Solving Inverse-Kinematic Problem for PUMA via Position Based Dynamics
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// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "CoreMinimal.h"
#include "Link.h"
#include "GameFramework/Actor.h"
#include "Robot.generated.h"
UCLASS()
class PBDROBOTICS_API ARobot : public AActor
{
GENERATED_BODY()
public:
// Sets default values for this actor's properties
ARobot();
protected:
// Called when the game starts or when spawned
virtual void BeginPlay() override;
public:
// Called every frame
virtual void Tick(float DeltaTime) override;
private:
UPROPERTY()
TArray<ULink*> Parts;
UPROPERTY()
TArray<UJoint*> Joints = TArray<UJoint*>();
};