public int TransportObject(InteractionObject whichObject, GameObject whichGoal, WalkToGoal walktogoal, PickUp pickup, float pickuptime, Vector3 holdpointPosition, Vector3 holdPointRotation, int cascade) { if (cascade == 0) // first communicate some basics to pickup script { pickup.SetPickUpTime(pickuptime); pickup.SetCurrentIO(whichObject); cascade++; } if (cascade == 1) // walk to the object { // public bool WalkTo(Transform CurrentGoal, bool DrawPath, float maxspeed, float mindist, float anglecut) // to check what the parameters mean bool ObjectReached = walktogoal.WalkTo(whichObject.transform, false, 0.4f, 0.2f, 120); // walk towards object to be pickup if (ObjectReached) { cascade++; } } if (cascade == 2) // pick it up { pickup.SetHoldPoint(holdpointPosition, holdPointRotation); // tell script how to hold this object. This is somehow overwritten if in cascade==0. Here it is called multiple times, but it's computationally light so that's ok float pickedup = pickup.PickUpObject(whichObject); // returns value from 0 to 1 indicating when it has picked up the object if (pickedup > 0.50) { cascade++; } // start walking towards goal before reaching 1, that is before object is perfectly in place. This gives a more fluent movement. } if (cascade == 3) // walk to the goal { bool GoalReached = walktogoal.WalkTo(whichGoal.transform, false, 0.4f, 0.2f, 120); if (GoalReached) { cascade++; } } if (cascade == 4) // drop object { float dropped = pickup.DropObject(whichGoal.transform); if (dropped > 0.99f) { pickup.LetGo(); cascade++; } } return(cascade); }