Working magnet and crane AI

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Assets/Prefabs/sliding_crane.prefab.meta

@@ -0,0 +1,7 @@
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Assets/Scenes/test_magnet.unity

@@ -1111,7 +1111,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: b236863c86ffb73498f0262aaf900afd, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  strength: 25
+  strength: 67.7
 --- !u!54 &1920667886
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   m_ObjectHideFlags: 0

Assets/Scripts/CranePickDrop.cs

@@ -0,0 +1,71 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CranePickDrop : MonoBehaviour
+{
+    public SlidingCrane crane;
+    public Magnet magnet;
+    public Transform dropTarget;
+
+    public Rigidbody handlingBody;
+
+    public float magnetStrength;
+
+    public enum State
+    {
+        Idle,
+        Catching,
+        Tansporting,
+        Finished,
+    }
+
+    public State state;
+
+    public void OnTriggerEnterSignalReceived(EnterTriggerSender sender)
+    {
+        var otherRb = sender.triggeredCollider.attachedRigidbody;
+
+        if (otherRb && otherRb.isKinematic == false && state == State.Idle)
+        {
+            handlingBody = otherRb;
+            state = State.Catching;
+        }
+    }
+
+    public void OnTriggerExitSignalReceived(EnterTriggerSender sender)
+    {
+        var otherRb = sender.triggeredCollider;
+    }
+
+    void Start()
+    {
+        magnetStrength = magnet.strength;
+    }
+
+    void Update()
+    {
+        if (state == State.Catching)
+        {
+            Debug.Assert(handlingBody, this);
+
+            magnet.strength = magnetStrength;
+
+            crane.testTgt = handlingBody.transform;
+            if (Vector3.Distance(handlingBody.position, magnet.transform.position) < 1f)
+            {
+                crane.testTgt = dropTarget;
+                state = State.Tansporting;
+            }
+        }
+
+        else if (state == State.Tansporting)
+        {
+            if (magnet.IsCloseToPlanar(dropTarget))
+            {
+                magnet.strength = 0;
+                state = State.Idle;
+            }
+        }
+    }
+}

Assets/Scripts/CranePickDrop.cs.meta

@@ -0,0 +1,11 @@
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Assets/Scripts/EnterTriggerSender.cs

@@ -0,0 +1,26 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+
+public class EnterTriggerSender : MonoBehaviour
+{
+    public UnityEvent onEnterEvent;
+    public UnityEvent onExitEvent;
+
+    public Collider triggeredCollider;
+
+    private void OnTriggerEnter(Collider other)
+    {
+        Debug.Log("Entered: " + other.name);
+        triggeredCollider = other;
+        onEnterEvent.Invoke();
+    }
+
+    private void OnTriggerExit(Collider other)
+    {
+        Debug.Log("Exited: " + other.name);
+        triggeredCollider = other;
+        onExitEvent.Invoke();
+    }
+}

Assets/Scripts/EnterTriggerSender.cs.meta

@@ -0,0 +1,11 @@
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Assets/Scripts/Magnet.cs

@@ -13,14 +13,16 @@ public class Magnet : MonoBehaviour
     {
         var otherRb = other.attachedRigidbody;
 
-        if(otherRb)
+        if (otherRb)
         {
-            Vector3 dir = otherRb.position - rb.position;
+            Vector3 dir = otherRb.position - transform.position;
             float dirSq = Vector3.SqrMagnitude(dir);
             float force = strength * (1.0f / dirSq);
 
             otherRb.AddForce(-dir * force);
-            rb.AddForce(dir * force);
+
+            if (rb)
+                rb.AddForce(dir * force);
         }
     }
 }

Assets/Scripts/SlidingCrane.cs

@@ -17,15 +17,10 @@ public class SlidingCrane : MonoBehaviour
     public Transform testTgt;
     public Vector3 target;
 
-    void Start()
-    {
-        yMotion.AccelerateTo(1);
-        xMotion.AccelerateTo(1);
-    }
-
     void Update()
     {
-        target = testTgt.position;
+        if (testTgt)
+            target = testTgt.position;
 
         Vector3 localTarget = transform.InverseTransformPoint(target);
         xMotion.Update(Time.deltaTime);
@@ -34,7 +29,6 @@ public class SlidingCrane : MonoBehaviour
         Vector2 targetPlanar = new Vector2(localTarget.x, localTarget.z);
 
         float xTgt = Mathf.InverseLerp(-xRange, xRange, targetPlanar.x);
-        Debug.Log(xTgt);
         float yTgt = Mathf.InverseLerp(0, yRange, targetPlanar.y);
 
         xMotion.AccelerateTo(xTgt);

Assets/Scripts/Utils/DistanceExtension.cs

@@ -0,0 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public static class DistanceExtension
+{
+    public static Vector2 Planar(this Vector3 vector)
+    {
+        return new Vector2(vector.x, vector.z);
+    }
+
+    public static bool IsCloseTo(this Component c1, Component c2, float range = 1f)
+    {
+        return Vector3.Distance(c1.transform.position, c2.transform.position) < range;
+    }
+
+    public static bool IsCloseToPlanar(this Component c1, Component c2, float range = 1f)
+    {
+        return Vector2.Distance(c1.transform.position.Planar(), c2.transform.position.Planar()) < range;
+    }
+}

Assets/Scripts/Utils/DistanceExtension.cs.meta

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