protected override void OnCreate()
{
ReachabilityConstraint maxReach = CreateReachabilityConstraint(robotBase.transform.position, maxRobotReachability, ReachabilityConstraint.LimitType.max);
ReachabilityConstraint minReach = CreateReachabilityConstraint(robotBase.transform.position, minRobotReachability, ReachabilityConstraint.LimitType.min);
placer = new SurfaceObjectPlacer(plane, random, minReach, maxReach, maxPlacementTries);
}
private static Rect MaxReachabilityPlacementZone(ReachabilityConstraint maxRobotReachability)
{
float x = maxRobotReachability.robotX - maxRobotReachability.robotReachabilityLimit;
float z = maxRobotReachability.robotZ - maxRobotReachability.robotReachabilityLimit;
float size = maxRobotReachability.robotReachabilityLimit * 2;
return(new Rect(x, z, size, size));
}
public static ReachabilityConstraint CreateReachabilityConstraint(Vector3 robotBasePosition, float limit, ReachabilityConstraint.LimitType limitType)
{
ReachabilityConstraint constraint = new ReachabilityConstraint();
constraint.robotX = robotBasePosition.x;
constraint.robotZ = robotBasePosition.z;
constraint.limitType = limitType;
constraint.robotReachabilityLimit = limit;
return(constraint);
}
public SurfaceObjectPlacer(
GameObject plane,
FloatParameter random,
ReachabilityConstraint minRobotReachability,
ReachabilityConstraint maxRobotReachability,
int maxPlacementTries)
{
this.plane = plane;
this.random = random;
this.minRobotReachability = minRobotReachability;
this.maxRobotReachability = maxRobotReachability;
this.maxPlacementTries = maxPlacementTries;
}
