private void rangeCheckHandler(GameObject checkedObject)
{
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log(checkedObject.name + " left bounds...");
}
this.InteractionState = Interactioncontroller.InteractionStates.OUT_OF_BOUNDS;
this.cancelAndResetInteractionSequence();
}
private void checkTargetDestruction(GameObject gameObject)
{
if (!GraspStateController.IsActive)
{
return;
}
if (this.InteractionState == Interactioncontroller.InteractionStates.NONE && this.CurrentInteractionState.InteractionStage == InteractionStage.GRASPING_INTERACTION)
{
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("target destroyed...");
}
this.InteractionState = Interactioncontroller.InteractionStates.TARGET_DESTROYED;
}
}
private void checkTargetPosition(GameObject gameObject, bool validOrientation)
{
if (!GraspStateController.IsActive)
{
return;
}
if (this.InteractionState == Interactioncontroller.InteractionStates.NONE && this.CurrentInteractionState.InteractionStage == InteractionStage.GRASPING_INTERACTION)
{
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("target in position...");
}
this.InteractionState = validOrientation ? Interactioncontroller.InteractionStates.IN_BOX : Interactioncontroller.InteractionStates.WRONG_ORIENTATION;
}
}
/// <summary>
/// this is the state machine that controls the interaction
/// </summary>
public void InteractionStateUpdate()
{
if (!GraspStateController.IsActive)
{
this.Started = false;
return;
}
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("timer called, in state = " + CurrentInteractionState.InteractionStage.ToString() + "...");
}
switch (this.CurrentInteractionState.InteractionStage)
{
case InteractionStage.STARTUP:
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("startup...");
}
this.HandPoseController.resetInitialPoseChecks();
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.CHECK);
this.FeedbackDisplay.text = "";
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("startup done...");
}
break;
case InteractionStage.TARGET_PRESENTATION:
// just paranoia, it is highly unlikely that something like this happens
if (this.Target.GetComponent <GraspableObject>().IsGrabbed())
{
GraspController[] hands = GameObject.FindObjectsOfType <GraspController>();
foreach (GraspController hand in hands)
{
hand.requestRelease();
}
}
// disable the pose check
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.IDLE);
GraspableObject graspable = this.Target.GetComponent <GraspableObject>();
graspable.ResetVariables();
// TODO: display the bottle either upright or upside down, depending on the
// bottleOrientationMode string, you can use the InitialTargetPosition variable
// and the ResetPositionAndOrientation of the Graspable script
// TODO: enable the physics of the bottle
if (this.bottleOrientationMode == "upright")
{
graspable.ResetPositionAndOrientation(0.0f, this.InitialTargetPosition);
if (GraspStateController.Verbose)
{
Debug.Log("upright target...");
}
}
else if (this.bottleOrientationMode == "upsidedown")
{
graspable.ResetPositionAndOrientation(180.0f, this.InitialTargetPosition);
if (GraspStateController.Verbose)
{
Debug.Log("rotated target...");
}
}
this.Target.GetComponent <Rigidbody>().isKinematic = false;
this.Target.GetComponent <Rigidbody>().useGravity = true;
this.CurrentInteractionState.InteractionStage = InteractionStage.GRASPING_INTERACTION;
// enable range check
this.InteractionState = Interactioncontroller.InteractionStates.NONE;
this.CheckInteractionState = true;
this.RangeCheck.clearMonitor();
// TODO: add the target to the monitor, have a look at the EffectorRangeCheck script
this.RangeCheck.monitorObject(this.Target);
if (Verbose)
{
Debug.Log("current interaction state: " + CurrentInteractionState.InteractionStage);
}
break;
case InteractionStage.GRASPING_INTERACTION:
if (GraspStateController.Verbose)
{
Debug.Log("response state...");
}
this.CheckInteractionState = false;
if (this.InteractionState != Interactioncontroller.InteractionStates.IN_BOX)
{
this.cancelInteractionSequence();
}
else
{
this.FeedbackDisplay.text = this.positiveFeedbackTemplates[UnityEngine.Random.Range(0, this.positiveFeedbackTemplates.Length - 1)];
this.deactivateTarget();
this.InteractionState = Interactioncontroller.InteractionStates.NONE;
// clear monitor
this.RangeCheck.clearMonitor();
this.PoseCheckTimeStamp = -1L;
}
this.CurrentInteractionState.InteractionStage = InteractionStage.WAITING;
StartCoroutine(this.FeedbackInterval());
break;
}
}
