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44 lines
922 B
44 lines
922 B
// Fill out your copyright notice in the Description page of Project Settings.
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#include "Robot.h"
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#include "util.h"
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ARobot::ARobot(){
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PrimaryActorTick.bCanEverTick = true;
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}
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void ARobot::BeginPlay(){
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Super::BeginPlay();
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GetComponents<ULink>(Parts);
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for (auto* Link : Parts){
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Link->Setup();
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if (Link->PrevJoint)
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Joints.Add(Link->PrevJoint);
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}
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// Example: 3 Parts are connected with 2 Joints
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assert(Parts.Num() == Joints.Num() + 1);
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}
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void ARobot::Tick(const float DeltaTime){
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Super::Tick(DeltaTime);
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constexpr int SubSteps = 30;
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const double h = DeltaTime / SubSteps;
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for (int i = 0; i < SubSteps; i++){
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for (auto* Link : Parts)
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Link->Update(h);
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for (const auto* Joint : Joints)
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Joint->SolvePosition(h);
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for (auto* Link : Parts)
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Link->Integrate(h);
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for (const auto* Joint : Joints)
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Joint->SolveVelocity(h);
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}
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for (auto* Link : Parts)
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Link->UpdateInternalTransform();
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}
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