/**
* this method is used to rotate the character about the vertical axis, so that it's default heading has the value that is given as a parameter
*/
public void recenter()
{
ArrayList state = getState();
ReducedCharacterState chS = new ReducedCharacterState(state);
Vector3 currPos = chS.getPosition();
currPos.x = currPos.z = 0;
chS.setPosition(currPos);
setState(state);
}
/**
* This method populates the state of the current character with the values that are passed
* in the dynamic array. The same conventions as for the getState() method are assumed.
*/
public void setState(ArrayList state, int start = 0, bool hackFlag = true)
{
//updateJointOrdering();
ReducedCharacterState rs = new ReducedCharacterState(state, start);
//kinda ugly code....
root.setCMPosition(rs.getPosition());
root.setOrientation(rs.getOrientation());
root.setCMVelocity(rs.getVelocity());
root.setAngularVelocity(rs.getAngularVelocity());
//now each joint introduces one more rigid body, so we'll only record its state relative to its parent.
//we are assuming here that each joint is revolute!!!
Quaternion qRel;
Vector3 wRel;
//Vector3 r;
//Vector3 d;
//Vector3 vRel;
CWJoint joint;
// root->updateToWorldTransformation();
for (int j = 0; j < joints.Count; j++)
{
qRel = rs.getJointRelativeOrientation(j);
wRel = rs.getJointRelativeAngVelocity(j);
//transform the relative angular velocity to world coordinates
joint = joints[j] as CWJoint;
wRel = joint.getParent().getOrientation() * wRel;
//now that we have this information, we need to restore the state of the rigid body.
//set the proper orientation
//int orderedJ = j;
//if( hackFlag )
//orderedJ = (int)jointOrder[j];
// joint = joints[orderedJ] as CWJoint;
joint.getChild().setOrientation(joint.getParent().getOrientation() * qRel);
//and the proper angular velocity
joint.getChild().setAngularVelocity(joint.getParent().getAngularVelocity() + wRel);
//Debug.Log("111111 "+joint.name+" "+qRel+" "+wRel);
//and now set the linear position and velocity
joint.fixJointConstraints(false, true, false);
// joints[j]->child->updateToWorldTransformation();
}
}