// Use this for initialization
void Start()
{
if (!this._graspable_object)
{
this._graspable_object = this.GetComponent <GraspableObject>();
}
if (!this._gripper)
{
this._gripper = FindObjectOfType <ScriptedGripper>();
}
this._grasp = this._graspable_object.GetOptimalGrasp(this._gripper).First;
this._rigid_body = this._grasp.GetComponentInParent <Rigidbody>();
this._rigid_bodies = this._graspable_object.GetComponentsInChildren <Rigidbody>();
this._initial_position = this._rigid_body.transform.position;
this._initial_rotation = this._rigid_body.transform.rotation;
NeodroidUtilities.RegisterCollisionTriggerCallbacksOnChildren(
this,
this.transform,
this.OnCollisionEnterChild,
this.OnTriggerEnterChild,
this.OnCollisionExitChild,
this.OnTriggerExitChild,
this.OnCollisionStayChild,
this.OnTriggerStayChild,
this._debugging);
}
void Start()
{
if (!this._gripper)
{
this._gripper = FindObjectOfType <ScriptedGripper>();
}
if (!this._target)
{
this._target = FindObjectOfType <Grasp>();
}
//print ("GPU supports depth format: " + SystemInfo.SupportsRenderTextureFormat (RenderTextureFormat.Depth));
//print ("GPU supports shadowmap format: " + SystemInfo.SupportsRenderTextureFormat (RenderTextureFormat.Shadowmap));
File.WriteAllText(this._file_path + this._file_path_gripper, "frame, x, y, z, rot_x, rot_y, rot_z\n");
File.WriteAllText(this._file_path + this._file_path_target, "frame, x, y, z, rot_x, rot_y, rot_z\n");
/*if (!File.Exists(_file_path + _file_path_pos_rot)) {
* print("Created file/path: " + _file_path + _file_path_pos_rot);
* //File.Create(_file_path + _file_path_pos_rot);
* }
* if (_deleteFileContent) {
* File.WriteAllText(_file_path + _file_path_pos_rot, "");
* _deleteFileContent = false;
* }*/
}
void Start()
{
this._pf = FindObjectOfType <ScriptedGripper>();
this._t_gripper_target_distance.text = this._s_distance.value.ToString("0.00");
this._t_obstacle_num.text = this._s_obstacle.value.ToString(CultureInfo.InvariantCulture);
this._t_waiting.text = "";
}
