private void CalculateScore()
{
stackScore = 0;
// Creates a list of all collectables
GameObject[] collectibles = GameObject.FindGameObjectsWithTag("CollectableObject");
// Prevent the robot from going after blocks already stacked.
foreach (GameObject collectible in collectibles)
{
// Check if the collectible is a block.
BlockScript blockScript = collectible.GetComponent <BlockScript>();
if (blockScript != null)
{
// Check if the collectible is stacked already.
if (blockScript.CheckState())
{
// Increase stack score
stackScore++;
}
}
}
score = stackScore + basketScore;
}
void FixedUpdate()
{
// Creates a list of all collectables
List <GameObject> collectibles = GameObject.FindGameObjectsWithTag("CollectableObject").ToList();
// Prevent the robot from going after blocks already stacked.
GameObject collectible;
for (int i = 0; i < collectibles.Count; i++)
{
collectible = collectibles[i];
// Check if the collectible is a block.
BlockScript blockScript = collectible.GetComponent <BlockScript>();
if (blockScript != null)
{
// Check if the collectible is stacked already.
if (blockScript.CheckState())
{
collectibles.Remove(collectible);
i--;
}
}
}
// If there are still collectables (which are not stacked)
if (collectibles.Count > 0)
{
// Activates stacking AI if it is in the middle of it
if (stackingStage > 0)
{
StackingAI();
return;
}
// If the robot is not holding a collectable object
if (!GetComponent <GrabRelease>().isHoldingCollectableObject&& GetComponent <GrabRelease>().grabbedObj == null)
{
// Runs follow route, which returns true if it has reached its destination
if (FollowRoute() && !justReleased)
{
Grab();
}
// Makes sure the robot is moving towards the nearest collectible
GameObject closestCollectible = FindNearest(collectibles.ToArray());
NavPoint closestNavPoint = closestCollectible.GetComponent <NavPoint>();
if (closestNavPoint != targetPos)
{
targetPos = closestNavPoint;
targetChanged = true;
justReleased = false;
}
}
// If it is holding a collectable object
else
{
// Check if the grabbed object is a block.
if (GetComponent <GrabRelease>().grabbedObj.GetComponent <BlockScript>() != null)
{
// If so, run stacking AI
StackingAI();
}
else
{
// Else run tossing AI
TossingAI();
}
}
}
}
