public void trackTarget(LabelHandle target)
{
trackedTargets.Add(target);
target.getPosition();
foreach (InherentEndeavourFactory factory in inherentEndeavours)
{
if (factory.isApplicable(target))
{
Endeavour action = factory.constructEndeavour(this, target);
if (action != null)
{
availableEndeavours.Add(action);
dirty = true;
}
}
}
if (target.label != null)
{
foreach (Endeavour action in target.label.getAvailableEndeavours(this))
{
availableEndeavours.Add(action);
dirty = true;
}
}
}
public void updateInfo(LabelHandle target)
{
if (getSightings() > 0) {
updatePosition(target.getPosition());
updateTime(System.DateTime.Now);
updateAttachedTags(target.getTags());
if (target.getDirection() != null) {
updateDirection(target.getDirection());
}
}
}
private void goToTarget()
{
if (target != null)
{
if (hasReachedTargetLocation())
{
if (!hasMatchedTargetRotation())
{
roboController.transform.rotation = Quaternion.RotateTowards(Quaternion.LookRotation(roboController.transform.forward), Quaternion.LookRotation(target.label.transform.forward), nav.angularSpeed * Time.deltaTime);
}
else
{
roboController.enqueueMessage(new RobotMessage(RobotMessage.MessageType.ACTION, "target reached", target, target.getPosition(), null));
target = null;
return;
}
}
if (nav.enabled)
{
nav.speed = regularSpeed;
nav.SetDestination(target.getPosition());
#if UNITY_EDITOR
if (roboController.debug)
{
Destroy(dest);
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = target.getPosition();
cube.GetComponent <MeshRenderer>().material.color = Color.green;
Destroy(cube.GetComponent <BoxCollider>());
cube.transform.localScale = new Vector3(.3f, .3f, .3f);
dest = cube;
}
#endif
}
}
}
private bool hasReachedTargetLocation(LabelHandle targetLocation) {
float xzDist = Vector2.Distance(new Vector2(roboController.transform.position.x, roboController.transform.position.z),
new Vector2(targetLocation.getPosition().x, targetLocation.getPosition().z));
float yDist = Mathf.Abs((roboController.transform.position.y - .4f) - targetLocation.getPosition().y);
if(xzDist < .5f && yDist < .8f) {
return true;
}
return false;
}
public void trackTarget(LabelHandle target)
{
trackedTargets.Add(target);
target.getPosition();
foreach(InherentEndeavourFactory factory in inherentEndeavours) {
if(factory.isApplicable(target)) {
Endeavour action = factory.constructEndeavour(this, target);
if(action != null) {
availableEndeavours.Add(action);
dirty = true;
}
}
}
if(target.label != null) {
foreach(Endeavour action in target.label.getAvailableEndeavours(this)) {
availableEndeavours.Add(action);
dirty = true;
}
}
}
