feat: 599 support drop on dvdepth for pathfinder manipulators (#612)

* Bump versions

* Drop to surface on DV

* Pull raw pos, need to compute difference

* Revert "Pull raw pos, need to compute difference"

This reverts commit 44293d8.

* Compute dv vs depth

Author: kjy5

.gitignore

@@ -170,3 +170,5 @@ Assets/Unisave/Resources/UnisavePreferencesFile.asset.meta
 Assets/Resources.meta
 **/HelloSGLX-win/*
 .gitconfig
+
+Library/com.unity.addressables/AddressablesBuildTEP.json

Assets/Scenes/TrajectoryPlanner.unity

@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.44824904, g: 0.49827605, b: 0.5755831, a: 1}
+  m_IndirectSpecularColor: {r: 0.44912726, g: 0.49919963, b: 0.5757154, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:

Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs

@@ -348,9 +348,29 @@ private void EchoPosition(Vector4 pos)
                 {
                     _probeController.SetProbeAngles(new Vector3(angles.x, 90 - angles.y, angles.z));
 
+                    // If only the DV axis moved, then we drop on DV. Otherwise, we drop on depth.
+                    if (Math.Abs(pos.z - _lastManipulatorPosition.z) > 0.0001)
+                        IsSetToDropToSurfaceWithDepth = Math.Abs(pos.x - _lastManipulatorPosition.x) > 0.0001 ||
+                                                        Math.Abs(pos.y - _lastManipulatorPosition.y) > 0.0001;
+
+                    // Copy in new 3-axis position into saved 4-axis position
+                    _lastManipulatorPosition = new Vector4(pos.x, pos.y, pos.z, _lastManipulatorPosition.w);
+
+                    // Apply brain surface offset on correct axis
+                    var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset;
+                    if (IsSetToDropToSurfaceWithDepth)
+                        _lastManipulatorPosition.w -= brainSurfaceAdjustment;
+                    else
+                        _lastManipulatorPosition.z -= brainSurfaceAdjustment;
+                    
                     // Convert Pathfinder space coordinates into active atlas space
-                    _probeController.SetProbePosition(
-                        _probeController.Insertion.World2T_Vector(CoordinateSpace.Space2World_Vector(pos)));
+                    var convertedPos =
+                        _probeController.Insertion.World2T_Vector(
+                            CoordinateSpace.Space2World_Vector(_lastManipulatorPosition));
+                    
+                    // Copy and add 4th axis back in
+                    _probeController.SetProbePosition(new Vector4(convertedPos.x, convertedPos.y, convertedPos.z,
+                        _lastManipulatorPosition.w));
                 });
             }
             else

Assets/StreamingAssets/copilot_demo.json

@@ -3,7 +3,7 @@
     "com.unity.addressables": "1.21.18",
     "com.unity.ai.navigation": "1.1.5",
     "com.unity.animation.rigging": "1.2.1",
-    "com.unity.ide.rider": "3.0.26",
+    "com.unity.ide.rider": "3.0.27",
     "com.unity.ide.visualstudio": "2.0.21",
     "com.unity.ide.vscode": "1.2.5",
     "com.unity.inputsystem": "1.7.0",

Assets/StreamingAssets/copilot_demo.json.meta

@@ -57,7 +57,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.ide.rider": {
-      "version": "3.0.26",
+      "version": "3.0.27",
       "depth": 0,
       "source": "registry",
       "dependencies": {

Library/com.unity.addressables/AddressablesBuildTEP.json

@@ -136,7 +136,7 @@ PlayerSettings:
   vulkanEnableLateAcquireNextImage: 0
   vulkanEnableCommandBufferRecycling: 1
   loadStoreDebugModeEnabled: 0
-  bundleVersion: 1.0.3
+  bundleVersion: 1.1.0
   preloadedAssets:
   - {fileID: 11400000, guid: 6057f25234ce83a4bbb3ae618a501907, type: 2}
   metroInputSource: 0