// Update is called once per frame
void Update()
{
if (statusSimulation != States.done)
{
timer += Time.deltaTime;
}
if (startSimulation /*Input.GetKeyDown("space")*/ && statusSimulation == States.done)
{
startSimulation = false;
statusSimulation = States.init;
roboticHand.NewDestination(pendulum.GetBall());
for (int i = 0; i < 5; i++)
{
fingers[i].GetComponent <FingerManager>().CloseHand();
}
}
if (statusSimulation == States.init && timer > timeToStartSimulation) //empieza movimiento pendulo con la mano
{
pendulum.SetMove(true);
roboticHand.perfFollow = true;
timer = 0;
statusSimulation = States.simulationHandFollow;
}
if (statusSimulation == States.simulationHandFollow && timer > timeToStopHandFollow - 0.2f && !openedHands) //la mano empieza a soltar la bola
{
openedHands = true;
for (int i = 0; i < 5; i++)
{
fingers[i].GetComponent <FingerManager>().OpenHand();
}
}
if (statusSimulation == States.simulationHandFollow && timer > timeToStopHandFollow) //la mano deja de seguir al pendulo
{
roboticHand.perfFollow = false;
target.position = defHandPos.position;
roboticHand.NewDestination(target);
statusSimulation = States.simulationNoHand;
}
if (statusSimulation == States.simulationNoHand && timer > timeToStopSimulation) //la mano se dirige a la posicion predict
{
bool reachable = false;
Vector3Class tPos = pendulum.CalculateFuturePosition(timeToPredictStopPosition);
Vector3Class baseHandPos = new Vector3Class(roboticHand.transform.position);
while (!reachable)
{
tPos = pendulum.CalculateFuturePosition(timeToPredictStopPosition);
if (tPos.Distance(tPos, baseHandPos) < 2.2f)
{
reachable = true;
}
else
{
timeToPredictStopPosition += 0.5f;
}
}
target.position = tPos.GetValues();
roboticHand.NewDestination(target);
timer = 0;
statusSimulation = States.closeHand;
}
if (statusSimulation == States.closeHand && timer > timeToPredictStopPosition - 0.3f) //se empiezan a cerrar las manos
{
statusSimulation = States.stopPendulum;
for (int i = 0; i < 5; i++)
{
fingers[i].GetComponent <FingerManager>().CloseHand();
}
}
if (statusSimulation == States.stopPendulum && timer > timeToPredictStopPosition) //se para el pendulo
{
pendulum.SetMove(false);
canvas.AllowInputP(true);
timeToPredictStopPosition = initStopTime;
statusSimulation = States.done;
openedHands = false;
}
}
