public override MBoolResponse AssignInstruction(MInstruction instruction, MSimulationState simulationState)
{
//Assign the instruction
this.instruction = instruction;
MBoolResponse response = new MBoolResponse(true);
if (instruction.Constraints.Count > 0 && instruction.Constraints[0].GeometryConstraint != null)
{
MSceneObject parent = this.SceneAccess.GetSceneObjectByID(instruction.Constraints[0].GeometryConstraint.ParentObjectID);
if (instruction.Constraints[0].GeometryConstraint.ParentToConstraint != null)
{
MTransform ptc = instruction.Constraints[0].GeometryConstraint.ParentToConstraint;
String gtp = ptc.Parent;
if (gtp != null && this.SceneAccess.GetSceneObjectByID(gtp) != null)
{
// transform parent takes precedent.
this.targetTransform = ptc.LocalToGlobal(this.SceneAccess);
}
else if (parent != null)
{
// parent to constraint has not valid parent, thus the geometry constraint parent is
this.targetTransform = ptc.Multiply(parent.Transform.LocalToGlobal(this.SceneAccess));
}
else
{
this.targetTransform = ptc;
}
}
else
{
MVector3 pos = new MVector3(0, 0, 0);
if (instruction.Constraints[0].GeometryConstraint.TranslationConstraint != null)
{
MTranslationConstraint trlCstr = instruction.Constraints[0].GeometryConstraint.TranslationConstraint;
if (parent != null)
{
pos = parent.Transform.Position.Add(trlCstr.GetVector3());
}
else
{
pos = trlCstr.GetVector3();
}
}
MQuaternion rot = new MQuaternion(0, 0, 0, 1);
if (instruction.Constraints[0].GeometryConstraint.RotationConstraint != null)
{
MRotationConstraint rtCstr = instruction.Constraints[0].GeometryConstraint.RotationConstraint;
if (parent != null)
{
rot = rtCstr.GetQuaternion().Multiply(parent.Transform.Rotation);
}
else
{
rot = rtCstr.GetQuaternion();
}
}
this.targetTransform = new MTransform("", pos, rot);
}
}
else
{
response = new MBoolResponse(false)
{
LogData = new List <string>()
{
"Required target constraint (MGeometryConstraint) not defined"
}
};
}
//Extract the velocity if defined
if (instruction.Properties.ContainsKey("Velocity"))
{
Console.WriteLine("vel: " + instruction.Properties["Velocity"]);
float.TryParse(instruction.Properties["Velocity"], System.Globalization.NumberStyles.Float, System.Globalization.CultureInfo.InvariantCulture, out velocity);
}
else
{
velocity = -1.0f;
}
/*
* //Get the target id
* if (instruction.Properties.ContainsKey("TargetID"))
* this.targetTransform = this.SceneAccess.GetTransformByID(instruction.Properties["TargetID"]);
* //Error id not available
* else
* {
* return new MBoolResponse(false)
* {
* };
* }*/
//Return true/success
return(response);
}
