79 lines
2.1 KiB
C#
79 lines
2.1 KiB
C#
#if UNITY_5_3_OR_NEWER
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using UnityEngine;
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namespace RoboidControl.Unity {
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/// <summary>
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/// The Unity representation of the TouchSensor
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/// </summary>
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public class TouchSensor : Thing {
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// public SiteServer participant;
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/// <summary>
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/// The core touch sensor
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/// </summary>
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public RoboidControl.TouchSensor coreSensor {
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get => (RoboidControl.TouchSensor)base.core;
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}
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/// <summary>
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/// Start the Unity represention
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/// </summary>
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protected virtual void Start() {
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if (core == null) {
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participant = FindAnyObjectByType<SiteServer>();
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SetCoreThing(new RoboidControl.TouchSensor(participant.site));
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}
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}
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/// <summary>
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/// Create the Unity representation
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/// </summary>
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/// <param name="core">The core touch sensor</param>
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/// <returns>The Unity representation of the touch sensor</returns>
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public static TouchSensor Create(RoboidControl.TouchSensor core) {
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GameObject gameObj = core.name != null ?
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new(core.name) :
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new("Touch Sensor");
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TouchSensor component = gameObj.AddComponent<TouchSensor>();
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component.Init(core);
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Rigidbody rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = true;
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SphereCollider collider = gameObj.AddComponent<SphereCollider>();
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collider.radius = 0.02f;
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collider.isTrigger = true;
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if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) {
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collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2;
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gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2;
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}
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return component;
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}
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private void OnTriggerEnter(Collider other) {
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Debug.Log("Touch?");
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if (other.isTrigger) {
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Debug.Log($" was trigger {other.name}");
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return;
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}
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if (this.transform.root == other.transform.root) {
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Debug.Log($" was myself {other.name}");
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return;
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}
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Debug.Log($"*** {this} Touch");
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this.coreSensor.touchedSomething = true;
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}
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private void OnTriggerExit(Collider other) {
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if (other.isTrigger)
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return;
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Debug.Log($"*** {this} Touch end");
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this.coreSensor.touchedSomething = false;
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}
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}
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}
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#endif |