Exemple #1
0
        public SimBiController(Character b) : base(b)
        {
            //if (b == null)
            //throwError("Cannot create a SIMBICON controller if there is no associated biped!!");
            //characters controlled by a simbicon controller are assumed to have: 2 feet
            lLowerLeg = b.getARBByName("lLowerLeg");
            rLowerLeg = b.getARBByName("rLowerLeg");

            lUpperLeg = b.getARBByName("lUpperLeg");
            rUpperLeg = b.getARBByName("rUpperLeg");

            lFoot = lLowerLeg;
            rFoot = rLowerLeg;

            lHand = b.getARBByName("lLowerArm");
            rHand = b.getARBByName("rLowerArm");

            //and two hips connected to the root
            //Joint lHip = b.getJointByName("lHip");
            //Joint rHip = b.getJointByName("rHip");

            lHipIndex = b.getJointIndex("lHip");
            rHipIndex = b.getJointIndex("rHip");

            root  = b.getRoot();
            torso = b.getARBByName("torso");
            head  = b.getARBByName("head");

            statesData           = null;
            comVelocity          = new Vector3();
            comPosition          = new Vector3();
            d                    = new Vector3();
            v                    = new Vector3();
            doubleStanceCOMError = new Vector3();
            comOffsetSagittal    = 0;
            comOffsetCoronal     = 0;

            qRootD = Quaternion.identity;

            isFreeHeading  = true;
            isAddFootJoint = false;

            setStance(SimGlobals.LEFT_STANCE);
            phi = 0;

            setFSMStateTo(-1);
            prevFSMState = -1;
            nextFSMState = -1;

            isLeftReverseStance = true;

            bodyTouchedTheGround  = false;
            lFootTouchedTheGround = false;
            rFootTouchedTheGround = false;
            twoFootTouchedGround  = false;

            startingState  = 1;
            startingStance = SimGlobals.LEFT_STANCE;
        }
Exemple #2
0
 public void setStatesData(SimBiData data)
 {
     statesData = data;
 }