public void SetMirrorServo(RoboticServoMirror mirrorServo)
{
this.mirrorServo = mirrorServo;
this.mirrorServo.IKservo = this;
this.invert = mirrorServo.invert;
this.limbController = mirrorServo.limbController;
servoBase = transform.parent;
memoryBridge = mirrorServo.memoryBridge;
// this.groundPoint = mirrorServo.groundPoint;
setAngle = 0;
//if (limbControllerPart == RoboticLimb.LimbPart.Wrist)
//{
// // limbLength = Vector3.Distance(transform.position, memoryBridge.GetVector3(mirrorServo.servoName + "CollisionPoint"));
// var limbOffset = limb.trueLimbEnd.localPosition; //transform.InverseTransformPoint(memoryBridge.GetVector3(mirrorServo.servoName + "CollisionPoint"));
// targetOffset = (float)(Math.Atan2(limbOffset.z, limbOffset.y));
// targetOffset *= (float)(180 / Math.PI);
// // Debug.Log("limb offset " + targetOffset);
//}
if (hostPart.name.ToLower().Contains("down"))
{
targetAngle = Vector3.down;
}
}
public void SetMirrorServo(RoboticServoMirror mirrorServo)
{
this.mirrorServo = mirrorServo;
this.mirrorServo.IKservo = this;
this.invert = mirrorServo.invert;
this.limbController = mirrorServo.limbController;
servoBase = transform.parent;
memoryBridge = mirrorServo.memoryBridge;
this.groundPoint = mirrorServo.groundPoint;
setAngle = 0;
if (limbControllerPart == RoboticLimb.LimbPart.Wrist)
{
limbLength = Vector3.Distance(transform.position, groundPoint.position);
var limbOffset = transform.InverseTransformPoint(groundPoint.position);
targetOffset = (float)(Math.Atan2(limbOffset.z, limbOffset.y));
targetOffset *= (float)(180 / Math.PI);
// Debug.Log("limb offset " + targetOffset);
}
if (hostPart.name.ToLower().Contains("down"))
{
targetAngle = Vector3.down;
}
}
