        lineRenderer.positionCount = positions.Length;
        lineRenderer.SetPositions(positions);
    }

    /// <summary>
    /// Ư<><C6AF> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20>巡<EFBFBD><E5B7A1><EFBFBD>Ͽ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>, <20><><EFBFBD>θ<EFBFBD> <20>ǽð<C7BD><C3B0><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD> <20>׸<EFBFBD>
    /// (<28><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20≯<EFBFBD><CCB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
    /// </summary>
    /// <param name="poses"><3E><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ <20><><EFBFBD><EFBFBD>Ʈ</param>
    /// <param name="modifiedIndex"><3E><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>(<28>巡<EFBFBD><E5B7A1>) <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20>ε<EFBFBD><CEB5><EFBFBD></param>
    /// <param name="tempPose"><3E><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20>ǽð<C7BD> <20>ӽ<EFBFBD> <20><>ǥ</param>
    public void DrawPath(List<RobotData> poses, int modifiedIndex, RobotData tempPose)
    {
        // <20><>ȿ<EFBFBD><C8BF> <20>˻<EFBFBD>: <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EEB3AA> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>δ<EFBFBD><CEB4><EFBFBD> <20>׸<EFBFBD><D7B8><EFBFBD>
        if (poses == null || poses.Count < 2 ||
            modifiedIndex < 0 || modifiedIndex >= poses.Count)
        {
            DrawPath(poses);
            return;
        }

        // 1. <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> Vector3 <20>迭<EFBFBD><E8BFAD> <20><>ȯ
        Vector3[] positions = poses.Select(ConvertRobotDataToVector3).ToArray();

        // 2. <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5> <20>巡<EFBFBD><E5B7A1> <20><><EFBFBD><EFBFBD> <20>ӽ<EFBFBD> <20><>ǥ(tempPose)<29><> <20><><EFBFBD><EFBFBD><EEBEB2>
        // -> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(List)<29><> <20>ǵ帮<C7B5><E5B8AE> <20>ʰ<EFBFBD><CAB0><EFBFBD> <20>ð<EFBFBD><C3B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>θ<EFBFBD> <20><><EFBFBD>ΰ<EFBFBD> <20>ٲ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD>
        positions[modifiedIndex] = ConvertRobotDataToVector3(tempPose);

        // 3. <20><><EFBFBD>ŵ<EFBFBD> <20><>ǥ <20>迭<EFBFBD><E8BFAD> <20><> <20>׸<EFBFBD><D7B8><EFBFBD>
        lineRenderer.positionCount = positions.Length;
        lineRenderer.SetPositions(positions);
    }
}