protected override void link()
{
base.link();
var chainStartSimObject = Owner.getOtherSimObject(chainStartSimObjectName);
if (chainStartSimObject == null)
{
blacklist("Cannot find the chain start SimObject '{0}'", chainStartSimObjectName);
}
var ikBone = chainStartSimObject.getElement(boneName) as BEPUikBone;
if (ikBone == null)
{
blacklist("Cannot find the ik bone '{0}' in chain start SimObject '{1}'", boneName, chainStartSimObjectName);
}
fkElement = chainStartSimObject.getElement(fkElementName) as FKElement;
if (fkElement == null)
{
blacklist("Cannot find the fk element '{0}' in chain start SimObject '{1}'", fkElementName, chainStartSimObjectName);
}
lastTranslation = Owner.Translation;
lastRotation = Owner.Rotation;
//Do a late link to update the chain, since we don't know if the entire thing has been built yet.
registerLateLinkAction(() =>
{
updateFKChain();
fkElement.ChainStateApplied += fkElement_ChainStateApplied;
});
}
protected override void link()
{
base.link();
SimObject parentSimObject = Owner.getOtherSimObject(parentSimObjectName);
if (parentSimObject == null)
{
blacklist("Cannot find Parent SimObject named '{0}'", parentSimObjectName);
}
parent = parentSimObject.getElement(parentSimObjectLinkName) as FKElement;
if (parent == null)
{
blacklist("Cannot find FKLink '{0}' on Parent SimObject '{1}'", parentSimObjectLinkName, parentSimObjectName);
}
if (!String.IsNullOrEmpty(jointSimObjectName))
{
SimObject jointSimObject = Owner.getOtherSimObject(jointSimObjectName);
if (jointSimObject == null)
{
blacklist("Cannot find Joint SimObject named '{0}'", jointSimObjectName);
}
//Find the center of rotation in this object's local space
centerOfRotationOffset = jointSimObject.Translation - Owner.Translation;
}
parent.addChild(this);
}
void fkElement_ChainStateApplied(FKElement element, FKChainState chainState)
{
foreach (String name in chain.ChainStateNames)
{
var state = chainState[name];
chain.setLinkState(name, state.LocalTranslation, state.LocalRotation);
}
}
public void removeChild(FKElement child)
{
children.Remove(child);
}
public void addChild(FKElement child)
{
children.Add(child);
}
