public ArticulationBodyPoseExtractor(ArticulationBody rootBody)
{
if (rootBody == null)
{
return;
}
if (!rootBody.isRoot)
{
Debug.Log("Must pass ArticulationBody.isRoot");
return;
}
var bodies = rootBody.GetComponentsInChildren <ArticulationBody>();
if (bodies[0] != rootBody)
{
Debug.Log("Expected root body at index 0");
return;
}
var numBodies = bodies.Length;
m_Bodies = bodies;
int[] parentIndices = new int[numBodies];
parentIndices[0] = -1;
var bodyToIndex = new Dictionary <ArticulationBody, int>();
for (var i = 0; i < numBodies; i++)
{
bodyToIndex[m_Bodies[i]] = i;
}
for (var i = 1; i < numBodies; i++)
{
var currentArticBody = m_Bodies[i];
// Component.GetComponentInParent will consider the provided object as well.
// So start looking from the parent.
var currentGameObject = currentArticBody.gameObject;
var parentGameObject = currentGameObject.transform.parent;
var parentArticBody = parentGameObject.GetComponentInParent <ArticulationBody>();
parentIndices[i] = bodyToIndex[parentArticBody];
}
Setup(parentIndices);
}
public ArticulationBodyPoseExtractor(ArticulationBody rootBody)
{
if (!rootBody.isRoot)
{
Debug.Log("Must pass ArticulationBody.isRoot");
return;
}
var bodies = rootBody.GetComponentsInChildren <ArticulationBody>();
if (bodies[0] != rootBody)
{
Debug.Log("Expected root body at index 0");
return;
}
var numBodies = bodies.Length;
m_Bodies = bodies;
int[] parentIndices = new int[numBodies];
parentIndices[0] = -1;
var bodyToIndex = new Dictionary <ArticulationBody, int>();
for (var i = 0; i < numBodies; i++)
{
bodyToIndex[m_Bodies[i]] = i;
}
for (var i = 1; i < numBodies; i++)
{
var body = m_Bodies[i];
var parent = body.GetComponentInParent <ArticulationBody>();
parentIndices[i] = bodyToIndex[parent];
}
SetParentIndices(parentIndices);
}