/*-----------------------------------реализация прочих методов и функций-------------------------------------------*/
private void TaskGoToRelativeCoorts(Vector3d goalCoordts)
{
if ((owner == null) || (iKSolver == null) || (mCController == null))
{
return;
}
if (IKSolverType.IK3DOF != iKSolver.GetType())
{
return;
}
owner.CurWorkCoorts = goalCoordts;
owner.CurWorkCoortsToAbs();
iKSolver.SolveIK(owner.AbsWorkCoorts.x, owner.AbsWorkCoorts.y, owner.AbsWorkCoorts.z);
if (owner.DoLog)
{
AddLog("----");
AddLog(String.Format("CommandSender.TaskGoToRelativeCoorts(): owner.CurWorkCoorts: ({0}, {1}, {2})", owner.CurWorkCoorts.x, owner.CurWorkCoorts.y, owner.CurWorkCoorts.z));//---??----
AddLog(String.Format("CommandSender.TaskGoToRelativeCoorts(): iKSolver.QDeg: ({0}, {1}, {2})", iKSolver.QDeg[0], iKSolver.QDeg[1], iKSolver.QDeg[2]));
}
mCController.TaskAngles(iKSolver.QDeg[0], iKSolver.QDeg[1], iKSolver.QDeg[2]);
}
