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WIP - Configure Episode Series Launch

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Jb win
2025-05-03 01:45:06 +07:00
parent 19d36fdf00
commit 45490051cd
9 changed files with 173 additions and 24 deletions
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10
Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
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@ -36,7 +36,10 @@ public:
virtual void BeginPlay() override;
virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
virtual FTransform GetReachableTransform() override;
UFUNCTION(BlueprintCallable)
void SetTarget(const FTransform& TargetTransformIn);
private:
@ -65,8 +68,9 @@ private:
// SO100 Static Variables
FVector PivotOffset = FVector{-0.000030, 4.520021, 1.650041};
FVector JawOffset = FVector{23, 2, 9};
float MaxReach = 20.757929; // fixed_jaw_pad_3 ForwardVectorLength Delta between Rest and MaxExtend
float MaxRange = 20.757929; // fixed_jaw_pad_3 ForwardVectorLength Delta between Rest and MaxExtend
float MaxYaw = 150.f;
// Actuators Joints and Controls are expressed in doubles
double ClosedJaw = 0.18;
double OpenedJaw = -2.0;
@ -75,7 +79,9 @@ private:
* Query the physic proxy on the RobotOwner to get the SO100 actuators values
* @return
*/
public:
FSo100Actuators GetCurrentControlsFromPhysicScene() const;
private:
FSo100Actuators GetCurrentJointsFromPhysicsScene() const;
double GetControlJointDeltaForActuator(FString ActuatorName) const;
static float GetDeltaSumBetweenActuatorValues(const FSo100Actuators& A, const FSo100Actuators& B);