void _body_arm_straight()
{
Head.goto_straight();
SpineU.goto_straight();
if (m_left_arm_active)
{
LUArm.goto_straight();
LFArm.goto_straight();
if (m_right_arm_active)
{
RUArm.goto_straight();
RFArm.goto_straight();
}
else
{
right_arm_freeze_state();
}
}
else // только m_right_arm_active
{
RUArm.goto_straight();
RFArm.goto_straight();
left_arm_freeze_state();
}
if (_spine_circle.enabled)
{
finish_roll();
}
if (m_relaxed)
{
m_relaxed = false;
}
if (m_arm_grouped)
{
m_arm_grouped = false;
}
_need_arm_act = e_need_action.nothing;
}
void _body_arm_group()
{
if (m_arm_grouped && m_leg_grouped)
{
roll(true);
}
else
{
if (m_left_arm_active)
{
LUArm.goto_group();
LFArm.goto_group();
if (m_right_arm_active)
{
Head.goto_group();
SpineU.goto_group();
RUArm.goto_group();
RFArm.goto_group();
}
}
else if (m_right_arm_active)
{
RUArm.goto_group();
RFArm.goto_group();
}
m_arm_grouped = true;
if (m_leg_grouped)
{
start_roll();
}
}
if (m_relaxed)
{
m_relaxed = false;
}
_need_arm_act = e_need_action.nothing;
}
void _body_arm_direct()
{
if (_spine_circle.enabled)
{
finish_roll();
}
/*for (_iii = 0; _iii < 6; ++_iii)
* m_joints[_iii].direct(m_dir_arm);*/
Head.apply_target_angle(0f);
if (m_left_arm_active)
{
_aaa = custom_direct_arm(LUArm, LFArm, m_dir_arm);
if (m_right_arm_active)
{
RUArm.apply_target_angle(LUArm.target_angle);
RFArm.apply_target_angle(LFArm.target_angle);
}
else
{
right_arm_freeze_state();
}
}
else // только m_right_arm_active
{
_aaa = custom_direct_arm(RUArm, RFArm, m_dir_arm);
left_arm_freeze_state();
}
SpineU.apply_target_angle(_aaa, true);
m_arm_grouped = false;
if (m_relaxed)
{
m_relaxed = false;
}
_need_arm_act = e_need_action.nothing;
}