public JointPlacement[] GetJointPlacements(JointTrajectoryPointMsg point, string[] jointNames)
{
Quaternion lastWorldRotation = m_Robot.transform.rotation;
Vector3 lastWorldPosition = m_Robot.transform.position;
GameObject lastJoint = m_Robot.gameObject;
JointPlacement[] result = new JointPlacement[jointNames.Length];
for (int Idx = 0; Idx < point.positions.Length; ++Idx)
{
JointPlacement jointData = m_JointsByName[jointNames[Idx]];
float rotationDegrees = (float)(point.positions[Idx] * Mathf.Rad2Deg);
ArticulationBody body = jointData.Joint.GetComponent <ArticulationBody>();
Quaternion jointRotation = body.anchorRotation * Quaternion.Euler(rotationDegrees, 0, 0) * Quaternion.Inverse(body.anchorRotation);
Quaternion localRotation = jointData.Rotation * jointRotation;
Vector3 localPosition = lastJoint.transform.InverseTransformPoint(body.transform.position);
Vector3 worldPosition = lastWorldPosition + lastWorldRotation * localPosition;
Quaternion worldRotation = lastWorldRotation * localRotation;
result[Idx] = new JointPlacement {
Joint = jointData.Joint, Position = worldPosition, Rotation = worldRotation
};
lastWorldPosition = worldPosition;
lastWorldRotation = worldRotation;
lastJoint = body.gameObject;
}
return(result);
}
public void DrawGhost(Drawing3d drawing, JointTrajectoryPointMsg message, string[] jointNames, Color color)
{
DrawGhost(drawing, GetJointPlacements(message, jointNames), color);
}
