public JointPlacement[] GetJointPlacements(MultiDOFJointStateMsg jointState)
{
Quaternion lastWorldRotation = m_Robot.transform.rotation;
Vector3 lastWorldPosition = m_Robot.transform.position;
GameObject lastJoint = m_Robot.gameObject;
JointPlacement[] result = new JointPlacement[jointState.joint_names.Length];
for (int i = 0; i < jointState.joint_names.Length; ++i)
{
JointPlacement jointData = m_JointsByName[jointState.joint_names[i]];
ArticulationBody body = jointData.Joint.GetComponent <ArticulationBody>();
Quaternion jointRotation = body.anchorRotation * jointState.transforms[i].rotation.From <FLU>() * Quaternion.Inverse(body.anchorRotation);
Quaternion localRotation = jointData.Rotation * jointRotation;
Vector3 localPosition = Vector3.Scale(lastJoint.transform.InverseTransformPoint(body.transform.position), jointState.transforms[i].translation.From <FLU>());
Vector3 worldPosition = lastWorldPosition + lastWorldRotation * (lastJoint.transform.InverseTransformPoint(body.transform.position) + localPosition);
Quaternion worldRotation = lastWorldRotation * localRotation;
result[i] = new JointPlacement {
Joint = jointData.Joint, Position = worldPosition, Rotation = worldRotation
};
lastWorldPosition = worldPosition;
lastWorldRotation = worldRotation;
lastJoint = body.gameObject;
}
return(result);
}
public void DrawGhost(Drawing3d drawing, MultiDOFJointStateMsg message, Color color)
{
DrawGhost(drawing, GetJointPlacements(message), color);
}
