// HELPERS
static void UpdateRotationState(RotationDirection direction, GameObject robotPart)
{
ArticulationJointController jointController = robotPart.GetComponent <ArticulationJointController>();
if (jointController != null)
{
jointController.rotationState = direction;
}
}
public void ForceJointsToRotations(float[] rotations)
{
for (int i = 0; i < rotations.Length; i++)
{
Joint joint = joints[i];
ArticulationJointController jointController = joint.robotPart.GetComponent <ArticulationJointController>();
jointController.ForceToRotation(0.0f);
//jointController.ForceToRotation(rotations[i]);
}
}
// READ
public float[] GetCurrentJointRotations()
{
float[] list = new float[joints.Length];
for (int i = 0; i < joints.Length; i++)
{
Joint joint = joints[i];
ArticulationJointController jointController = joint.robotPart.GetComponent <ArticulationJointController>();
float currentRotation = jointController.CurrentPrimaryAxisRotation();
list[i] = currentRotation;
}
return(list);
}