smart-bow-infrared/Assets/LightGlue/Scripts/UI/LightGlueCameraAimController.cs

using UnityEngine;
using LightGlue.Unity.Game;
using LightGlue.Unity.Networking;
using LightGlue.Unity.Roma;
using LightGlue.Unity.Runtime;
using LightGlue.Unity.Config;

namespace LightGlue.Unity.UI
{
    /// <summary>
    /// 专用于游戏内的 LightGlue 相机朝向控制器
    /// - 从 HardwareToPythonUdpBridge 读取算法返回的相机坐标（参考图像坐标系）
    /// - 将参考图坐标映射到游戏实际屏幕坐标（Screen.width / Screen.height）
    /// - 使用 ScreenPointToRay 计算射线方向，并更新 CameraToLook.ins.localRotation
    /// - 不依赖 UI Image，不会与 SimpleCameraPositionMarker 的 UI 逻辑耦合或冲突
    /// </summary>
    public class LightGlueCameraAimController : MonoBehaviour
    {
        [Header("事件驱动（推荐插件模式）")]
        [Tooltip("为 true 时，仅使用 LightGlueRuntimeFacade.OnPositionUpdate 作为结果来源，不再依赖 LightGlueManager/RomaManager。")]
        public bool useOnPositionUpdate = true;

        [Header("结果来源")]
        [Tooltip("优先使用 LightGlueManager（旧场景）；若为空则回退到 RomaManager（新 Roma 场景）。禁止直接从 Bridge 获取结果。")]
        public LightGlueManager manager;

        [Tooltip("Roma 场景下的结果来源。通常留空，自动使用 RomaManager.Instance。")]
        public RomaManager romaManager;

        [Header("参考图像尺寸（必须与 Python --resize 一致）")]
        [Tooltip("参考图像宽度（像素）")]
        public int referenceImageWidth = 640;

        [Tooltip("参考图像高度（像素）")]
        public int referenceImageHeight = 480;

        [Header("平滑参数来源（唯一来源，无本地参数）")]
        [Tooltip("留空则使用 LightGlueCursorSettings.Instance；所有平滑参数均由此引用读取，UI 修改后即时生效")]
        public LightGlueCursorSettings cursorSettings;

        private Quaternion _currentRotation;
        private bool _hasCurrentRotation;
        private Quaternion _smoothStartRot;
        private Quaternion _smoothTargetRot;
        private float _smoothProgress;

        private LightGluePositionUpdate _latestUpdate;
        private bool _hasLatestUpdate;

        private LightGlueCursorSettings GetCursorSettings()
        {
            if (cursorSettings != null) return cursorSettings;
            return LightGlueCursorSettings.Instance;
        }

        private void OnEnable()
        {
            ReferenceImageResizeService.EnsureInitialized();
            SetReferenceImageSize(ReferenceImageResizeService.Width, ReferenceImageResizeService.Height);
            ReferenceImageResizeService.OnResizeChanged += SetReferenceImageSize;

            if (!useOnPositionUpdate) return;
            LightGlueRuntimeFacade.Ensure();
            LightGlueRuntimeFacade.OnPositionUpdate += HandlePositionUpdate;
        }

        private void OnDisable()
        {
            ReferenceImageResizeService.OnResizeChanged -= SetReferenceImageSize;
            if (!useOnPositionUpdate) return;
            LightGlueRuntimeFacade.OnPositionUpdate -= HandlePositionUpdate;
        }

        private void HandlePositionUpdate(LightGluePositionUpdate update)
        {
            _latestUpdate = update;
            _hasLatestUpdate = true;
        }

        private void Start()
        {
            if (cursorSettings == null)
                cursorSettings = LightGlueCursorSettings.Instance;

            if (GetCursorSettings() == null)
                Debug.LogWarning("[LightGlueCameraAimController] 未找到 LightGlueCursorSettings，相机朝向平滑参数将不可用，请确保 GameManager 已生成设置预制。");

            if (!useOnPositionUpdate)
            {
                if (manager == null) manager = LightGlueManager.Instance;
                if (manager == null && romaManager == null) romaManager = RomaManager.Instance;

                if (manager == null && romaManager == null)
                    Debug.LogError("[LightGlueCameraAimController] 未找到 LightGlueManager / RomaManager，无法获取算法结果。请确认场景已生成对应 System 预制。");
            }
        }

        private void Update()
        {
            LightGlueResult result;
            if (useOnPositionUpdate)
            {
                if (!_hasLatestUpdate) return;
                if (!_latestUpdate.IsValid) return;

                // Position/CameraLocation 均为参考图坐标（左上原点、Y向下）
                Vector2 p = _latestUpdate.CameraLocation != default ? _latestUpdate.CameraLocation : _latestUpdate.Position;
                result = new LightGlueResult(
                    isValid: _latestUpdate.IsValid,
                    numMatches: _latestUpdate.NumMatches,
                    inliersRatio: _latestUpdate.InliersRatio,
                    cameraX: p.x,
                    cameraY: p.y);
            }
            else
            {
                if (manager != null)
                {
                    if (!manager.HasLatestResult) return;
                    result = manager.LatestResult;
                }
                else
                {
                    if (romaManager == null) romaManager = RomaManager.Instance;
                    if (romaManager == null || !romaManager.HasLatestResult) return;
                    result = romaManager.LatestResult;
                }
            }

            LightGlueCursorSettings settings = GetCursorSettings();
            if (settings == null)
                return;

            if (!result.IsValid) return;

            if (Camera.main == null || CameraToLook.ins == null)
                return;

            Vector2 gameScreenPos = result.GetMappedPosition(
                referenceWidth: referenceImageWidth,
                referenceHeight: referenceImageHeight,
                targetWidth: Screen.width,
                targetHeight: Screen.height,
                type: LightGlueResult.MappedCoordinateType.GameScreen);
            Vector3 screenPoint = new Vector3(gameScreenPos.x, gameScreenPos.y, 0f);

            Ray ray = Camera.main.ScreenPointToRay(screenPoint);
            Vector3 rayEndPoint = ray.GetPoint(200f);
            Quaternion targetRotation = Quaternion.LookRotation(rayEndPoint - Camera.main.transform.position);
            targetRotation = Quaternion.AngleAxis(-180f, Vector3.up) * targetRotation;

            bool useSmooth = settings.cameraAimEnableSmoothRotation;
            float lerpSpeed = settings.cameraAimRotationLerpSpeed;
            float jitterDeg = settings.cameraAimRotationJitterThresholdDeg;
            AnimationCurve curve = settings.cameraAimSmoothCurve;

            if (!useSmooth || !_hasCurrentRotation)
            {
                _currentRotation = targetRotation;
                _hasCurrentRotation = true;
                _smoothStartRot = targetRotation;
                _smoothTargetRot = targetRotation;
                _smoothProgress = 1f;
            }
            else
            {
                if (jitterDeg > 0f)
                {
                    float angle = Quaternion.Angle(_currentRotation, targetRotation);
                    if (angle < jitterDeg)
                    {
                        CameraToLook.ins.localRotation = _currentRotation;
                        return;
                    }
                }

                _smoothTargetRot = targetRotation;
                if (_smoothProgress >= 1f)
                {
                    _smoothStartRot = _currentRotation;
                    _smoothProgress = 0f;
                }
                _smoothProgress += Time.deltaTime * lerpSpeed;
                _smoothProgress = Mathf.Clamp01(_smoothProgress);
                float t = (curve != null && curve.keys.Length > 0) ? curve.Evaluate(_smoothProgress) : _smoothProgress;
                t = Mathf.Clamp01(t);
                _currentRotation = Quaternion.Slerp(_smoothStartRot, _smoothTargetRot, t);
            }

            CameraToLook.ins.localRotation = _currentRotation;
        }

        /// <summary>
        /// 允许在运行时从外部调整参考图像尺寸（例如根据 Python 参数动态设置）
        /// </summary>
        public void SetReferenceImageSize(int width, int height)
        {
            referenceImageWidth = width;
            referenceImageHeight = height;
        }
    }
}