//Updates local and world transform, and feeds the joint variable configuration forward to all childs
public void FeedForwardConfiguration(double[] configuration, bool updateWorld = false)
{
//Assume no local update is required
bool updateLocal = false;
if (XEnabled && configuration[XIndex] != XValue)
{
XValue = configuration[XIndex];
updateLocal = true;
}
if (YEnabled && configuration[YIndex] != YValue)
{
YValue = configuration[YIndex];
updateLocal = true;
}
if (ZEnabled && configuration[ZIndex] != ZValue)
{
ZValue = configuration[ZIndex];
updateLocal = true;
}
//Only update local transformation if a joint value has changed
if (updateLocal)
{
Joint.ComputeLocalTransformation(XValue, YValue, ZValue, out LPX, out LPY, out LPZ, out LRX, out LRY, out LRZ, out LRW);
updateWorld = true;
}
//Only update world transformation if local transformation (in this or parent node) has changed
if (updateWorld)
{
ComputeWorldTransformation();
}
//Feed forward the joint variable configuration
foreach (Node child in Childs)
{
child.FeedForwardConfiguration(configuration, updateWorld);
}
}
