Pair <GraspableObject, Grasp> GetOptimalTargetAndGrasp()
{
var targets = FindObjectsOfType <GraspableObject>();
if (targets.Length == 0)
{
return(null);
}
var shortest_distance = float.MaxValue;
GraspableObject optimal_target = null;
Grasp optimal_grasp = null;
foreach (var target in targets)
{
var pair = target.GetOptimalGrasp(this);
if (pair == null || pair.First == null || pair.First.IsObstructed())
{
continue;
}
var target_grasp = pair.First;
var distance = pair.Second;
if (distance < shortest_distance)
{
shortest_distance = distance;
optimal_grasp = target_grasp;
optimal_target = target;
}
}
return(new Pair <GraspableObject, Grasp>(optimal_target, optimal_grasp));
}
void Ab(GameObject child_game_object, GraspableObject other_maybe_graspable)
{
if (other_maybe_graspable)
{
if (child_game_object == this._grab_region.gameObject &&
other_maybe_graspable.gameObject == this._target_game_object.gameObject)
{
if (this._debugging)
{
print(string.Format("Target {0} is inside region", other_maybe_graspable.name));
}
this._state.TargetIsInsideRegion();
}
if (child_game_object == this._begin_grab_region.gameObject &&
other_maybe_graspable.gameObject == this._target_game_object.gameObject &&
!this._state.IsTargetGrabbed())
{
if (this._debugging)
{
print(string.Format("Picking up target {0}", other_maybe_graspable.name));
}
this._state.PickUpTarget();
}
}
}
public void FindTargetAndUpdatePath()
{
var pair = this.GetOptimalTargetAndGrasp();
if (pair == null || pair.First == null || pair.Second == null)
{
this._state.PathFindingState = PathFindingState.Returning;
this._path = this.FindPath(this.transform.position, this._reset_position);
return;
}
this._target_game_object = pair.First;
this._target_grasp = pair.Second;
this._approach_position = this._target_grasp.transform.position
- this._target_grasp.transform.forward * this._approach_distance;
if (Vector3.Distance(this.transform.position, this._approach_position) > this._search_boundary)
{
return;
}
this._path = this.FindPath(this.transform.position, this._approach_position);
this._intermediate_target = this._path.Next(this._step_size);
}
