public ModuleStateObject GetModuleStateObject(bool forConfiguration)
{
ModuleStateObject mso = new ModuleStateObject();
mso.name = gameObject.name;
mso.position = mo2MaComController.moduleRefPointerController.GetPartPointerByName(ModuleRefPointerController.PartNames.BackPlate.ToString()).transform.position;
mso.rotation = mo2MaComController.moduleRefPointerController.GetPartPointerByName(ModuleRefPointerController.PartNames.BackPlate.ToString()).transform.rotation;
foreach (JointCommandObject jco in jointCommandObjectDict.Values)
{
JointCommandObject jcoClone = jco.Clone(forConfiguration);
mso.listOfJointCommands.Add(jcoClone);
if (mso.period < jcoClone.period)
{
mso.period = jcoClone.period;
}
}
foreach (Transform part in transform)
{
PartStateObject pso = new PartStateObject();
pso.name = part.name;
pso.position = part.position;
pso.rotation = part.rotation;
mso.listOfPartStates.Add(pso);
}
return(mso);
}
// Load the JointCommandObject of all joints
void LoadJointCommandObjectDict()
{
foreach (string jointName in mo2MaComController.moduleRefPointerController.GetAllHingeJointNames())
{
JointCommandObject jco = new JointCommandObject(jointName);
jointCommandObjectDict.Add(jointName, jco);
}
}
public JointCommandObject Clone(bool forConfiguration)
{
JointCommandObject newJco = new JointCommandObject();
newJco.name = name;
newJco.commandType = commandType;
newJco.targetValue = targetValue;
if (forConfiguration)
{
newJco.period = 0.0f;
}
else
{
newJco.period = period;
}
return(newJco);
}
public void SetJointFromJointCommandObject(JointCommandObject jco, bool reset = false)
{
if (jco.commandType == JointCommandObject.CommandTypes.Position)
{
UpdateJointAngle(jco.targetValue, jco.name);
}
else if (jco.commandType == JointCommandObject.CommandTypes.Velocity)
{
if (reset)
{
StopJoint(jco.name);
}
else
{
UpdateJointVelocity(jco.targetValue, jco.name, jco.period);
}
}
}
