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43 lines
930 B
43 lines
930 B
// Fill out your copyright notice in the Description page of Project Settings.
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#pragma once
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#include "CoreMinimal.h"
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#include "Link.h"
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#include "GameFramework/Actor.h"
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#include "Robot.generated.h"
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UCLASS()
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class PBDROBOTICS_API ARobot : public AActor
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{
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GENERATED_BODY()
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public:
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ARobot();
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protected:
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virtual void BeginPlay() override;
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UPROPERTY()
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TArray<ULink*> Links = TArray<ULink*>();
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UPROPERTY()
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TArray<UJoint*> Joints = TArray<UJoint*>();
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UFUNCTION(BlueprintCallable)
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void Connect(ULink* L1, ULink* L2);
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UPROPERTY(BlueprintReadWrite)
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bool HasGravity = false;
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UFUNCTION(BlueprintCallable)
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ULink* GetEffector() const;
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UFUNCTION(BlueprintNativeEvent)
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void GetEffectorForce(FVector& Translation, FVector& Rotation);
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private:
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// Assumes First Link to have Identity Orientation and Joints Array to be in order
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void ResetPositionAndOrientation();
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public:
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virtual void Tick(float DeltaTime) override;
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};
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