Added Input controls

Config/DefaultInput.ini

@@ -78,6 +78,15 @@ DefaultViewportMouseLockMode=LockOnCapture
 FOVScale=0.011110
 DoubleClickTime=0.200000
 +ActionMappings=(ActionName="ToggleGravity",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=G)
++ActionMappings=(ActionName="ToggleController",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=C)
++ActionMappings=(ActionName="ToggleShowTarget",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=V)
++ActionMappings=(ActionName="ToggleFollowTarget",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=F)
++AxisMappings=(AxisName="MoveHorizontal",Scale=-1.000000,Key=A)
++AxisMappings=(AxisName="MoveHorizontal",Scale=1.000000,Key=D)
++AxisMappings=(AxisName="MoveVertical",Scale=1.000000,Key=Q)
++AxisMappings=(AxisName="MoveVertical",Scale=-1.000000,Key=E)
++AxisMappings=(AxisName="MoveDepth",Scale=1.000000,Key=W)
++AxisMappings=(AxisName="MoveDepth",Scale=-1.000000,Key=S)
 DefaultPlayerInputClass=/Script/Engine.PlayerInput
 DefaultInputComponentClass=/Script/Engine.InputComponent
 DefaultTouchInterface=/Engine/MobileResources/HUD/DefaultVirtualJoysticks.DefaultVirtualJoysticks

Source/PBDRobotics/Robot.cpp

@@ -62,3 +62,10 @@ void ARobot::Tick(const float DeltaTime){
 	for (auto* Link : Links)
 		Link->UpdateInternalTransform();
 }
+
+ULink* ARobot::GetEffector() const{
+	for (auto* Link : Links)
+		if (Link->IsEffector)
+			return Link;
+	return nullptr;
+}

Source/PBDRobotics/Robot.h

@@ -32,6 +32,9 @@ protected:
 	UPROPERTY(BlueprintReadWrite)
 	FVector EffectorMove = FVector::ZeroVector;
 
+	UFUNCTION(BlueprintCallable)
+	ULink* GetEffector() const;
+
 private:
 	// Assumes First Link to have Identity Orientation and Joints Array to be in order
 	void ResetPositionAndOrientation();