// Use this for initialization
void Start()
{
experimentController = GameObject.Find("ExperimentController");
fader = experimentController.GetComponent <Fader>();
dataLogger = experimentController.GetComponent <ExperimentDataLogger>();
targetObject = GameObject.FindGameObjectWithTag("targetObject");
UR5_Target = GameObject.Find("UR5-Target");
}
void OnTriggerEnter(Collider other)
{
compoundObstacleHandler = gameObject.GetComponentInParent <CollisionOnCompoundObstacle>();
experimentLogger = experimentController.GetComponent <ExperimentDataLogger>();
if (other.gameObject.CompareTag("targetObject")) //Collision with grasped object
{
if (compoundObstacleHandler != null) //compound obstacle
{
if (compoundObstacleHandler.GetCollisionsWithGraspedObject() == 0) // only the first enter causes a collision count
{
UpdateGlobalErrorCount(other.name);
}
experimentLogger.SetColliding(true);
compoundObstacleHandler.IncreaseCollisionsWithGraspedObject();
}
else // simple obstacle
{
graspedObjectIsCollidingWithObstacle = true;
UpdateGlobalErrorCount(other.name);
experimentLogger.SetColliding(true);
}
if (visualizeCollisions)
{
rend.material.color = Color.red;
}
}
else if (other.gameObject.CompareTag("gripper")) //Collision with robot
{
if (compoundObstacleHandler != null) //compound obstacle
{
if (compoundObstacleHandler.GetCollisionsWithGripper() == 0) // only the first enter causes a collision count
{
if (experimentLogger.IsGrabbed())
{
UpdateGripperCollisionCount(other.name);
}
}
experimentLogger.SetColliding(true);
compoundObstacleHandler.IncreaseCollisionsWithGripper();
}
else //simple obstacle
{
{
if (gripperCollisionCount == 0)
{
if (experimentLogger.IsGrabbed())
{
UpdateGripperCollisionCount(other.name); //causes counting collision
}
}
gripperCollisionCount++;
experimentLogger.SetColliding(true); //causes haptic feedback
}
}
}
}
// Use this for initialization
void Start()
{
closestDistance = float.MaxValue;
closestObject = this.transform.gameObject;
//accuracyList = new List<KeyValuePair<float, bool> >();
accuracyList = new List <AccuracyFrame>();
// distanceList = new List<float>();
// collisionList = new List<bool>();
dataLogger = GameObject.Find("ExperimentController").GetComponent <ExperimentDataLogger>();
}
public void AddCollision_gripper(Vector3 pos, string other)
{
//Debug.Log("adding gripper collision");
StampedCollision collision = new StampedCollision();
collision.position = pos;
collision.other = other;
collision.timeInMillis = ExperimentDataLogger.CalculateCurrentTimeStamp();
collisionList_gripper.Add(collision);
//Debug.Log(collisionList_gripper.Count);
}
void Update()
{
if (recording)
{
StampedPose pose = new StampedPose();
pose.position = transform.position;
pose.rotation = transform.rotation;
pose.euler = transform.rotation.eulerAngles;
pose.forward = transform.forward;
pose.timeInMillis = ExperimentDataLogger.CalculateCurrentTimeStamp();
poseList.Add(pose);
}
}
// Update is called once per frame
void Update()
{
CheckDistance[] distances = GetComponentsInChildren <CheckDistance> ();
foreach (CheckDistance dist in distances)
{
if (dist.GetDistanceApproximatedBetweenSurfaces() < closestDistance)
{
if (dist.transform.gameObject != closestObject)
{
if (closestObject.GetComponent <HighlightObject> () != null)
{
closestObject.GetComponent <HighlightObject> ().SetHighlighted(false);
}
closestObject = dist.transform.gameObject;
//closestObject.GetComponent<HighlightObject> ().SetHighlighted (true);
//Debug.Log ("found closer object: "+closestObject.name);
}
closestDistance = dist.GetDistanceApproximatedBetweenSurfaces();
}
closestDistance = closestObject.GetComponent <CheckDistance> ().GetDistanceApproximatedBetweenSurfaces();
//Debug.Log (closestDistance);
}
if (recording)
{
//bool colliding = GameObject.FindGameObjectWithTag ("targetObject").GetComponent<CheckForCollision> ().IsColliding ();
//accuracyList.Add(new KeyValuePair<float, bool>(closestDistance, colliding));
AccuracyFrame af = new AccuracyFrame();
af.distance = closestDistance;
af.isColliding = dataLogger.IsColliding();
af.timestamp = ExperimentDataLogger.CalculateCurrentTimeStamp();
accuracyList.Add(af);
//accuracyList.Add(new KeyValuePair<float, bool>(closestDistance, dataLogger.IsColliding()));
//distanceList.Add (closestDistance);
//collisionList.Add (closestObject.GetComponent<Collider>().)
// TODO: mark collision
}
}
public void UpdateStopTime()
{
timeStamp_stop = ExperimentDataLogger.CalculateCurrentTimeStamp();
}
