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@ -238,41 +238,24 @@ namespace RoboidControl.Unity {
} }
private void ScanForThings(Transform rootTransform) { private void ScanForThings(Transform rootTransform) {
RoboidControl.Thing[] thingArray = this.core.owner.things.ToArray(); // Thing[] thingArray = allThings.ToArray();
for (int thingIx = 0; thingIx < thingArray.Length; thingIx++) { // for (int thingIx = 0; thingIx < thingArray.Length; thingIx++) {
RoboidControl.Thing thing = thingArray[thingIx]; // Thing thing = thingArray[thingIx];
GameObject foundObj = FindThingByName(thing, rootTransform); // GameObject foundObj = FindThingByName(thing, rootTransform);
if (foundObj != null && foundObj != thing.component.gameObject) { // if (foundObj != null && foundObj != thing.gameObject) {
Thing foundThing = foundObj.GetComponent<Thing>(); // Thing foundThing = foundObj.GetComponent<Thing>();
if (foundThing == null) { // if (foundThing == null) {
Debug.Log($"move thing [{thing.owner.networkId}/{thing.id}] to {foundObj.name}"); // allThings.Remove(thing);
foundThing = foundObj.AddComponent<Thing>();
foundThing.core = thing;
foundThing.core.position = LinearAlgebra.Spherical.FromVector3(foundObj.transform.localPosition);
foundThing.core.orientation = LinearAlgebra.SwingTwist.FromQuaternion(foundObj.transform.localRotation);
Destroy(thing.component.gameObject); // foundThing = foundObj.AddComponent<Thing>();
thing.component = foundThing; // foundThing.networkId = thing.networkId;
} // foundThing.objectId = thing.objectId;
} // allThings.Add(foundThing);
} // Destroy(thing.gameObject);
} // }
// }
private GameObject FindThingByName(RoboidControl.Thing thing, Transform rootTransform) { // }
if (rootTransform == null || thing == null)
return null;
if (rootTransform.name == thing.name)
return rootTransform.gameObject;
for (int childIx = 0; childIx < rootTransform.childCount; childIx++) {
Transform child = rootTransform.GetChild(childIx);
GameObject foundObj = FindThingByName(thing, child);
if (foundObj != null)
return foundObj;
}
return null;
} }
@ -283,11 +266,10 @@ namespace RoboidControl.Unity {
/// If a velocity is not zero, the position and/or orientation update will be ignored /// If a velocity is not zero, the position and/or orientation update will be ignored
protected virtual void HandlePose() { protected virtual void HandlePose() {
this.transform.localRotation = core.orientation.ToQuaternion(); this.transform.localRotation = core.orientation.ToQuaternion();
this.transform.localPosition = core.position.ToVector3(); if (core.linearVelocity.distance == 0)
// if (core.linearVelocity.distance == 0) this.transform.localPosition = core.position.ToVector3();
// this.transform.localPosition = core.position.ToVector3(); if (core.angularVelocity.distance == 0)
// if (core.angularVelocity.distance == 0) this.transform.localRotation = core.orientation.ToQuaternion();
// this.transform.localRotation = core.orientation.ToQuaternion();
} }