// Fill out your copyright notice in the Description page of Project Settings.


#include "Robot.h"

ARobot::ARobot(){
	PrimaryActorTick.bCanEverTick = true;
}

void ARobot::BeginPlay(){
	Super::BeginPlay();
	
	GetComponents<ULink>(Parts);
	for (auto* Link : Parts) Link->Setup(); 
}

void ARobot::Tick(const float DeltaTime){
	Super::Tick(DeltaTime);
	
	constexpr int SubSteps = 10;
	const double h = DeltaTime / SubSteps;
	for (int i = 0; i < SubSteps; i++){
		for (auto* Link : Parts) Link->Update(h);
		SolvePositions();
		for (auto* Link : Parts) Link->Integrate(h);
		SolveVelocities();
	}

	for (auto* Link : Parts) Link->UpdateVisualTransform();
}

void ARobot::SolvePositions(){

	
	
}

void ARobot::SolveVelocities(){
	
}