public void DropObject()
{
// grab all sim objects that are currently colliding with magnet sphere
foreach (KeyValuePair <SimObjPhysics, List <Collider> > sop in heldObjects)
{
Rigidbody rb = sop.Key.GetComponent <Rigidbody>();
rb.collisionDetectionMode = CollisionDetectionMode.ContinuousSpeculative;
rb.isKinematic = false;
// delete cloned colliders
foreach (Collider c in sop.Value)
{
Destroy(c.gameObject);
}
foreach (Collider c in sop.Key.MyColliders)
{
// re-enable colliders since they were disabled during pickup
c.enabled = true;
}
if (sop.Key.IsOpenable)
{
CanOpen_Object coj = sop.Key.gameObject.GetComponent <CanOpen_Object>();
coj.triggerEnabled = true;
}
GameObject topObject = GameObject.Find("Objects");
if (topObject != null)
{
sop.Key.transform.parent = topObject.transform;
}
else
{
sop.Key.transform.parent = null;
}
rb.WakeUp();
}
// clear all now dropped objects
heldObjects.Clear();
}
public bool PickupObject(List <string> objectIds, ref string errorMessage)
{
// var at = this.transform.InverseTransformPoint(armTarget.position) - new Vector3(0, 0, originToShoulderLength);
// Debug.Log("Pickup " + at.magnitude);
bool pickedUp = false;
// grab all sim objects that are currently colliding with magnet sphere
foreach (SimObjPhysics sop in WhatObjectsAreInsideMagnetSphereAsSOP())
{
if (objectIds != null)
{
if (!objectIds.Contains(sop.objectID))
{
continue;
}
}
Rigidbody rb = sop.GetComponent <Rigidbody>();
rb.isKinematic = true;
sop.transform.SetParent(magnetSphere.transform);
rb.collisionDetectionMode = CollisionDetectionMode.Discrete;
if (sop.IsOpenable)
{
CanOpen_Object coj = sop.gameObject.GetComponent <CanOpen_Object>();
// if an openable object receives OnTriggerEnter events
// the RigidBody can be switched to Kinematic false
coj.triggerEnabled = false;
}
// ok new plan, clone the "myColliders" of the sop and
// then set them all to isTrigger = True
// and parent them to the correct joint
List <Collider> cols = new List <Collider>();
foreach (Collider c in sop.MyColliders)
{
Collider clone = Instantiate(
c,
c.transform.position,
c.transform.rotation,
FourthJoint
);
clone.isTrigger = true;
// must disable the colliders on the held object so they
// don't interact with anything
c.enabled = false;
cols.Add(clone);
}
pickedUp = true;
heldObjects.Add(sop, cols);
}
if (!pickedUp)
{
errorMessage = (
objectIds != null
? "No objects (specified by objectId) were valid to be picked up by the arm"
: "No objects were valid to be picked up by the arm"
);
}
// note: how to handle cases where object breaks if it is shoved into another object?
// make them all unbreakable?
return(pickedUp);
}
