public override void Write(float value) { state = value * StepLength; if (DoApplyUnityJointLimits) { ApplyLimits(); } jointStateWriter.Write(state); }
private void ProcessMessage() { float deltaTime = Time.timeSinceLevelLoad - lastMessageTime; state += currentAxisValue * MaxVelocity * deltaTime; if (useLimits) { ApplyLimits(); } lastMessageTime = Time.timeSinceLevelLoad; jointStateWriter.Write(urdfJoint.IsRevoluteOrContinuous ? state * Mathf.Deg2Rad : state); isMessageReceived = false; }