public void applyChainState(FKChainState chain)
{
Vector3 startTranslation = parent.Translation;
Quaternion startRotation = parent.Rotation;
FKLinkState linkState = chain[Owner.Name];
//Figure out the new position using the parent's position.
Vector3 newTrans = startTranslation + Quaternion.quatRotate(startRotation, linkState.LocalTranslation);
Quaternion newRot = startRotation * linkState.LocalRotation;
//Transform to the real center point from the center of rotation
newTrans -= Quaternion.quatRotate(ref newRot, ref centerOfRotationOffset);
this.updatePosition(ref newTrans, ref newRot);
if (ChainStateApplied != null)
{
ChainStateApplied.Invoke(this, chain);
}
foreach (var child in children)
{
child.applyChainState(chain);
}
}
public void applyChainState(FKChainState chain)
{
updateAction = () =>
{
FKLinkState linkState = chain[Owner.Name];
Vector3 trans = linkState.LocalTranslation;
Quaternion rot = linkState.LocalRotation;
this.updatePosition(ref trans, ref rot);
if (ChainStateApplied != null)
{
ChainStateApplied.Invoke(this, chain);
}
foreach (var child in children)
{
child.applyChainState(chain);
}
};
}
