Tuple<GraspableObject, Grasp> GetOptimalTargetAndGrasp() {
var targets = FindObjectsOfType<GraspableObject>();
if (targets.Length == 0) {
return null;
}
var shortest_distance = float.MaxValue;
GraspableObject optimal_target = null;
Grasp optimal_grasp = null;
foreach (var target in targets) {
var pair = target.GetOptimalGrasp(this);
if (pair == null || pair.Item1 == null || pair.Item1.IsObstructed()) {
continue;
}
var target_grasp = pair.Item1;
var distance = pair.Item2;
if (distance < shortest_distance) {
shortest_distance = distance;
optimal_grasp = target_grasp;
optimal_target = target;
}
}
return new Tuple<GraspableObject, Grasp>(optimal_target, optimal_grasp);
}
void Ab(GameObject child_game_object, GraspableObject other_maybe_graspable)
{
if (other_maybe_graspable)
{
if (child_game_object == this._grab_region.gameObject &&
other_maybe_graspable.gameObject == this._target_game_object.gameObject)
{
if (this._debugging)
{
Debug.Log(message: $"Target {other_maybe_graspable.name} is inside region");
}
this._state.TargetIsInsideRegion();
}
if (child_game_object == this._begin_grab_region.gameObject &&
other_maybe_graspable.gameObject == this._target_game_object.gameObject &&
!this._state.IsTargetGrabbed())
{
if (this._debugging)
{
Debug.Log(message: $"Picking up target {other_maybe_graspable.name}");
}
this._state.PickUpTarget();
}
}
}
public void FindTargetAndUpdatePath() {
var pair = this.GetOptimalTargetAndGrasp();
if (pair == null || pair.Item1 == null || pair.Item2 == null) {
this._state.PathFindingState = PathFindingState.Returning_;
this._path = this.FindPath(this.transform.position, this._reset_position);
return;
}
this._target_game_object = pair.Item1;
this._target_grasp = pair.Item2;
this._approach_position = this._target_grasp.transform.position
- this._target_grasp.transform.forward * this._approach_distance;
if (Vector3.Distance(this.transform.position, this._approach_position) > this._search_boundary) {
return;
}
this._path = this.FindPath(this.transform.position, this._approach_position);
this._intermediate_target = this._path.Next(this._step_size);
}
