public void CheckClearance()
{
if (IKactive)//& legMode == LegMode.Translate)
{
//limbMirror.contactPoint.position = limbMirror.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
// limbIK.contactPoint.position = limbIK.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
}
torque = memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "torque");
velocity = torque.magnitude;
explosionPotential = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "explosionPotential");
gExplodeChance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "gExplodeChance");
footActive = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "active");
hasExploded = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "exploded");
if (hasExploded)
{
CamUI.SetCamText(name + " has exploded");
Debug.LogError("Exploded Leg : " + name + " Velocity : " + velocity + " Mode : " + limbIK.gaitSequenceMode.ToString() + " Percent : " + CalculateStridePercent());
}
rawClearance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "KSPFootClearance");
//if(limbMirror.limbEnd == null)
//{
// Debug.Log("end point null");
//}
var contactPointOffSet = limbMirror.servoWrist.transform.position.y - limbMirror.trueLimbEnd.position.y;
footClearance = rawClearance - contactPointOffSet;
if (footClearance < .03f)
{
footClearance = 0;
}
groundContact = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "GroundContact");
//if (!collisionPoint)
//{
// collisionPoint = new GameObject("CollisionPoint").transform;
// // DebugVector.DrawVector(collisionPoint, DebugVector.Direction.all, .5f, .1f, Color.red, Color.white, Color.blue);
//}
//collisionPoint.position = limbMirror.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
// limbMirror.
//if(limbIK)
//if (!groundContact)
// ground.position = limbMirror.servoWrist.transform.position - new Vector3(0, rawClearance, 0);
var localPoint = limbMirror.limbEnd.localPosition - new Vector3(0, .4f, 0);
ground.position = limbMirror.servoWrist.transform.TransformPoint(localPoint) - new Vector3(0, rawClearance, 0);
}
public virtual void CustomStart(string servoName, MemoryBridge memoryBridge, LimbController limbController, int parentID)
{
this.servoName = servoName;
gameObject.name = servoName;
this.limbController = limbController;
this.memoryBridge = memoryBridge;
limitMin = memoryBridge.GetFloat(servoName + "minPos");
limitMax = memoryBridge.GetFloat(servoName + "maxPos");
// Debug.Log(limitMax);
if (servoName.ToLower().Contains("base"))
{
Debug.Log("Let limb base");
limbControllerPart = RoboticLimb.LimbPart.Base;
limbController.servoBase = this;
}
else if (servoName.ToLower().Contains("wrist"))
{
limbControllerPart = RoboticLimb.LimbPart.Wrist;
}
if (servoName.ToLower().Contains("reverse"))
{
invert = true;
}
hostPart = GetComponent <Part>();
hostPart.ServoAdded(this);
lineRenderer = hostPart.lineRenderer;
foreach (var part in hostPart.vessel.parts)
{
if (part.ID == parentID)
{
servoParent = part.servo;
servoParent.SetChild(this);
}
}
if (hostPart.name.ToLower().Contains("skip"))
{
DisableServo(true);
Debug.Log(name + " disabled");
}
}
public override void CustomStart(string servoName, MemoryBridge memoryBridge, LimbController limbController, int parentID)
{
base.CustomStart(servoName, memoryBridge, limbController, parentID);
currentServoPos = memoryBridge.GetFloat(servoName + "servoPos");
kspStartAngle = currentServoPos;
}
public void CustomUpdate()
{
limbMirror.MirrorServos();
//hot fix
//if (clearance > 3)
// clearance = 0;
var clearance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "KSPFootClearance");
if (limbIK.gait)
{
ground.position = limbMirror.servoWrist.transform.position - new Vector3(0, clearance, 0);
Debug.Log(name + " ground contact : " + memoryBridge.GetBool(limbMirror.servoWrist.servoName + "GroundContact"));
var baseOffset = baseTarget.position.y - limbMirror.servoBase.transform.position.y;
var globalPoint = limbIK.transform.TransformPoint(limbIK.gaitStartPos);
globalPoint.y = ground.position.y;
if (limbIK.legMode == RoboticLimbIK.LegMode.Translate)
{
globalPoint.y -= baseOffset;
}
limbIK.gait.localPosition = limbIK.transform.InverseTransformPoint(globalPoint);
// var tempPos = limbIK.gaitStartPos;
// tempPos.y = ground.position.y - baseOffset;//ground.position.y - baseOffset;
//// limbIK.gait.position = tempPos;//limbMirror.limbEnd.position;// - new Vector3(0, clearance, 0);
//limbIK.gait.localPosition = tempPos;
var tempEuler = limbIK.gait.eulerAngles;// = Vector3.zero;
tempEuler.x = 0;
// tempEuler.y = vesselControl.mirrorVessel.vesselOffset.eulerAngles.y;
limbIK.gait.eulerAngles = tempEuler;
limbIK.RunGait();
if (debugClearance)
{
Debug.Log(Time.frameCount);
Debug.Log("clearance " + clearance);
// Debug.Log("mirror " + (float)Math.Round(limbMirror.limbEnd.transform.position.y, 2));
// Debug.Log("gait " + limbIK.gait.position.y);
}
}
// if (!IKactive)
if (IKactive)
{
limbIK.RunIK();
}
limbIK.SetServos();
}
void BuildCamera()
{
// rendTextHeight = cam.pixelHeight;
// rendTextWidth = cam.pixelWidth;
var newRig = Instantiate(Resources.Load("CamPrefab", typeof(GameObject))) as GameObject;
cameraRig = newRig.transform;
cameraRig.SetParent(memoryBridge.transform);
meshRenderer = cameraRig.Find("Screen").GetComponent <MeshRenderer>();
rendTextHeight = (int)memoryBridge.GetFloat("rendTextHeight" + fileName + memoryBridge.cameraFeeds.Count);
rendTextWidth = (int)memoryBridge.GetFloat("rendTextWidth" + fileName + memoryBridge.cameraFeeds.Count);
feedByteCount = (int)memoryBridge.GetFloat("feedByteCount" + fileName + memoryBridge.cameraFeeds.Count);
readTex = new Texture2D(rendTextWidth, rendTextHeight, TextureFormat.RGB24, false);
tex = new Texture2D(rendTextWidth, rendTextHeight, TextureFormat.RGB24, false);
texCopy = new Texture2D(rendTextWidth, rendTextHeight, TextureFormat.RGB24, false);
Debug.Log("rendTextWidth " + rendTextWidth);
rendText = new RenderTexture(rendTextWidth, rendTextHeight, 16, RenderTextureFormat.ARGB32);
rendText.Create();
}
public void ReadServerAPI()
{
// memoryBridge.CoMD = memoryBridge.GetVector3("CoMD" + memoryBridge.fileName);
memoryBridge.CurrentCOM = memoryBridge.GetVector3("CurrentCOM" + memoryBridge.fileName);
memoryBridge.LocalCOM = memoryBridge.GetVector3("LocalCOM" + memoryBridge.fileName);
memoryBridge.Acceleration = memoryBridge.GetVector3("Acceleration" + memoryBridge.fileName);
memoryBridge.obt_velocity = memoryBridge.GetVector3("obt_velocity" + memoryBridge.fileName);
memoryBridge.srf_velocity = memoryBridge.GetVector3("srf_velocity" + memoryBridge.fileName);
memoryBridge.altitude = memoryBridge.GetFloat("altitude" + memoryBridge.fileName);
memoryBridge.heightFromTerrain = memoryBridge.GetFloat("heightFromTerrain" + memoryBridge.fileName);
memoryBridge.horizontalSrfSpeed = memoryBridge.GetFloat("horizontalSrfSpeed" + memoryBridge.fileName);
memoryBridge.latitude = memoryBridge.GetFloat("latitude" + memoryBridge.fileName);
memoryBridge.longitude = memoryBridge.GetFloat("longitude" + memoryBridge.fileName);
memoryBridge.mach = memoryBridge.GetFloat("mach" + memoryBridge.fileName);
memoryBridge.srfSpeed = memoryBridge.GetFloat("srfSpeed" + memoryBridge.fileName);
memoryBridge.terrainAltitude = memoryBridge.GetFloat("terrainAltitude" + memoryBridge.fileName);
memoryBridge.verticalSpeed = memoryBridge.GetFloat("verticalSpeed" + memoryBridge.fileName);
memoryBridge.currentStage = memoryBridge.GetFloat("currentStage" + memoryBridge.fileName);
memoryBridge.geeForce_immediate = memoryBridge.GetFloat("geeForce_immediate" + memoryBridge.fileName);
memoryBridge.heightFromSurface = memoryBridge.GetFloat("heightFromSurface" + memoryBridge.fileName);
memoryBridge.obt_speed = memoryBridge.GetFloat("obt_speed" + memoryBridge.fileName);
memoryBridge.directSunlight = memoryBridge.GetBool("directSunlight" + memoryBridge.fileName);
memoryBridge.Landed = memoryBridge.GetBool("Landed" + memoryBridge.fileName);
memoryBridge.loaded = memoryBridge.GetBool("loaded" + memoryBridge.fileName);
memoryBridge.Splashed = memoryBridge.GetBool("Splashed" + memoryBridge.fileName);
}
