private void FindJointsAndEntities(simengine.VisualEntity thisEntity, Dictionary <string, simengine.VisualEntity> visited)
{
if (thisEntity == null)
{
return;
}
if (visited.ContainsKey(thisEntity.State.Name))
{
return;
}
else
{
visited.Add(thisEntity.State.Name, thisEntity);
}
// process the children first
if (thisEntity is simengine.VisualEntity)
{
foreach (simengine.VisualEntity Child in ((simengine.VisualEntity)thisEntity).Children)
{
FindJointsAndEntities(Child, visited);
}
}
if (thisEntity.ParentJoint != null)
{
AddJoint(thisEntity.ParentJoint, thisEntity);
}
// search this entity for other entities or joints
Type thisEntityType = thisEntity.GetType();
System.Reflection.FieldInfo[] fields = thisEntityType.GetFields(
System.Reflection.BindingFlags.Instance |
System.Reflection.BindingFlags.Public |
System.Reflection.BindingFlags.NonPublic);
foreach (FieldInfo field in fields)
{
// search for joints
if ((field.FieldType == typeof(Joint)) || (field.FieldType.IsSubclassOf(typeof(Joint))))
{
Joint thisJoint = (Joint)field.GetValue(thisEntity);
if (thisJoint != null)
{
AddJoint(thisJoint, thisEntity);
}
}
else if (field.FieldType == typeof(List <Joint>))
{
List <Joint> jointList = (List <Joint>)field.GetValue(thisEntity);
if (jointList != null)
{
foreach (Joint thisJoint in jointList)
{
AddJoint(thisJoint, thisEntity);
}
}
}
else if (field.FieldType == typeof(Joint[]))
{
Joint[] jointArray = (Joint[])field.GetValue(thisEntity);
if (jointArray != null)
{
foreach (Joint thisJoint in jointArray)
{
AddJoint(thisJoint, thisEntity);
}
}
}
// search for entities
if ((field.FieldType == typeof(simtypes.Entity)) || (field.FieldType.IsSubclassOf(typeof(simtypes.Entity))))
{
FindJointsAndEntities((simengine.VisualEntity)field.GetValue(thisEntity), visited);
}
else if (field.FieldType.IsGenericType)
{
Type[] parms = field.FieldType.GetGenericArguments();
if (parms.Length == 1)
{
if ((parms[0] == typeof(simtypes.Entity)) || (parms[0].IsSubclassOf(typeof(simtypes.Entity))))
{
foreach (simengine.VisualEntity someEntity in (System.Collections.ICollection)field.GetValue(thisEntity))
{
FindJointsAndEntities(someEntity, visited);
}
}
}
}
}
}
