<fix> 로봇 Grab하는 동안 생긴 버그 해결, 놓으면 바로 멈추도록 변경, 프로그램 재생 시에도 사운드 재생하도록 변경

Assets/Scripts/View/InteractionView.cs

@@ -10,7 +10,7 @@ public enum HandSide { Left, Right }
 public class InteractionView : MonoBehaviour
 {
     public event Action<bool> OnRobotHoverStateChanged;
-    public event Action OnRobotGrabStart;
+    public event Action<Vector3> OnRobotGrabStart;
     public event Action<Vector3, Quaternion> OnRobotGrabbed;
     public event Action<RobotData> OnRobotReleased;
     public event Action<int, Vector3> OnPointClicked;
@@ -173,7 +173,7 @@ public class InteractionView : MonoBehaviour
             isGrabbingRobot = true;
             currentGrabbedPointIndex = -1;
 
-            OnRobotGrabStart?.Invoke();
+            OnRobotGrabStart?.Invoke(startGrabPosition);
             OnPointDragStart?.Invoke(currentGrabbedPointIndex);
         }
     }

Assets/Scripts/View/PathLineView.cs

@@ -3,13 +3,8 @@ using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
 
-// 인터페이스
-public interface IPathLineView
-{
-}
-
 [RequireComponent(typeof(LineRenderer))]
-public class PathLineView : MonoBehaviour, IPathLineView
+public class PathLineView : MonoBehaviour
 {
     private LineRenderer lineRenderer;
 

Assets/Scripts/View/PointManagerView.cs

@@ -21,21 +21,43 @@ public class PointManagerView : MonoBehaviour
 
     private Vector3 ConvertRobotDataToVector3(RobotData pose)
     {
-        float x = Convert.ToSingle(pose.x / -1000.0); // mm -> m
+        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("마커 프리팹이 할당되지 않았습니다.");
+            return;
+        }
         Vector3 localPos = ConvertRobotDataToVector3(pose);
-        Vector3 worldPos = localPos;
+        //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;
+        
         // 로봇 Base가 있다면, 로컬 좌표를 월드 좌표로 변환
         if (robotBaseTransform != null)
         {
             worldPos = robotBaseTransform.TransformPoint(localPos);
+            //worldRot = robotBaseTransform.rotation * localRot;
         }
         else
         {
@@ -44,6 +66,9 @@ public class PointManagerView : MonoBehaviour
 
         // 변환된 월드 좌표에 생성
         GameObject pointObj = Instantiate(pointPrefab, worldPos, Quaternion.identity, this.transform);
+        Debug.Log($"마커 프리팹 생성됨, 위치: {worldPos}");
+            
+        //pointObj.transform.localRotation = Quaternion.identity;
         activePoints.Add(pointObj);
 
         RobotPoint pointComponent = pointObj.GetComponent<RobotPoint>();

Assets/Scripts/View/ProgramInfoView.cs

@@ -122,7 +122,7 @@ public class ProgramInfoView : MonoBehaviour
     private void ShowProgramInfoPanel(InputAction.CallbackContext obj)
     {
         isPressingX = !isPressingX;
-        if (!isPressingX)
+        if (isPressingX)
         {
             infoPanel.transform.SetParent(leftControllerTransform);
             infoPanel.transform.localPosition = new Vector3(0f, 0.2f, 0f);
@@ -143,7 +143,7 @@ public class ProgramInfoView : MonoBehaviour
     private void PlayProgram(InputAction.CallbackContext obj)
     {
         isPressingAorB = !isPressingAorB;
-        if (!isPressingAorB)
+        if (isPressingAorB)
         {
             OnStartClicked?.Invoke();
         }