void OnRelease(GrabSensor.GrabInfo grabInfo)
{
if (grabInfo.obj == gameObject)
{
GameObject.DestroyImmediate(GetComponent <FixedJoint>());
}
}
void OnGrab(GrabSensor.GrabInfo grabInfo)
{
if (grabInfo.obj == gameObject)
{
FixedJoint fj = gameObject.AddComponent <FixedJoint>();
fj.connectedBody = GameObject.Find("Robot_RightHand").GetComponent <Rigidbody>();
}
}
void Update()
{
// debug
if (Input.GetKeyDown(KeyCode.Return))
{
GrabSensor.GrabInfo grab = new GrabSensor.GrabInfo();
grab.hand = GameObject.Find("Robot_RightHandMiddle1").transform;
OnGrab(grab);
}
}
private void SetToGrabAnchor(GrabSensor.GrabInfo grab)
{
transform.rotation = grab.hand.rotation * Quaternion.Inverse(grabAnchor.localRotation);
transform.position = grab.hand.position + Vector3.Scale(grabAnchor.localPosition, transform.lossyScale);
Rigidbody[] rigids = GetComponentsInChildren <Rigidbody>();
for (int i = 0; i < rigids.Length; ++i)
{
rigids[i].velocity = Vector3.zero;
rigids[i].angularVelocity = Vector3.zero;
}
}
void OnSelect(GrabSensor.GrabInfo info)
{
if (verbose)
{
Debug.LogFormat("Select {0} by {1} and {2} selectAngle = {3}", info.obj, info.left.name, info.right.name, info.selectAngle);
}
Renderer renderer = info.obj.GetComponent <Renderer>();
if (renderer != null)
{
oldMaterial = renderer.sharedMaterial;
renderer.material = selectMaterial;
}
}
void OnGrab(GrabSensor.GrabInfo info)
{
// on grab
if (verbose)
{
Debug.LogFormat("Grabbed {0} by {1} and {2} grabAngle = {3}", info.obj, info.left.name, info.right.name, info.grabAngle);
}
currentGrab = info;
oldLayer = currentGrab.obj.layer;
if (currentGrab.IsLeftHand)
{
currentAnchor = leftHandAnchor;
}
else if (currentGrab.IsRightHand)
{
currentAnchor = rightHandAnchor;
}
else
{
currentAnchor = bothHandAnchor;
}
currentAnchor.position = currentGrab.obj.transform.position;
currentAnchor.rotation = currentGrab.obj.transform.rotation;
velocityHistory.Clear();
angularVelocityHistory.Clear();
Renderer renderer = currentGrab.obj.GetComponent <Renderer>();
if (renderer != null)
{
GameObject.DestroyImmediate(renderer.material);
renderer.material = grabMaterial;
}
currentGrab.obj.layer = LayerMask.NameToLayer("Grabbed");
currentGrab.hand = currentAnchor;
Interactable interact = currentGrab.obj.GetComponent <Interactable>();
if (interact != null)
{
interact.OnGrab(currentGrab);
}
}
void OnDeselect(GrabSensor.GrabInfo info)
{
if (verbose)
{
Debug.LogFormat("Deselect {0} by {1} and {2} selectAngle = {3}", info.obj, info.left.name, info.right.name, info.selectAngle);
}
Renderer renderer = info.obj.GetComponent <Renderer>();
if (renderer != null)
{
GameObject.DestroyImmediate(renderer.material);
renderer.material = oldMaterial;
oldMaterial = null;
}
}
// call before release
public override void OnRelease(GrabSensor.GrabInfo grab)
{
EndInteraction();
EmitCompleteEvent = true;
}
public override void OnGrab(GrabSensor.GrabInfo grab)
{
BeginInteraction(grab.hand);
}
// call before release
public virtual void OnRelease(GrabSensor.GrabInfo grab)
{
Debug.LogFormat("OnSelected");
}
// call after grabbed
public virtual void OnGrab(GrabSensor.GrabInfo grab)
{
SetToGrabAnchor(grab);
Debug.LogFormat("OnSelected");
}
// call before deselected
public void OnDeselected(GrabSensor.GrabInfo grab)
{
Debug.LogFormat("OnSelected");
}
public override void OnRelease(GrabSensor.GrabInfo grab)
{
IsAttached = false;
EmitCompleteEvent = true;
print("release ...");
}
public override void OnGrab(GrabSensor.GrabInfo grab)
{
IsAttached = true;
}
void OnRelease(GrabSensor.GrabInfo info)
{
if (verbose)
{
Debug.LogFormat("Released {0} by {1} and {2} grabAngle = {3}", info.obj, info.left.name, info.right.name, info.grabAngle);
}
if (currentGrab != null && currentGrab.obj != null)
{
GameObject obj = currentGrab.obj;
if (currentGrab.obj.GetComponent <Rigidbody>().velocity.magnitude < releaseDelayVelocity)
{
Debug.LogFormat("Immediate change layer");
ChangeLayer(currentGrab.obj, oldLayer);
}
else
{
StartCoroutine(DelayChangeLayer(currentGrab.obj, releaseDelay, oldLayer));
}
//Vector3 velocityTarget = Vector3.zero;
//Vector3 angularTarget = Vector3.zero;
//for( int i = 0; i < velocityHistory.Count; ++i )
//{
// velocityTarget += velocityHistory[i];
// angularTarget += angularVelocityHistroy[i];
//}
////velocityTarget /= velocityHistory.Count;
////angularTarget /= velocityHistory.Count;
//ApplyVelocity(obj.GetComponent<Rigidbody>(), velocityTarget, angularTarget);
Vector3 maxVelocity = Vector3.zero;
Vector3 maxAngularVelocity = Vector3.zero;
GetMaxVelocityInHistroy(out maxVelocity, out maxAngularVelocity);
lastMaxVelocity = maxVelocity;
lastMaxVelocityPosition = obj.transform.position;
Rigidbody rb = obj.GetComponent <Rigidbody>();
ApplyVelocity(rb, maxVelocity, maxAngularVelocity);
if (rb.useGravity == true)
{
// additional force by last several cached positions
float curveLength = 0.0f;
if (positionHistory.Count > 0 && positionHistory.Count - ignoreFrameCount > 0)
{
for (int i = 1; i < positionHistory.Count; ++i)
{
curveLength += (positionHistory[i] - positionHistory[i - 1]).magnitude;
}
Vector3 forceDir = positionHistory[positionHistory.Count - 1] - positionHistory[positionHistory.Count - 2];
rb.AddForce(forceDir.normalized * curveLength * positionMagic, ForceMode.VelocityChange);
positionHistory.Clear();
}
}
// restore object material
Renderer renderer = currentGrab.obj.GetComponent <Renderer>();
if (renderer != null)
{
GameObject.DestroyImmediate(renderer.material);
renderer.material = oldMaterial;
oldMaterial = null;
}
}
currentGrab = null;
}
// call before release
public override void OnRelease(GrabSensor.GrabInfo grab)
{
EndInteraction();
}
