107 lines
3.4 KiB
C#
107 lines
3.4 KiB
C#
using System;
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using System.Collections.Generic;
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using UnityEngine;
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public class PointManagerView : MonoBehaviour
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{
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[SerializeField] private GameObject pointPrefab;
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private List<GameObject> activePoints = new List<GameObject>();
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public Transform robotBaseTransform; // 로봇좌표의 기준이 되는 축 위치
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[SerializeField] public GameObject movingAlert;
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[SerializeField]
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[Tooltip("반투명 로봇 모델의 IK")]
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public HybridInverseKinematicsNode kinematicsNode;
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void Start()
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{
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movingAlert.SetActive(false);
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}
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private Vector3 ConvertRobotDataToVector3(RobotData pose)
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{
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float x = Convert.ToSingle(pose.x / -1000.0); // Robot X(mm) -> Unity X(m)
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float y = Convert.ToSingle(pose.z / 1000.0); // Robot Z(mm) -> Unity Y(m)
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float z = Convert.ToSingle(pose.y / -1000.0); // Robot Y(mm) -> Unity Z(m)
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return new Vector3(x, y, z);
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}
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private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
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{
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float rx = pose.rx;
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float ry = pose.z;
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float rz = pose.y;
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return Quaternion.Euler(pose.rx, -pose.rz, pose.ry);
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}
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public void CreatePoint(RobotData pose, int index)
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{
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if(pointPrefab == null)
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{
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Debug.Log("마커 프리팹이 할당되지 않았습니다.");
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return;
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}
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Vector3 position = ConvertRobotDataToVector3(pose);
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//Quaternion localRot = ConvertRobotDataToQuaternion(pose);
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//Vector3 toolOffset = new Vector3(0.681004044f, -0.221942063f, -0.447616011f);
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//Vector3 rotatedOffset = localRot * toolOffset;
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//Vector3 finalLocalPos = localPos + rotatedOffset;
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//Vector3 worldPos = localPos;
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////Quaternion worldRot = localRot;
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//// 로봇 Base가 있다면, 로컬 좌표를 월드 좌표로 변환
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//if (robotBaseTransform != null)
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//{
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// worldPos = robotBaseTransform.TransformPoint(localPos);
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// //worldRot = robotBaseTransform.rotation * localRot;
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//}
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//else
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//{
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// Debug.LogWarning("PointManagerView: RobotBaseTransform이 할당되지 않아 월드 원점 기준으로 생성됩니다.");
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//}
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// 변환된 월드 좌표에 생성
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GameObject pointObj = Instantiate(pointPrefab, position, Quaternion.identity, this.transform);
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Debug.Log($"마커 프리팹 생성됨, 위치: {position}");
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Debug.Log($"로봇 기준점(root 좌표): {robotBaseTransform.position}");
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//pointObj.transform.localRotation = Quaternion.identity;
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activePoints.Add(pointObj);
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RobotPoint pointComponent = pointObj.GetComponent<RobotPoint>();
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if (pointComponent != null)
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{
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pointComponent.pointIndex = activePoints.Count - 1;
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}
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else
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{
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Debug.LogError("point프리팹에 RobotPoint스크립트가 없음");
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}
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}
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public void UpdatePointPosition(int index, Vector3 pose)
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{
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if (index < 0 || index >= activePoints.Count) return;
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activePoints[index].transform.position = pose;
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}
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public void DeletePoint(int index)
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{
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if (index < 0 || index >= activePoints.Count) return;
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Destroy(activePoints[index]);
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activePoints.RemoveAt(index);
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}
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public void RedrawPoints(List<RobotData> poses)
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{
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foreach (var point in activePoints) Destroy(point);
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activePoints.Clear();
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if (poses == null) return;
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for (int i= 0; i < poses.Count; i++) CreatePoint(poses[i], i);
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}
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}
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