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);
}
}
}
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();
}