| public IsChildObjectOf ( SemanticObject, other ) : bool | ||
| other | SemanticObject, | |
| return | bool | |
private List<SemanticObject> PerformTest(SemanticObject obj1, HashSet<SemanticObject> allObservedObjects)
{
List<SemanticObject> retList = new List<SemanticObject>();
foreach(Collision col in obj1.GetActiveCollisions())
{
SemanticObjectSimple hitObj = (col.rigidbody == null) ? null : col.rigidbody.GetComponent<SemanticObjectSimple>();
// Ensures sufficiently low vertical relative velocity to be treated as "at rest"
if (hitObj != null && Mathf.Abs(col.relativeVelocity.y) < 0.1f && !retList.Contains(hitObj) && !hitObj.IsChildObjectOf(obj1))
{
// Check to see if there exists a contact where this object is above the other object
foreach(ContactPoint pt in col.contacts)
{
if (pt.normal.y > 0.1f)
{
retList.Add(hitObj);
foreach(SemanticObjectComplex parentObj in hitObj.GetParentObjects())
{
// Add parent objects, unless we are also a child object of that parent
if (!retList.Contains(parentObj) && !obj1.IsChildObjectOf(parentObj))
retList.Add(parentObj);
}
break;
}
}
}
}
if (retList.Count > 0)
return retList;
return null;
}
private List<SemanticObject> PerformTest(SemanticObject obj1, HashSet<SemanticObject> allObservedObjects)
{
List<SemanticObject> retList = new List<SemanticObject>();
foreach(Collision col in obj1.GetActiveCollisions())
{
SemanticObjectSimple hitObj = col.rigidbody.GetComponent<SemanticObjectSimple>();
// Tests that the force in collision goes into target
RaycastHit targetObj;
foreach (ContactPoint contact in col.contacts) {
if (hitObj != null && col.impulse != Vector3.zero && Physics.Raycast(new Ray(contact.point, col.impulse.normalized), out targetObj, 4f) && targetObj.collider == contact.otherCollider && col.impulse.magnitude / Time.fixedDeltaTime > 5f && !retList.Contains(hitObj) && !hitObj.IsChildObjectOf(obj1))
{
retList.Add(hitObj);
foreach(SemanticObjectComplex parentObj in hitObj.GetParentObjects())
{
// Add parent objects, unless we are also a child object of that parent
if (!retList.Contains(parentObj) && !obj1.IsChildObjectOf(parentObj))
retList.Add(parentObj);
}
}
break;
}
}
if (retList.Count > 0)
return retList;
return null;
}
private List<SemanticObject> PerformTest(SemanticObject obj1, HashSet<SemanticObject> allObservedObjects)
{
List<SemanticObject> retList = new List<SemanticObject> ();
foreach (Collision col in obj1.GetActiveCollisions()) {
SemanticObjectSimple hitObj = col.rigidbody.GetComponent<SemanticObjectSimple> ();
retList.Add (hitObj);
foreach (SemanticObjectComplex parentObj in hitObj.GetParentObjects()) {
// Add parent objects, unless we are also a child object of that parent
if (!retList.Contains (parentObj) && !obj1.IsChildObjectOf (parentObj))
retList.Add (parentObj);
}
}
if (retList.Count > 0) {
return retList;
}
return null;
}
public override bool Evaluate(SemanticObject subject, SemanticObject obj)
{
return foundObjs.ContainsKey(subject) && foundObjs[subject].Contains(obj) && !subject.IsChildObjectOf(obj);
}
