public void CustomUpdate()
{
limbMirror.MirrorServos();
//hot fix
//if (clearance > 3)
// clearance = 0;
var clearance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "KSPFootClearance");
if (limbIK.gait)
{
ground.position = limbMirror.servoWrist.transform.position - new Vector3(0, clearance, 0);
Debug.Log(name + " ground contact : " + memoryBridge.GetBool(limbMirror.servoWrist.servoName + "GroundContact"));
var baseOffset = baseTarget.position.y - limbMirror.servoBase.transform.position.y;
var globalPoint = limbIK.transform.TransformPoint(limbIK.gaitStartPos);
globalPoint.y = ground.position.y;
if (limbIK.legMode == RoboticLimbIK.LegMode.Translate)
{
globalPoint.y -= baseOffset;
}
limbIK.gait.localPosition = limbIK.transform.InverseTransformPoint(globalPoint);
// var tempPos = limbIK.gaitStartPos;
// tempPos.y = ground.position.y - baseOffset;//ground.position.y - baseOffset;
//// limbIK.gait.position = tempPos;//limbMirror.limbEnd.position;// - new Vector3(0, clearance, 0);
//limbIK.gait.localPosition = tempPos;
var tempEuler = limbIK.gait.eulerAngles;// = Vector3.zero;
tempEuler.x = 0;
// tempEuler.y = vesselControl.mirrorVessel.vesselOffset.eulerAngles.y;
limbIK.gait.eulerAngles = tempEuler;
limbIK.RunGait();
if (debugClearance)
{
Debug.Log(Time.frameCount);
Debug.Log("clearance " + clearance);
// Debug.Log("mirror " + (float)Math.Round(limbMirror.limbEnd.transform.position.y, 2));
// Debug.Log("gait " + limbIK.gait.position.y);
}
}
// if (!IKactive)
if (IKactive)
{
limbIK.RunIK();
}
limbIK.SetServos();
}
public void SetServos()
{
limbIK.SetServos();
}