public void ConvertToIKLimb(RoboticLimbMirror mirrorLimb)
{
// Debug.Log("create ik leg");
var servosMirror = servos;
servosIK = new List <RoboticServoIK>();
var newServos = new List <RoboticServo>();
//Convert the mirror servos to Ik servos
foreach (var servo in servosMirror)
{
var newServoIK = servo.gameObject.AddComponent(typeof(RoboticServoIK)) as RoboticServoIK;
servo.Clone(newServoIK);
servosIK.Add(newServoIK);
newServos.Add(newServoIK);
}
for (int i = 0; i < servosMirror.Length; i++)
{
if (servosMirror[i].servoParent)
{
servosIK[i].servoParent = servosMirror[i].servoParent.gameObject.GetComponent <RoboticServoIK>();
}
if (servosMirror[i].servoChild)
{
servosIK[i].servoChild = servosMirror[i].servoChild.gameObject.GetComponent <RoboticServoIK>();
}
}
foreach (var servo in servosMirror)
{
Destroy(servo);
}
//Link the RoboticServoMirror and RoboticServoIk components
foreach (var servo in servosIK)
{
var mirrorPart = mirrorLimb.FindServo(servo.hostPart.ID);
servo.SetMirrorServo(mirrorPart.GetComponent <RoboticServoMirror>());
}
servosMirror = new List <RoboticServoMirror>().ToArray();
servos = newServos.ToArray();
DisableParts();
var children = GetComponentsInChildren <Transform>();
foreach (var child in children)
{
if (child.name.Contains("True End Point "))
{
trueLimbEnd = child;
limbEnd = trueLimbEnd;
// trueLimbEnd.name = "Collision Point";
// DebugVector.DrawVector(trueLimbEnd, DebugVector.Direction.all, 5f, .1f, Color.red, Color.white, Color.blue);
}
}
}
//Creates RoboticLimb components for the mirror and IK leg, adds them to limb base servo base, then aranges the hiarchy
void CreateRoboticLegs(List <RoboticServoMirror> servosMirror)
{
//Set up mirrorLimb component on the base part base
baseMirror = servoBase.servoBase.transform;
limbMirror = baseMirror.gameObject.AddComponent(typeof(RoboticLimbMirror)) as RoboticLimbMirror;
limbMirror.CustomStart(this);
limbMirror.servosMirror = servosMirror;
limbMirror.SetLimbReference();
limbMirror.FindEndPoint();
//Move the Limb controller component Object into place
transform.SetParent(baseMirror);
transform.localPosition = Vector3.zero;
transform.LookAt(baseMirror.up);//,vesselControl.mirrorVessel.transform.up);
transform.rotation = Quaternion.LookRotation(baseMirror.up, vesselControl.adjustedGimbal.up);
// transform.rotation = vesselControl.mirrorVessel.transform.rotation;
transform.SetParent(baseMirror.parent);
baseMirror.SetParent(transform);
//get mirror limb groups before generating IK limb
limbMirror.CalculateGroups();
baseIK = Instantiate(baseMirror).transform;
baseMirror.name += "Mirror Arm";
baseIK.name += "IK Arm";
baseIK.SetParent(transform);
baseIK.rotation = limbMirror.transform.rotation;
baseIK.localPosition = Vector3.zero;
////Mirror leg and limb controller are in place, set reference for IK limb that was generated, then build the leg
var mirrorLimb = baseIK.gameObject.GetComponent <RoboticLimbMirror>();
limbIK = baseIK.gameObject.AddComponent <RoboticLimbIK>();
limbIK.CustomStart(this);
// limbIK.servoWrist = mirrorLimb.servoWrist;
// limbIK.servoBase = mirrorLimb.servoBase;
//limbIK.limbController = mirrorLimb.limbController;
// limbIK.limbEnd = mirrorLimb.limbEnd;
Destroy(mirrorLimb);
limbIK.ConvertToIKLimb(limbMirror);
limbIK.SetLimbReference();
// limbIK.FindEndPoint(false, "ik");
limbIK.StoreGroupedServos();
}
public void ConvertToIKLimb(RoboticLimbMirror mirrorLimb)
{
// Debug.Log("create ik leg");
var servosMirror = servos;
servosIK = new List <RoboticServoIK>();
var newServos = new List <RoboticServo>();
//Convert the mirror servos to Ik servos
foreach (var servo in servosMirror)
{
var newServoIK = servo.gameObject.AddComponent(typeof(RoboticServoIK)) as RoboticServoIK;
servo.Clone(newServoIK);
servosIK.Add(newServoIK);
newServos.Add(newServoIK);
}
for (int i = 0; i < servosMirror.Length; i++)
{
if (servosMirror[i].servoParent)
{
servosIK[i].servoParent = servosMirror[i].servoParent.gameObject.GetComponent <RoboticServoIK>();
}
if (servosMirror[i].servoChild)
{
servosIK[i].servoChild = servosMirror[i].servoChild.gameObject.GetComponent <RoboticServoIK>();
}
}
foreach (var servo in servosMirror)
{
Destroy(servo);
}
//Link the RoboticServoMirror and RoboticServoIk components
foreach (var servo in servosIK)
{
var mirrorPart = mirrorLimb.FindServo(servo.hostPart.ID);
servo.SetMirrorServo(mirrorPart.GetComponent <RoboticServoMirror>());
}
servosMirror = new List <RoboticServoMirror>().ToArray();
servos = newServos.ToArray();
DisableParts();
}
