Model Positioning Menu

arcor2_AREditor/Assets/BASE/Scripts/SceneManager.cs

@@ -421,7 +421,7 @@ private void OnSceneBaseUpdated(object sender, BareSceneEventArgs args) {
         /// </summary>
         /// <param name="sender">Who invoked event.</param>
         /// <param name="args">Robot joints data</param>
-        private async void RobotJointsUpdated(object sender, RobotJointsUpdatedEventArgs args) {
+        public async void RobotJointsUpdated(object sender, RobotJointsUpdatedEventArgs args) {
             // if initializing or deinitializing scene OR scene is not started, dont update robot joints
             if (!Valid || !SceneStarted)
                 return;
@@ -439,7 +439,7 @@ private async void RobotJointsUpdated(object sender, RobotJointsUpdatedEventArgs
         /// </summary>
         /// <param name="sender"></param>
         /// <param name="args">Robot ee data</param>
-        private async void RobotEefUpdated(object sender, RobotEefUpdatedEventArgs args) {
+        public async void RobotEefUpdated(object sender, RobotEefUpdatedEventArgs args) {
             if (!RobotsEEVisible || !Valid) {
                 return;
             }

arcor2_AREditor/Assets/BASE/Scripts/URDF/RobotActionObject.cs

@@ -9,6 +9,7 @@
 using RosSharp.Urdf;
 using TMPro;
 using UnityEngine;
+using static UnityEditor.Recorder.OutputPath;
 
 namespace Base {
 
@@ -386,6 +387,26 @@ public override void SetVisibility(float value, bool forceShaderChange = false)
             UpdateColor();
         }
 
+        public void EnableStandardShader() {
+            foreach (Renderer i in robotRenderers) {
+                if (i.materials.Length == 3) {
+                    i.materials[1].shader = Shader.Find("Standard");
+                } else {
+                    i.material.shader = Shader.Find("Standard");
+                }
+            }
+        }
+
+        public void EnableInvalidShader() {
+            foreach (Renderer i in robotRenderers) {
+                if (i.materials.Length == 3) {
+                    i.materials[1].shader = Shader.Find("InvalidPose");
+                } else {
+                    i.material.shader = Shader.Find("InvalidPose");
+                }
+            }
+        }
+
 
         public async Task<List<string>> GetEndEffectorIds(string arm_id = null) {
             await LoadResources();

arcor2_AREditor/Assets/DraggablePoint.cs

@@ -0,0 +1,35 @@
+/*
+ * DraggablePoint
+ * Author: Timotej Halenár
+ * Login: xhalen00
+ * Bachelor's Thesis 
+ * VUT FIT 2024
+ * 
+ * */
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class DraggablePoint : MonoBehaviour
+{
+    [SerializeField] private OutlineOnClick outline;
+    // Start is called before the first frame update
+    void Start()
+    {
+
+    }
+
+    public void Highlight() {
+        outline.Highlight();
+    }
+
+    public void Unhighlight() {
+        outline.UnHighlight();
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+    }
+}