void OnTriggerEnter(Collider other)
{
compoundObstacleHandler = gameObject.GetComponentInParent <CollisionOnCompoundObstacle>();
experimentLogger = experimentController.GetComponent <ExperimentDataLogger>();
if (other.gameObject.CompareTag("targetObject")) //Collision with grasped object
{
if (compoundObstacleHandler != null) //compound obstacle
{
if (compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0) // only the first enter causes a collision count
{
UpdateGlobalErrorCount(other.name);
}
experimentLogger.SetColliding(true);
compoundObstacleHandler.IncreaseCollisionsWithGraspedObject();
}
else // simple obstacle
{
graspedObjectIsCollidingWithObstacle = true;
UpdateGlobalErrorCount(other.name);
experimentLogger.SetColliding(true);
}
if (visualizeCollisions)
{
rend.material.color = Color.red;
}
}
else if (other.gameObject.CompareTag("gripper")) //Collision with robot
{
if (compoundObstacleHandler != null) //compound obstacle
{
if (compoundObstacleHandler.GetCollisionsWithGripper() == 0) // only the first enter causes a collision count
{
if (experimentLogger.IsGrabbed())
{
UpdateGripperCollisionCount(other.name);
}
}
experimentLogger.SetColliding(true);
compoundObstacleHandler.IncreaseCollisionsWithGripper();
}
else //simple obstacle
{
{
if (gripperCollisionCount == 0)
{
if (experimentLogger.IsGrabbed())
{
UpdateGripperCollisionCount(other.name); //causes counting collision
}
}
gripperCollisionCount++;
experimentLogger.SetColliding(true); //causes haptic feedback
}
}
}
}
// Use this for initialization
void Start()
{
rend = GetComponent <Renderer>();
originalColor = rend.material.color;
gripperCollisionCount = 0;
graspedObjectIsCollidingWithObstacle = false;
compoundObstacleHandler = null;
experimentController = GameObject.Find("ExperimentController");
tcp = GameObject.Find("TCP");
targetObject = GameObject.FindGameObjectWithTag("targetObject");
collisionRecorder = experimentController.GetComponent <RecordCollisions>();
}
private void OnTriggerExit(Collider other)
{
compoundObstacleHandler = gameObject.GetComponentInParent <CollisionOnCompoundObstacle>();
if (visualizeCollisions)
{
rend.material.color = originalColor;
}
if (other.gameObject.CompareTag("targetObject"))
{
if (compoundObstacleHandler != null) //compound obstacle
{
compoundObstacleHandler.DecreaseCollisionsWithGraspedObject();
if (compoundObstacleHandler.GetCollisionsWithGripper() == 0 &&
compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0 &&
gripperCollisionCount == 0)
{
experimentLogger.SetColliding(false);
}
}
else // simple obstacle
{
graspedObjectIsCollidingWithObstacle = false;
if (gripperCollisionCount == 0)
{
experimentLogger.SetColliding(false);
}
}
}
else if (other.gameObject.CompareTag("gripper"))
{
if (compoundObstacleHandler != null) //compound obstacle
{
compoundObstacleHandler.DecreaseCollisionsWithGripper();
if (compoundObstacleHandler.GetCollisionsWithGripper() == 0 &&
compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0 &&
gripperCollisionCount == 0)
{
experimentLogger.SetColliding(false);
}
}
else
{
gripperCollisionCount--;
if (gripperCollisionCount == 0 &&
!graspedObjectIsCollidingWithObstacle)
{
experimentLogger.SetColliding(false);
}
}
}
}
