public void CustomUpdate()
{
if (!contactPointSet)
{
var contactPoint = memoryBridge.GetVector3(wristServo.servoName + "contactPoint");
if (contactPoint != Vector3.zero)
{
Debug.Log("Set ground point to " + contactPoint);
//wristServo.contactPoint = contactPoint;
wristServo.CreateContactPoint(contactPoint);
contactPointSet = true;
}
}
//if (!FlightGlobals.ActiveVessel.packed)
foreach (var servo in limbServos)
{
servo.CustomUpdate();
}
if (contactPointSet)
{
wristServo.CheckFootClearance();
}
// if(footPart)
// if(footPart.torque)
}
IEnumerator WriteCameraFeed()
{
writingCamFile = true;
var tempLocalPos = feedCam.transform.localPosition;
var bridgeCamPos = memoryBridge.GetVector3("CamLocalPos" + fileName + memoryBridge.cameraFeeds.Count);
tempLocalPos.x = bridgeCamPos.x;
tempLocalPos.y = -bridgeCamPos.z;
tempLocalPos.z = bridgeCamPos.y;
feedCam.transform.localPosition = tempLocalPos;
feedCam.transform.localEulerAngles = memoryBridge.GetVector3("CamLocalEuler" + fileName + memoryBridge.cameraFeeds.Count);
RenderTexture.active = rendText;
tex.ReadPixels(new Rect(0, 0, rendTextWidth, rendTextHeight), 0, 0);
//tex.Apply();
// camTexture = tex;
var textureByte = tex.GetRawTextureData();
// //Debug.Log(textureByte.Length);
var multiple = textureByte.Length / threadList.Count;
Stream mapStream0 = camFeedFile.MapView(MapAccess.FileMapAllAccess, 0, multiple);
Stream mapStream1 = camFeedFile.MapView(MapAccess.FileMapAllAccess, 0, multiple);
Stream mapStream2 = camFeedFile.MapView(MapAccess.FileMapAllAccess, 0, multiple);
Stream mapStream3 = camFeedFile.MapView(MapAccess.FileMapAllAccess, 0, multiple);
ParallelProcessor.EachParallel(threadList,
thread =>
{
switch (thread)
{
case 0:
mapStream0.Write(textureByte, 0, multiple);
break;
case 1:
mapStream1.Write(textureByte, 0, multiple);
break;
case 2:
mapStream2.Write(textureByte, 0, multiple);
break;
case 3:
mapStream3.Write(textureByte, 0, multiple);
break;
}
});
mapStream0.Flush();
mapStream1.Flush();
mapStream2.Flush();
mapStream3.Flush();
mapStream0.Close();
mapStream1.Close();
mapStream2.Close();
mapStream3.Close();
RenderTexture.active = null;
writingCamFile = false;
yield break;
}