private void CreateTransferVector(Case_Load boxLoad, out float timeToTransfer, out Vector3 transferVector)
{
if ((CurrentTask.Source.Side() == RackSide.Right && !ParentMS.SwitchSides) || (CurrentTask.Source.Side() == RackSide.Left && ParentMS.SwitchSides))
{
rackLoc = -shuttleAP_Zpos;
}
else
{
rackLoc = shuttleAP_Zpos;
}
int loadDepth = CurrentTask.Destination.LoadDepth(); //Get the depth in the rack
timeToTransfer = ParentMS.TimeToPos1;
if (loadDepth == -1) //-1 = IA = Inter Aisle Transfer
{
timeToTransfer = ParentMS.TimeToPos1 + ParentMS.TimeToPos2;
rackLoc = rackLoc * 3; //dropoff into the other aisle
}
else if (loadDepth == 2)
{
rackLoc = rackLoc * 2;
timeToTransfer = ParentMS.TimeToPos2;
}
Vector3 direction = Trigonometry.DirectionYaw(Trigonometry.Yaw(boxLoad.Route.Orientation));
transferVector = Trigonometry.CrossProduct(direction, new Vector3(0, rackLoc, 0));
}