private void AddNode(Transform segment)
{
if (FindNode(segment) == null)
{
KinematicJoint joint = segment.GetComponent <KinematicJoint>();
MotionPtr[] motions = new MotionPtr[3];
Node node = new Node(this, FindNode(segment.parent), segment, joint, motions);
if (joint != null)
{
if (joint.GetDOF() == 0)
{
joint = null;
}
else
{
if (joint.XMotion.State != JointState.Fixed)
{
MotionPtr motionPtr = new MotionPtr(joint.XMotion, node, Motions.Length);
System.Array.Resize(ref Motions, Motions.Length + 1);
Motions[Motions.Length - 1] = motionPtr;
motions[0] = motionPtr;
}
if (joint.YMotion.State != JointState.Fixed)
{
MotionPtr motionPtr = new MotionPtr(joint.YMotion, node, Motions.Length);
System.Array.Resize(ref Motions, Motions.Length + 1);
Motions[Motions.Length - 1] = motionPtr;
motions[1] = motionPtr;
}
if (joint.ZMotion.State != JointState.Fixed)
{
MotionPtr motionPtr = new MotionPtr(joint.ZMotion, node, Motions.Length);
System.Array.Resize(ref Motions, Motions.Length + 1);
Motions[Motions.Length - 1] = motionPtr;
motions[2] = motionPtr;
}
}
}
IKTip tip = segment.GetComponent <IKTip>();
if (tip != null)
{
System.Array.Resize(ref Tips, Tips.Length + 1);
Tips[Tips.Length - 1] = new TipPtr(segment.GetComponent <IKTip>(), node, Tips.Length);
}
System.Array.Resize(ref Nodes, Nodes.Length + 1);
Nodes[Nodes.Length - 1] = node;
}
}
