fix: 597 copilot drive direction incorrect (#598)

* Things are working

* Set drive speed to normal

Author: kjy5

Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs

@@ -1,3 +1,4 @@
+using BrainAtlas;
 using EphysLink;
 using TMPro;
 using UnityEngine;
@@ -34,8 +35,8 @@ private enum DriveState
 
         // Base speeds (in mm/s)
         private const float DEPTH_DRIVE_BASE_SPEED_TEST = 0.5f;
-        private const float DEPTH_DRIVE_BASE_SPEED = DEPTH_DRIVE_BASE_SPEED_TEST;
-        // private const float DEPTH_DRIVE_BASE_SPEED = 0.005f;
+        // private const float DEPTH_DRIVE_BASE_SPEED = DEPTH_DRIVE_BASE_SPEED_TEST;
+        private const float DEPTH_DRIVE_BASE_SPEED = 0.005f;
 
         // Speed multipliers
         private const float NEAR_TARGET_SPEED_MULTIPLIER = 2f / 3f;
@@ -220,15 +221,17 @@ private float _targetDriveDistance
                 var targetPositionWorldT = targetInsertion.PositionWorldT();
                 var relativePositionWorldT =
                     ProbeManager.ProbeController.Insertion.PositionWorldT() - targetPositionWorldT;
-                var probeTipTUp = ProbeManager.ProbeController.ProbeTipT.up;
+                var probeTipTForward = ProbeManager.ProbeController.ProbeTipT.forward;
                 var offsetAdjustedRelativeTargetPositionWorldT =
-                    Vector3.ProjectOnPlane(relativePositionWorldT, probeTipTUp);
+                    Vector3.ProjectOnPlane(relativePositionWorldT, probeTipTForward);
                 var offsetAdjustedTargetPositionWorldT =
                     targetPositionWorldT + offsetAdjustedRelativeTargetPositionWorldT;
 
                 // Converting worldT back to APMLDV (position transformed)
                 targetInsertion.apmldv = targetInsertion.World2T(offsetAdjustedTargetPositionWorldT);
 
+                print("Target distance: " + Vector3.Distance(targetInsertion.apmldv, _duraAPMLDV));
+
                 return Vector3.Distance(targetInsertion.apmldv, _duraAPMLDV);
             }
         }

Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs

@@ -305,15 +305,9 @@ private void ComputeMovementInsertions()
             };
 
             // Recalculate AP and ML based on pre-depth-drive DV
-            var targetProbeManager =
-                ManipulatorIDToSelectedTargetProbeManager[ProbeManager.ManipulatorBehaviorController.ManipulatorID];
-            var (brainSurfaceCoordinateIdx, _) = targetProbeManager.CalculateEntryCoordinate(!ProbeManager
-                .ManipulatorBehaviorController
-                .IsSetToDropToSurfaceWithDepth);
-
             var brainSurfaceTransformed =
-                targetProbeManager.ProbeController.Insertion.World2T(
-                    BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(brainSurfaceCoordinateIdx));
+                ManipulatorIDToSelectedTargetProbeManager[ProbeManager.ManipulatorBehaviorController.ManipulatorID]
+                    .GetSurfaceCoordinateT().surfaceCoordinateT;
 
             // AP Axis
             _movementAxesInsertions.ap = new ProbeInsertion(_movementAxesInsertions.dv)

Library/com.unity.addressables/AddressablesBuildTEP.json

@@ -1,9 +1,9 @@
 {
-"Date": "11/30/2023 2:28:23 PM",
+"Date": "11/30/2023 3:04:24 PM",
 "UnityVersion": "2022.3.12f1",
 "com.unity.scriptablebuildpipeline": "1.21.20",
 "com.unity.addressables": "1.21.18",
 "traceEvents": [
-{"name": "Building Use Asset Database (fastest)", "ph": "X", "dur": 346.7, "tid": 1, "ts": 1280, "pid": 1}
+{"name": "Building Use Asset Database (fastest)", "ph": "X", "dur": 586.8, "tid": 1, "ts": 1248, "pid": 1}
 ]
 }

ProjectSettings/ProjectSettings.asset

@@ -137,7 +137,8 @@ PlayerSettings:
   vulkanEnableCommandBufferRecycling: 1
   loadStoreDebugModeEnabled: 0
   bundleVersion: 1.0.3
-  preloadedAssets: []
+  preloadedAssets:
+  - {fileID: 11400000, guid: 6057f25234ce83a4bbb3ae618a501907, type: 2}
   metroInputSource: 0
   wsaTransparentSwapchain: 0
   m_HolographicPauseOnTrackingLoss: 1