FT - PilotComponent to drive so100

+ Base class for RobotPawn -> might be replaced by an Actor instead?

Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp

@@ -0,0 +1,41 @@
+#include "Robot/PilotComponent/RobotPilotComponent.h"
+
+#include "Actors/MujocoVolumeActor.h"
+#include "Robot/RobotPawn.h"
+
+URobotPilotComponent::URobotPilotComponent()
+{
+	
+}
+
+void URobotPilotComponent::BeginPlay()
+{
+	Super::BeginPlay();
+
+	// Reference owning robot
+	RobotOwner = Cast<ARobotPawn>(GetOwner());
+}
+
+void URobotPilotComponent::TickComponent(float DeltaTime, enum ELevelTick TickType,
+	FActorComponentTickFunction* ThisTickFunction)
+{
+	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
+}
+
+void URobotPilotComponent::InitPilotComponent()
+{
+	if (RobotOwner.IsValid() && RobotOwner->PhysicSceneProxy.IsValid())
+	{
+		RobotOwner->PhysicSceneProxy->BindPostPhysicStepDelegate(this, &URobotPilotComponent::AnimateActuators);
+	}
+}
+
+void URobotPilotComponent::StartAnimation(const FRobotActuators& NewAnimationTarget)
+{
+	AnimTargetRobotActuators = NewAnimationTarget;
+}
+
+void URobotPilotComponent::AnimateActuators(float SimulationTime)
+{
+	// Override in each dedicated RobotPilotComponent
+}

Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotMultiRotorDrone.cpp

@@ -0,0 +1,5 @@
+#include "Robot/PilotComponent/RobotPilotMultiRotorDrone.h"
+
+URobotPilotMultiRotorDrone::URobotPilotMultiRotorDrone()
+{
+}

Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp

@@ -0,0 +1,22 @@
+#include "Robot/PilotComponent/RobotPilotSO100Component.h"
+
+URobotPilotSO100Component::URobotPilotSO100Component()
+{
+	
+}
+
+void URobotPilotSO100Component::BeginPlay()
+{
+	Super::BeginPlay();
+}
+
+void URobotPilotSO100Component::TickComponent(float DeltaTime, enum ELevelTick TickType,
+	FActorComponentTickFunction* ThisTickFunction)
+{
+	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
+}
+
+void URobotPilotSO100Component::StartAnimation(const FRobotActuators& NewAnimationTarget)
+{
+	// Super::StartAnimation(NewAnimationTarget);
+}

Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp

@@ -0,0 +1,68 @@
+#include "Robot/RobotPawn.h"
+
+#include "Robot/PilotComponent/RobotPilotMultiRotorDrone.h"
+#include "Robot/PilotComponent/RobotPilotSO100Component.h"
+
+ARobotPawn::ARobotPawn()
+{
+}
+
+void ARobotPawn::BeginPlay()
+{
+	Super::BeginPlay();
+	InitRobot(); // TODO Maybe move to GameInstance to control when we initialize the robot completely
+}
+
+void ARobotPawn::InitRobot()
+{
+	InitPilotComponent();
+	// Other initialization tasks
+}
+
+void ARobotPawn::InitPilotComponent()
+{
+	// Initialize pilot component based on robot type
+	switch (RobotType)
+	{
+	case ERobotsName::None:
+		break;
+		
+	case ERobotsName::SO100Robot:
+		RobotPilotComponent = NewObject<URobotPilotSO100Component>(GetOwner());
+		break;
+
+	case ERobotsName::DJIDrone:
+		RobotPilotComponent = NewObject<URobotPilotMultiRotorDrone>(GetOwner());
+		break;
+	
+	case ERobotsName::Luck_e:
+		break; // TODO or remove from enum
+	case ERobotsName::Stretch:
+		break; // TODO or remove from enum
+	case ERobotsName::LuckyDrone:
+		break; // TODO or remove from enum
+	case ERobotsName::ArmLucky:
+		break; // TODO or remove from enum
+	case ERobotsName::UnitreeG1:
+		break; // TODO or remove from enum
+	case ERobotsName::StretchRobotV1:
+		break; // TODO or remove from enum
+	case ERobotsName::PandaArmRobot:
+		break; // TODO or remove from enum
+	case ERobotsName::PuralinkRobot:
+		break; // TODO or remove from enum
+	case ERobotsName::UnitreeGo2:
+		break; // TODO or remove from enum
+	case ERobotsName::RevoluteRobot:
+		break; // TODO or remove from enum
+	case ERobotsName::BostonSpotRobot:
+		break; // TODO or remove from enum
+	}
+
+	// Register if this Robot has a Pilot Component 
+	if (RobotPilotComponent)
+	{
+		RobotPilotComponent->RegisterComponent();
+		RobotPilotComponent->InitPilotComponent();
+	}
+}