// Use this for initialization
void Start()
{
cam = Camera.main;
transform.position = cam.transform.position - (Vector3)startOffset;
targetPos = transform.position;
targetRotation = transform.rotation.eulerAngles.z;
ui = cam.GetComponent <CamUI>();
}
public void CheckClearance()
{
if (IKactive)//& legMode == LegMode.Translate)
{
//limbMirror.contactPoint.position = limbMirror.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
// limbIK.contactPoint.position = limbIK.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
}
torque = memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "torque");
velocity = torque.magnitude;
explosionPotential = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "explosionPotential");
gExplodeChance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "gExplodeChance");
footActive = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "active");
hasExploded = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "exploded");
if (hasExploded)
{
CamUI.SetCamText(name + " has exploded");
Debug.LogError("Exploded Leg : " + name + " Velocity : " + velocity + " Mode : " + limbIK.gaitSequenceMode.ToString() + " Percent : " + CalculateStridePercent());
}
rawClearance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "KSPFootClearance");
//if(limbMirror.limbEnd == null)
//{
// Debug.Log("end point null");
//}
var contactPointOffSet = limbMirror.servoWrist.transform.position.y - limbMirror.trueLimbEnd.position.y;
footClearance = rawClearance - contactPointOffSet;
if (footClearance < .03f)
{
footClearance = 0;
}
groundContact = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "GroundContact");
//if (!collisionPoint)
//{
// collisionPoint = new GameObject("CollisionPoint").transform;
// // DebugVector.DrawVector(collisionPoint, DebugVector.Direction.all, .5f, .1f, Color.red, Color.white, Color.blue);
//}
//collisionPoint.position = limbMirror.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
// limbMirror.
//if(limbIK)
//if (!groundContact)
// ground.position = limbMirror.servoWrist.transform.position - new Vector3(0, rawClearance, 0);
var localPoint = limbMirror.limbEnd.localPosition - new Vector3(0, .4f, 0);
ground.position = limbMirror.servoWrist.transform.TransformPoint(localPoint) - new Vector3(0, rawClearance, 0);
}
