// Use this for initialization
void Start()
{
if (smellSensor == null)
{
Debug.Log("RHS>>> ERROR! Smell Sensor is missing!");
}
else
{
captureSmell = smellSensor.GetComponent <CaptureSmell>();
}
count = 0;
knowObjects = new HashSet <GameObject>();
updKnowElementsList = new HashSet <GameObject>();
unknowObjects = new HashSet <GameObject>();
updUnknowElementsList = new HashSet <GameObject>();
Debug.Log("RHS>>> " + this.name + " smell was configured with success.");
}
// Update is called once per frame
void Update()
{
updateSpineRotation();
for (int i = 0; i < agentHands.Length; i++)
{
if (agentHands[i].getCommand() != null)
{
switch (agentHands[i].getCommand().getAction())
{
case Action.Take:
updateFocusPosition(agentHands[i]);
switch (agentHands[i].getCommand().getActionStateID())
{
case (int)Take.Start:
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Started!");
agentHands[i].getCommand().next();
break;
case (int)Take.Position:
velocityFocus = Constants.NATURALSPD * 2;
agentHands[i].ik = true;
configureCrouchAndSpineInclination(agentHands[i]);
//O foco está na posição
if (isInPosition(agentHands[i].focus.position, agentHands[i].getCommand().getNearestDesiredPosition(transform.position)))
{
//A mão está posicionada no foco? O IK já terminou de executar?
if (isInPosition(agentHands[i].hand.position, agentHands[i].focus.position) && animator.GetFloat(agentHands[i].getAnimatorParam()) > 0.9)
{
agentHands[i].getCommand().next();
}
else
if (!isReachable(agentHands[i]))
{
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! Object not reachable.");
agentHands[i].getCommand().fail();
}
}
break;
case (int)Take.Grab:
bool success = agentHands[i].hold(agentHands[i].getCommand().getReference());
if (success)
{
agentHands[i].getCommand().next();
}
else
{
agentHands[i].getCommand().fail();
}
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! Could not grab the object!");
break;
case (int)Take.Approximate:
if (agentHands[i].getCommand().isToResetHand())
{
resetCrouchValue();
resetSpineRotation();
}
velocityFocus = Constants.NATURALSPD;
agentHands[i].getCommand().setLocation(agentHands[i].getRestPosition());
//O foco está na posição?
if (isInPosition(agentHands[i].focus.position, agentHands[i].getRestPosition().position))
{
agentHands[i].getCommand().success();
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Success!");
}
break;
case (int)Take.End:
//Continua atualizando o IK
//Verifica houve falha
if (agentHands[i].isHandFree())
{
agentHands[i].ik = false;
}
break;
default:
break;
}
break;
case Action.Activate:
case Action.Deactivate:
velocityFocus = Constants.NATURALSPD * 3;
updateFocusPosition(agentHands[i]);
switch (agentHands[i].getCommand().getActionStateID())
{
case (int)Activate.Start:
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Started!");
agentHands[i].getCommand().next();
break;
case (int)Activate.Position:
manageHandPosition(agentHands[i]);
break;
case (int)Activate.Trigger:
bool success = agentHands[i].setActivate(agentHands[i].getCommand().getReference(), agentHands[i].getCommand().getAction() == Action.Activate);
if (success)
{
agentHands[i].getCommand().success();
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Success!");
}
else
{
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! ERROR!");
agentHands[i].getCommand().fail();
}
break;
case (int)Activate.End:
manageEndOfActivate(agentHands[i]);
break;
default:
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! Object not reachable.");
agentHands[i].getCommand().fail();
break;
}
break;
case Action.Release:
velocityFocus = Constants.NATURALSPD * 3;
switch (agentHands[i].getCommand().getActionStateID())
{
case (int)Release.Start:
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Started!");
agentHands[i].getCommand().next();
break;
case (int)Release.Position:
if (isLocationReachable(agentHands[i]))
{
updateFocusToOtherPosition(agentHands[i], agentHands[i].getCommand().getNearestDesiredContainer(transform.position));
configureCrouchAndSpineInclination(agentHands[i]);
}
else
{
updateFocusToOtherPosition(agentHands[i], agentHands[i].getRestPosition().position);
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! Location is not reachable.");
agentHands[i].getCommand().fail();
}
//O Foco está na posição?
if (isInPosition(agentHands[i].focus.position, agentHands[i].getCommand().getNearestDesiredContainer(transform.position)) && isInPosition(agentHands[i].focus.position, agentHands[i].hand.position))
{
agentHands[i].getCommand().next();
}
break;
case (int)Release.Leave:
velocityFocus = Constants.NATURALSPD;
bool success = agentHands[i].drop(agentHands[i].getCommand().getNearestDesiredContainer(transform.position));
if (success)
{
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Success!");
agentHands[i].getCommand().success();
}
else
{
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! ERROR!");
agentHands[i].getCommand().fail();
}
break;
case (int)Release.End:
if (agentHands[i].getCommand().isToResetHand())
{
resetCrouchValue();
resetSpineRotation();
}
if (agentHands[i].getCommand().isFail())
{
updateFocusToOtherPosition(agentHands[i], agentHands[i].getRestPosition().position);
}
else
{
agentHands[i].ik = false;
}
if (agentHands[i].isHandFree())
{
agentHands[i].ik = false;
}
break;
}
break;
case Action.Taste:
velocityFocus = Constants.NATURALSPD * 3;
switch (agentHands[i].getCommand().getActionStateID())
{
case (int)Taste.Start:
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Started!");
auxCommand = GetComponent <AgentHeadMovement>().getCurrentCommand();
GetComponent <AgentHeadMovement>().sendCommand(new Command("", Action.HeadReset));
agentHands[i].getCommand().next();
break;
case (int)Taste.Position:
if (!agentHands[i].isHandFree())
{
updateFocusToOtherPosition(agentHands[i], agentHands[i].getCommand().getNearestDesiredPosition(agentHands[i].hand.position));
int auxFlag = 1;
if (agentHands[i].getActHand() == Hands.Right)
{
auxFlag = -1;
}
rotateFocus(agentHands[i], (handTasteYAngle * auxFlag));
//O Foco está na posição?
CaptureTaste captureTaste = agentTasteSensor.GetComponent <CaptureTaste>();
captureTaste.capture();
if (captureTaste.isObjectInTasteSensor() && captureTaste.getActTaste() == agentHands[i].objInHand.gameObject)
{
agentHands[i].getCommand().next();
}
}
else
{
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! Hand is empty. ");
agentHands[i].getCommand().fail();
}
break;
case (int)Taste.Taste:
timer += Time.deltaTime;
float seconds = timer % 60;
velocityFocus = Constants.NATURALSPD;
if (seconds > timeToTaste)
{
CaptureTaste captureTaste = agentTasteSensor.GetComponent <CaptureTaste>();
captureTaste.stopCature();
agentHands[i].getCommand().next();
}
break;
case (int)Taste.ReturnHeadTask:
if (auxCommand != null)
{
auxCommand.resetState();
GetComponent <AgentHeadMovement>().sendCommand(auxCommand);
}
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Success!");
agentHands[i].getCommand().success();
break;
case (int)Taste.End:
if (agentHands[i].getCommand().isToResetHand())
{
resetCrouchValue();
resetSpineRotation();
}
resetRotationFocus(agentHands[i]);
timer = 0f;
updateFocusToOtherPosition(agentHands[i], agentHands[i].getRestPosition().position);
if (agentHands[i].isHandFree())
{
agentHands[i].ik = false;
}
break;
}
break;
case Action.Smell:
velocityFocus = Constants.NATURALSPD * 3;
switch (agentHands[i].getCommand().getActionStateID())
{
case (int)Smell.Start:
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Started!");
auxCommand = GetComponent <AgentHeadMovement>().getCurrentCommand();
GetComponent <AgentHeadMovement>().sendCommand(new Command("", Action.HeadReset));
agentHands[i].getCommand().next();
break;
case (int)Smell.Position:
if (!agentHands[i].isHandFree())
{
updateFocusToOtherPosition(agentHands[i], agentHands[i].getCommand().getNearestDesiredPosition(agentHands[i].hand.position));
int auxFlag = 1;
if (agentHands[i].getActHand() == Hands.Right)
{
auxFlag = -1;
}
rotateFocus(agentHands[i], (handTasteYAngle * auxFlag));
//O Foco está na posição?
CaptureSmell captureSmell = agentSmellSensor.GetComponent <CaptureSmell>();
if (agentHands[i].objInHand.gameObject.GetComponentInChildren <ParticleSystem>() == null)
{
captureSmell.putObjInSmell(agentHands[i].objInHand.gameObject);
}
if (captureSmell.isObjectInSmellInSensor() && captureSmell.getActSmell() == agentHands[i].objInHand.gameObject)
{
agentHands[i].getCommand().next();
}
}
else
{
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Failed! Hand is empty. ");
agentHands[i].getCommand().fail();
}
break;
case (int)Smell.Smell:
timer += Time.deltaTime;
float seconds = timer % 60;
velocityFocus = Constants.NATURALSPD;
if (seconds > timeToTaste)
{
agentHands[i].getCommand().next();
}
break;
case (int)Smell.ReturnHeadTask:
if (auxCommand != null)
{
auxCommand.resetState();
GetComponent <AgentHeadMovement>().sendCommand(auxCommand);
}
Debug.Log("Command>>> " + this.name + " command " + agentHands[i].getCommand().getId() + " Success!");
agentHands[i].getCommand().success();
break;
case (int)Smell.End:
if (agentHands[i].getCommand().isToResetHand())
{
resetCrouchValue();
resetSpineRotation();
}
resetRotationFocus(agentHands[i]);
timer = 0f;
updateFocusToOtherPosition(agentHands[i], agentHands[i].getRestPosition().position);
if (agentHands[i].isHandFree())
{
agentHands[i].ik = false;
}
break;
}
break;
default:
break;
}
}
}
}
