/// <summary>
/// Populates the given node one level down
/// </summary>
/// <param name="node"></param>
/// <returns>
/// Returns true if the node is a 'leaf' (if it has no children)
/// </returns>
private bool PopulateNode(GopherRobotNode node)
{
if (node.Mesh == null)
{
throw new NullReferenceException("ERROR: The Mesh member of node was null");
}
var tempJoints = robot.GetChildJoints(node.Mesh.MeshID);
if (tempJoints.Count == 0)
{
node.IsLeaf = true;
return(true);
}
else
{
node.IsLeaf = false;
foreach (var joint in tempJoints)
{
node.AddChild(joint, new GopherRobotNode {
Mesh = robot.GetMesh(joint.Meta.ChildID)
});
}
}
return(false);
}
/// <summary>
/// Adds the given node as a child of this node
/// </summary>
/// <param name="joint">The joint connecting this node to the child</param>
/// <param name="child">The child node</param>
public void AddChild(GopherJoint_Base joint, GopherRobotNode child)
{
children.Add(joint, child);
child.parentConnection = joint;
child.parent = this;
child.Level = (ushort)(Level + 1);
joint.Child = child;
joint.Parent = parent;
}
