void FetchTarget(Transform newTarget)
{
currentTarget = newTarget;
currentMode = CraneMode.Extending;
segment.ExtendTo(1);
delay = 0;
}
// Use this for initialization
void Start()
{
GameObject g = clawGoal;
craneTarget = g.transform;
ik = GetComponent <TelescopeIK>();
ik.target = craneTarget;
segment = GetComponent <TelescopeSegment>();
craneTarget.position = calibrationPos.position;
currentTarget = calibrationPos;
currentMode = CraneMode.Holding;
segment.ExtendImmediate(0);
segment.LastShell.AlwaysExtend = true;
segment.LastShell.SetTransform();
Vector3 clawPos = segment.LastShell.EndPointWS;
Vector3 clawForward = segment.LastShell.EndTangentWS;
claw.transform.position = clawPos + clawForward * 0.1f;
claw.transform.forward = -clawForward;
claw.transform.parent = segment.LastShell.transform;
}
// Update is called once per frame
void Update()
{
craneTarget.position = Vector3.Lerp(calibrationPos.position,
currentTarget.position + targetOffset, interp);
switch (currentMode)
{
case CraneMode.Extending:
if (delay < 1)
{
delay += Time.deltaTime;
}
else
{
interp = Mathf.Clamp01(interp + Time.deltaTime);
}
if (interp >= 1)
{
currentMode = CraneMode.Holding;
}
break;
case CraneMode.Retracting:
interp = Mathf.Clamp01(interp - Time.deltaTime);
if (interp <= 0)
{
currentMode = CraneMode.Holding;
}
break;
case CraneMode.Holding:
default:
break;
}
Vector3 clawUp = claw.transform.up;
Vector3 clawForward = claw.transform.forward;
Vector3 worldUpImage = Vector3.up - Vector3.Dot(Vector3.up, clawForward) * clawForward;
float angle = TelescopeUtils.AngleBetween(clawUp, worldUpImage.normalized, claw.transform.forward);
claw.transform.rotation = Quaternion.AngleAxis(Mathf.Min(angle, 90f * Time.deltaTime),
claw.transform.forward) * claw.transform.rotation;
if (Input.GetKeyDown("=") && targetIndex < targets.Count && currentMode == CraneMode.Holding)
{
Debug.Log("extending");
FetchTarget(targets[targetIndex]);
currentTargetObject = targetObjects[targetIndex];
targetIndex++;
}
if (Input.GetKeyDown("-") && currentMode == CraneMode.Holding)
{
Debug.Log("retracting");
RetrieveTarget();
}
if (Input.GetKeyDown("0") && currentMode == CraneMode.Holding)
{
Debug.Log("Moving to bin");
DepositTarget();
}
if (Input.GetKeyDown("1"))
{
bool nowOpen = claw.ToggleClose();
if (!nowOpen)
{
currentTargetObject.parent = claw.transform;
}
else
{
currentTargetObject.parent = null;
currentTargetObject.GetComponent <Rigidbody>().isKinematic = false;
}
}
}
void RetrieveTarget()
{
currentMode = CraneMode.Retracting;
segment.ExtendTo(0);
}
void DepositTarget()
{
currentTarget = bin;
currentMode = CraneMode.Extending;
segment.ExtendTo(1);
}
