public SimBiController(Character b) : base(b)
{
//if (b == null)
//throwError("Cannot create a SIMBICON controller if there is no associated biped!!");
//characters controlled by a simbicon controller are assumed to have: 2 feet
lLowerLeg = b.getARBByName("lLowerLeg");
rLowerLeg = b.getARBByName("rLowerLeg");
lUpperLeg = b.getARBByName("lUpperLeg");
rUpperLeg = b.getARBByName("rUpperLeg");
lFoot = lLowerLeg;
rFoot = rLowerLeg;
lHand = b.getARBByName("lLowerArm");
rHand = b.getARBByName("rLowerArm");
//and two hips connected to the root
//Joint lHip = b.getJointByName("lHip");
//Joint rHip = b.getJointByName("rHip");
lHipIndex = b.getJointIndex("lHip");
rHipIndex = b.getJointIndex("rHip");
root = b.getRoot();
torso = b.getARBByName("torso");
head = b.getARBByName("head");
statesData = null;
comVelocity = new Vector3();
comPosition = new Vector3();
d = new Vector3();
v = new Vector3();
doubleStanceCOMError = new Vector3();
comOffsetSagittal = 0;
comOffsetCoronal = 0;
qRootD = Quaternion.identity;
isFreeHeading = true;
isAddFootJoint = false;
setStance(SimGlobals.LEFT_STANCE);
phi = 0;
setFSMStateTo(-1);
prevFSMState = -1;
nextFSMState = -1;
isLeftReverseStance = true;
bodyTouchedTheGround = false;
lFootTouchedTheGround = false;
rFootTouchedTheGround = false;
twoFootTouchedGround = false;
startingState = 1;
startingStance = SimGlobals.LEFT_STANCE;
}
public void setStatesData(SimBiData data)
{
statesData = data;
}