Open MistyGH opened 6 months ago
To spawn a gate:
Initialize Gate:
// add includes for gate implementation
#include "flightlib/eigen-3.4.0/Eigen/Eigen"
#include "flightlib/bridges/unity_bridge.hpp"
#include "flightlib/bridges/unity_message_types.hpp"
#include "flightlib/common/types.hpp"
#include "flightlib/objects/static_gate.hpp"
Following code can be global:
// Initialize gates (with positions)
std::string object_id = "UNIQUE_GATE_NAME"; // Unique name
std::string prefab_id = "rpg_gate"; // Name of the prefab in the Assets/Resources folder
std::shared_ptr<StaticGate> GATE_NAME =
std::make_shared<StaticGate>(object_id, prefab_id);
At the start of the "reset" function, initialize positions by adding the following lines:
GATE_NAME->setPosition(Eigen::Vector3f(0, 10, 2.5));
GATE_NAME->setQuaternion(
Quaternion(std::cos(0.5 * M_PI_2), 0.0, 0.0, std::sin(0.5 * M_PI_2)));
Add Gate Object:
Within the "addObjectsToUnity" function, add the following line:
bridge->addStaticObject(GATE_NAME);