CamController Class Reference

Controls the camera orientation and render modes according to ViewMode in viewModeList user input. viewModeList is maintained by the state manager class in control i.e. Simulation, LogLoader, RobotEditor, EnvironmentEditor More...

Inheritance diagram for CamController:

Collaboration diagram for CamController:

Classes
class	StubObservable
	A blank IObservable implementation (used when the _areas list is empty) More...

Public Types
enum	ViewMode {   ViewMode.Birdseye, ViewMode.Orbit, ViewMode.Mounted, ViewMode.Static,   ViewMode.FreeMovement }
enum	RenderMode { RenderMode.Hybrid, RenderMode.Normal, RenderMode.BotData }

Public Member Functions
void	OnTestStart ()
	Raises the test start event. (handles camera exhibitionMode behaviour) More...
void	OnTestEnd ()
	Raises the test end event. (handles camera exhibitionMode behaviour) More...

Static Public Member Functions
static void	AddAreaOfInterest (IObservable area)
	Adds an area of interest to the list of areas for the camera to observe. More...
static void	RemoveAreaOfInterest (IObservable area)
	Removes an area of interest from the list of areas for the camera to observe. More...
static void	ClearAreaList ()
	Clears the area list. More...
static void	SetAreaOfInterest (int index)
	Sets the area of interest by index. More...
static void	SetAreaOfInterest (IObservable obj)
	Sets the area of interest by object (does nothing if the obj is not in the areas list. More...
static void	CycleAreaOfInterest ()
	Set area to next area of interest (circular index of areas list) More...
static void	CycleRenderMode ()
	Set renderMode to next RenderMode (circular index of render modes). More...
static void	RandomRenderMode ()
	Set renderMode to random RenderMode. More...
static void	AddViewMode (ViewMode mode)
	Adds a ViewMode to viewModeList. More...
static void	RemoveViewMode (ViewMode mode)
	Removes a ViewMode from viewModeList. More...
static void	ClearViewModeList ()
	Clears the view mode list. More...
static void	SetViewMode (ViewMode mode)
	Sets the view mode. More...
static void	SetViewMode (int index)
	Sets the view mode. More...
static void	CycleViewMode ()
	Set viewMode to the next ViewMode in viewModeList (circular index of viewModeList). More...
static void	RandomViewMode ()
	Set viewMode to random ViewMode in viewModeList. More...

Public Attributes
float	mouseSensitivity
	Multiplies speed of mouse axis input More...
float	freeMoveSpeed
	Camera translation speed when in free movement mode More...
float	freeMoveSpeedShiftMult
	Camera translation speed multiplier when the SHIFT key is used More...
LayerMask	maskCameraCollision
	Camera collision mask to avoid placing camera inside objects. More...
LayerMask	maskNormal
	Camera culling mask for RenderMode.Normal More...
LayerMask	maskBotData
	Camera culling mask for RenderMode.BotData More...
LayerMask	maskHybrid
	Camera culling mask for RenderMode.Hybrid More...

Properties
static CamController	Instance [get, private set]
	Gets the MonoBehaviour instance. More...
static ViewMode	viewMode [get]
	Gets the current ViewMode. More...
static RenderMode	renderMode [get, set]
	Gets or sets the RenderMode in use. RenderMode determines which render layers are drawn. More...
static IObservable	area [get]
	Gets the current observable area of interest. More...
static ReadOnlyCollection< ViewMode >	viewModeList [get]
	List of all ViewMode in effect. More...

Private Member Functions
void	Awake ()
void	Start ()
void	Update ()
void	RenderModeUpdate ()
	Call INavigation.DrawDebugInfo as appropriate (Camera culling mask is handled in renderMode.set) More...
void	BirdseyeUpdate ()
	Place the camera above the area of interest More...
void	FreeMovementUpdate ()
	Camera position and rotation controlled by axis keys and mouse axis More...
void	OrbitUpdate ()
	Camera orbit around the area of interest center More...

Static Private Member Functions
static	CamController ()

Private Attributes
float	_birdseyeDist = 0f
float	_3rdPersonDist = 0.5f
Vector3	_3rdPersonDir = Vector3.one
Vector3	_1stPersonDir = Vector3.one

Static Private Attributes
static List< ViewMode >	_modes
static List< IObservable >	_areas
static IObservable	_stub
static int	_mode
static int	_area
static Camera	_camera
static RenderMode	_renderMode

Detailed Description

Controls the camera orientation and render modes according to ViewMode in viewModeList user input. viewModeList is maintained by the state manager class in control i.e. Simulation, LogLoader, RobotEditor, EnvironmentEditor

Definition at line 12 of file CamController.cs.

Member Enumeration Documentation

enum CamController.RenderMode

Enumerator
Hybrid	Display BotData and scene geometry.
Normal	Display scene geometry only.
BotData	Display the robot data (drawn with Draw class) only.

Definition at line 44 of file CamController.cs.

                           {
        Hybrid,
        
        Normal,
        
        BotData
    }

enum CamController.ViewMode

Enumerator
Birdseye	Top-down orthographic view.
Orbit	Camera orbit around a point of interest.
Mounted	Camera attached to an object i.e. robot.
Static	A stationary camera position
FreeMovement	Free-flying camera.

Definition at line 17 of file CamController.cs.

                         {
        Birdseye,
        
        Orbit,
        
        Mounted,
        
        Static,
        
        FreeMovement
    }

Constructor & Destructor Documentation

static CamController.CamController ( )

staticprivate

Definition at line 151 of file CamController.cs.

                           {
        // modes list will always have ViewMode.FreeMovement, and any other modes registered by AddViewMode
        _modes = new List<ViewMode>();
        _modes.Add(ViewMode.FreeMovement);
        _areas = new List<IObservable>();
        _stub = new StubObservable();
    }

Member Function Documentation

static void CamController.AddAreaOfInterest ( IObservable  area )

static

Adds an area of interest to the list of areas for the camera to observe.

Parameters

area	An area of interest defined by a bounding box.

Definition at line 163 of file CamController.cs.

                                                           {
        if (!_areas.Contains(area)) _areas.Add(area);
    }

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static void CamController.AddViewMode ( ViewMode  mode )

static

Adds a ViewMode to viewModeList.

Parameters

mode	The view mode enum to add.

Definition at line 234 of file CamController.cs.

                                                  {
        if (!_modes.Contains(mode)) _modes.Add(mode);
    }

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void CamController.Awake ( )

private

Definition at line 397 of file CamController.cs.

                 {
        if (Instance == null) { 
            Instance = this;
        }
        else {
            Destroy(this);
        }
        _camera = GetComponent<Camera>();
    }

void CamController.BirdseyeUpdate ( )

private

Place the camera above the area of interest

Definition at line 481 of file CamController.cs.

                          {
        
        float size = Mathf.Max(area.bounds.size.x/2f, area.bounds.size.z/2f);
        size += _birdseyeDist;
        size = Mathf.Max(size, 0.5f);
        _camera.orthographicSize = Mathf.Lerp(_camera.orthographicSize, size, Time.unscaledDeltaTime * 4f);
        Vector3 targetPosition = area.bounds.center + Vector3.up * 10f;
        
        // smooth move to position
        _camera.transform.position = Vector3.Slerp(
            _camera.transform.position, 
            targetPosition, 
            Time.unscaledDeltaTime * 4f
            );
        
        // look down
        Quaternion targetRotation = Quaternion.LookRotation(Vector3.down);
        _camera.transform.rotation = Quaternion.Slerp(
            _camera.transform.rotation, 
            targetRotation, 
            Time.unscaledDeltaTime * 8f
            );
    }

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static void CamController.ClearAreaList ( )

static

Clears the area list.

Definition at line 179 of file CamController.cs.

                                       {
        _areas.Clear();
        _area = 0;
    }

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static void CamController.ClearViewModeList ( )

static

Clears the view mode list.

Definition at line 252 of file CamController.cs.

                                           {
        _modes.Clear();
        _modes.Add(ViewMode.Static);
        SetViewMode(0);
    }

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static void CamController.CycleAreaOfInterest ( )

static

Set area to next area of interest (circular index of areas list)

Definition at line 209 of file CamController.cs.

                                             {
        _area = (++_area) % _areas.Count;
    }

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static void CamController.CycleRenderMode ( )

static

Set renderMode to next RenderMode (circular index of render modes).

Definition at line 216 of file CamController.cs.

                                         {
        int length = System.Enum.GetValues(typeof(RenderMode)).Length;
        renderMode = (RenderMode)((int)(++renderMode) % length);
    }

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static void CamController.CycleViewMode ( )

static

Set viewMode to the next ViewMode in viewModeList (circular index of viewModeList).

Definition at line 315 of file CamController.cs.

                                       {
        SetViewMode((++_mode) % _modes.Count);
    }

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void CamController.FreeMovementUpdate ( )

private

Camera position and rotation controlled by axis keys and mouse axis

Definition at line 508 of file CamController.cs.

                              {
        // rotate accoring to right click drag calculated in Update()
        transform.rotation = Quaternion.LookRotation(_1stPersonDir);
        // boost movement speed if LeftShift is held down
        float b = Input.GetKey(KeyCode.LeftShift) ? freeMoveSpeedShiftMult : 1f;
        // grab axis input
        float y = Input.GetAxisRaw("Z") * freeMoveSpeed * b * Time.unscaledDeltaTime;
        float x = Input.GetAxisRaw("X") * freeMoveSpeed * b * Time.unscaledDeltaTime;
        // modify position according to orientation (move forward/back, strafe left/right)
        Vector3 pos = transform.position;
        pos += transform.forward * y;
        pos += transform.right * x;
        transform.position = pos;
    }

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void CamController.OnTestEnd

(

)

Raises the test end event. (handles camera exhibitionMode behaviour)

Definition at line 390 of file CamController.cs.

                            {
        if (Simulation.exhibitionMode) {
            SetViewMode(viewModeList.IndexOf(ViewMode.Birdseye));
        }
    }

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void CamController.OnTestStart

(

)

Raises the test start event. (handles camera exhibitionMode behaviour)

Definition at line 379 of file CamController.cs.

                              {
        if (Simulation.exhibitionMode) {
            RandomViewMode();
            RandomRenderMode();
            CycleAreaOfInterest();
        }
    }

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void CamController.OrbitUpdate ( )

private

Camera orbit around the area of interest center

Definition at line 526 of file CamController.cs.

                       {
        
        Vector3 targetPosition = area.bounds.center;
        // raycast from robot in a direction to avoid placing camera inside other objects
        Ray ray = new Ray(area.bounds.center, _3rdPersonDir);
        RaycastHit hit;
        // if raycast hit, put camera on hit object
        //if (Physics.SphereCast(ray, 0.5f, out hit, _3rdPersonDist, maskCameraCollision)) {
        //  targetPosition = hit.point + hit.normal;
        //  Debug.DrawLine(ray.origin, hit.point, Color.red);
        //}
        // else place camera at _3rdPersonDist away from robot
        //else {
            targetPosition = area.bounds.center + _3rdPersonDir * _3rdPersonDist;
        //}
        
        // smooth move to position
        _camera.transform.position = Vector3.Slerp(
            _camera.transform.position, 
            targetPosition, 
            Time.unscaledDeltaTime * 4f
            );
        
        // look at robot
        Quaternion targetRotation = Quaternion.LookRotation(area.bounds.center - targetPosition);
        _camera.transform.rotation = Quaternion.Slerp(
            _camera.transform.rotation, 
            targetRotation, 
            Time.unscaledDeltaTime * 8f
            );
    }

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static void CamController.RandomRenderMode ( )

static

Set renderMode to random RenderMode.

Definition at line 224 of file CamController.cs.

                                          {
        System.Array values = System.Enum.GetValues(typeof(RenderMode));
        renderMode = (RenderMode)values.GetValue(Random.Range(0,values.Length-1));
    }

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static void CamController.RandomViewMode ( )

static

Set viewMode to random ViewMode in viewModeList.

Definition at line 322 of file CamController.cs.

                                        {
        SetViewMode(Random.Range(0, _modes.Count-1));
    }

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static void CamController.RemoveAreaOfInterest ( IObservable  area )

static

Removes an area of interest from the list of areas for the camera to observe.

Parameters

area	An area of interest defined by a bounding box.

Definition at line 171 of file CamController.cs.

                                                              {
        if (_areas.Count > 1) _areas.Remove(area);
        if (_area >= _areas.Count) _area = 0;
    }

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static void CamController.RemoveViewMode ( ViewMode  mode )

static

Removes a ViewMode from viewModeList.

Parameters

mode	The view mode enum to remove.

Definition at line 242 of file CamController.cs.

                                                     {
        if (mode != ViewMode.FreeMovement) _modes.Remove(mode);
        if (_mode > _modes.Count) {
            SetViewMode(0);
        }
    }

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void CamController.RenderModeUpdate ( )

private

Call INavigation.DrawDebugInfo as appropriate (Camera culling mask is handled in renderMode.set)

Definition at line 472 of file CamController.cs.

                            {
        if (Simulation.isRunning)
            if (renderMode != RenderMode.Normal) 
                Simulation.robot.navigation.DrawDebugInfo();
    }

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static void CamController.SetAreaOfInterest ( int  index )

static

Sets the area of interest by index.

Parameters

index

Index for area list.

Definition at line 188 of file CamController.cs.

                                                    {
        // ignore out of range indexes
        if (index < 0 || index >= _areas.Count) {
            Debug.LogWarning("SetAreaOfInterest index param out of range. Ignoring.");
            return;
        }
        _area = index;
    }

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static void CamController.SetAreaOfInterest ( IObservable  obj )

static

Sets the area of interest by object (does nothing if the obj is not in the areas list.

Parameters

obj

Object.

Definition at line 201 of file CamController.cs.

                                                          {
        int index = _areas.IndexOf(obj);
        if (index >= 0) _area = index;
    }

static void CamController.SetViewMode ( ViewMode  mode )

static

Sets the view mode.

Parameters

mode	ViewMode selection. If selection is not in viewModeList then it will fail.

Definition at line 262 of file CamController.cs.

                                                  {
        int index = _modes.IndexOf(mode);
        SetViewMode(index);
    }

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static void CamController.SetViewMode ( int  index )

static

Sets the view mode.

Parameters

index

Index for selecting from viewModeList.

Definition at line 271 of file CamController.cs.

                                              {
        // ignore out of range indexes
        if (index < 0 || index >= _modes.Count) {
            Debug.LogWarning("SetViewMode index param out of range. Ignoring.");
            return;
        }
        _mode = index;
        _camera.transform.parent = null;
        // set camera properties for new ViewMode
        switch (_modes[_mode]) {
        case ViewMode.Mounted:
            _camera.orthographic = false;
            _camera.fieldOfView = 90f;
            _camera.transform.parent = Simulation.robot.cameraMount;
            _camera.transform.localPosition = Vector3.zero;
            _camera.transform.localRotation = Quaternion.identity;
            break;
        case ViewMode.Orbit:
        case ViewMode.FreeMovement:
            _camera.orthographic = false;
            _camera.fieldOfView = 60f;
            break;
        case ViewMode.Static:
            _camera.orthographic = false;
            _camera.fieldOfView = 60f;
            Bounds b = Simulation.Instance.bounds;
            Vector3 position = b.max;
            position.y *= 2f;
            position.x = Random.value < 0.5f ? b.min.x : b.max.x;
            position.z = Random.value < 0.5f ? b.min.z : b.max.z;
            Instance.transform.position = position;
            Instance.transform.rotation = Quaternion.LookRotation(b.center - Instance.transform.position);
            break;
        default:
        case ViewMode.Birdseye:
            _camera.camera.orthographic = true;
            _camera.transform.parent = null;
            break;
        }
    }

void CamController.Start ( )

private

Definition at line 408 of file CamController.cs.

                 {
        SetViewMode(0);
    }

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void CamController.Update ( )

private

Definition at line 413 of file CamController.cs.

                  {
        
        // set camera size on screen
        float w = UI_Toolbar.I.width/Screen.width;
        camera.rect = new Rect(0, 0, 1f-w, 1f);
        
        // ignore input unless mouse position is inside camera screen area
        if ( camera.pixelRect.Contains(Input.mousePosition) ) {
            if (Input.GetKeyDown(KeyCode.C)) CycleViewMode();
            if (Input.GetKeyDown(KeyCode.R)) CycleRenderMode();
            if (Input.GetKeyDown(KeyCode.Space)) CycleAreaOfInterest();
            // scrollwheel zoom
            _birdseyeDist -= Input.GetAxis("Mouse ScrollWheel") * 4f;
            // adjust third person distance with scroll wheel input
            _3rdPersonDist -= Input.GetAxis("Mouse ScrollWheel") * 4f;
            _3rdPersonDist = Mathf.Min(_3rdPersonDist, 20f);
            _3rdPersonDist = Mathf.Max(_3rdPersonDist, 0.25f);
            
            // move orbit direction vector while rightclick drag
            if (Input.GetMouseButton(1)) {
                float x = Input.GetAxisRaw("Mouse Y") * mouseSensitivity;
                float y = Input.GetAxisRaw("Mouse X") * mouseSensitivity;
                Quaternion rotation = Quaternion.AngleAxis(-y, Vector3.up);
                _3rdPersonDir = rotation * _3rdPersonDir;
                rotation = Quaternion.AngleAxis(x, _camera.transform.right);
                _3rdPersonDir = rotation * _3rdPersonDir;
                
                rotation = Quaternion.AngleAxis(y, Vector3.up);
                _1stPersonDir = rotation * _1stPersonDir;
                rotation = Quaternion.AngleAxis(-x, _camera.transform.right);
                _1stPersonDir = rotation * _1stPersonDir;
            }
        }

        // choose update behaviour 
        switch(viewMode) {
        case ViewMode.Birdseye:
            BirdseyeUpdate();
            break;
        case ViewMode.FreeMovement:
            FreeMovementUpdate();
            break;
        case ViewMode.Orbit:
            OrbitUpdate();  
            break;
        case ViewMode.Mounted:
        case ViewMode.Static:
        default:
            break;
        }
        
        RenderModeUpdate();
        
    }

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Member Data Documentation

Vector3 CamController._1stPersonDir = Vector3.one

private

Definition at line 371 of file CamController.cs.

Vector3 CamController._3rdPersonDir = Vector3.one

private

Definition at line 370 of file CamController.cs.

float CamController._3rdPersonDist = 0.5f

private

Definition at line 369 of file CamController.cs.

int CamController._area

staticprivate

Definition at line 143 of file CamController.cs.

List<IObservable> CamController._areas

staticprivate

Definition at line 140 of file CamController.cs.

float CamController._birdseyeDist = 0f

private

Definition at line 368 of file CamController.cs.

Camera CamController._camera

staticprivate

Definition at line 144 of file CamController.cs.

int CamController._mode

staticprivate

Definition at line 142 of file CamController.cs.

List<ViewMode> CamController._modes

staticprivate

Definition at line 139 of file CamController.cs.

RenderMode CamController._renderMode

staticprivate

Definition at line 145 of file CamController.cs.

IObservable CamController._stub

staticprivate

Definition at line 141 of file CamController.cs.

float CamController.freeMoveSpeed

Camera translation speed when in free movement mode

Definition at line 339 of file CamController.cs.

float CamController.freeMoveSpeedShiftMult

Camera translation speed multiplier when the SHIFT key is used

Definition at line 344 of file CamController.cs.

LayerMask CamController.maskBotData

Camera culling mask for RenderMode.BotData

Definition at line 360 of file CamController.cs.

LayerMask CamController.maskCameraCollision

Camera collision mask to avoid placing camera inside objects.

Definition at line 350 of file CamController.cs.

LayerMask CamController.maskHybrid

Camera culling mask for RenderMode.Hybrid

Definition at line 365 of file CamController.cs.

LayerMask CamController.maskNormal

Camera culling mask for RenderMode.Normal

Definition at line 355 of file CamController.cs.

float CamController.mouseSensitivity

Multiplies speed of mouse axis input

Definition at line 334 of file CamController.cs.

Property Documentation

IObservable CamController.area

staticget

Gets the current observable area of interest.

Definition at line 123 of file CamController.cs.

CamController CamController.Instance

staticgetprivate set

Gets the MonoBehaviour instance.

Definition at line 83 of file CamController.cs.

RenderMode CamController.renderMode

staticgetset

Gets or sets the RenderMode in use. RenderMode determines which render layers are drawn.

Definition at line 99 of file CamController.cs.

ViewMode CamController.viewMode

staticget

Gets the current ViewMode.

Definition at line 90 of file CamController.cs.

ReadOnlyCollection<ViewMode> CamController.viewModeList

staticget

List of all ViewMode in effect.

Definition at line 135 of file CamController.cs.

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The documentation for this class was generated from the following file:

• Assets/botnavsim/Scripts/Camera/CamController.cs