public bool IsConnected(ArmPlanner arm)
{
if (getGrasps && Arm != null && Arm == arm && HandObject != null && HandObject == arm.HandObject)
{
return(true);
}
return(false);
}
public void Connect(ArmPlanner arm)
{
Arm = arm;
HandObject = Arm.HandObject;
getGrasps = true;
SetRegionSizing();
GetAllGripPoints();
}
public void Disconnect()
{
getGrasps = false;
Arm = null;
HandObject = null;
PossibleHoldPoints = null;
RegionSizing = 0;
fingerSpace = 0;
}
void MouseClickEvent()
{
Ray ray = GetComponent <Camera>().ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (Physics.Raycast(ray, out hit))
{
// the object identified by hit.transform was clicked
// do whatever you want
//LeftControlRobot.Destination = hit.transform;
if (hit.transform.GetComponentInParent <ArmPlanner>() != null)
{
m_SelectedArm = hit.transform.GetComponentInParent <ArmPlanner>();
//Debug.Log("Selected Arm: " + hit.transform.name);
}
else if (m_SelectedArm != null && hit.transform.GetComponent <GraspRegion>() != null)
{
m_SelectedArm.SetNewObject(hit.transform.GetComponent <GraspRegion>());
//Debug.Log("Selected Object: " + hit.transform.name);
}
}
}