FT - PilotComponent to drive so100

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

Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotComponent.h

@@ -0,0 +1,46 @@
+#pragma once
+#include "CoreMinimal.h"
+#include "RobotPilotComponent.generated.h"
+
+USTRUCT(BlueprintType)
+struct FRobotActuators
+{
+	GENERATED_BODY()
+	// Do we need a prent struct?
+	// What will be in common?
+};
+
+class ARobotPawn;
+
+UCLASS(Blueprintable)
+class LUCKYWORLDV2_API URobotPilotComponent : public UActorComponent
+
+
+{
+	GENERATED_BODY()
+	
+public:
+	URobotPilotComponent();
+
+	virtual void BeginPlay() override;
+	virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
+	virtual void InitPilotComponent();
+	
+private:
+	// Only to easy access within the component
+	TWeakObjectPtr<ARobotPawn> RobotOwner = nullptr;
+
+	// ----------------
+	// ----- ANIM -----
+	// ----------------
+public:
+	virtual void StartAnimation(const FRobotActuators& NewAnimationTarget);
+	
+private:
+	virtual void AnimateActuators(float SimulationTime); // Bound to the PhysicProxy post-update delegate
+	float AnimationDuration = 0.f;
+	float AnimationStartTime = 0.f;
+	FRobotActuators CurrentRobotActuators; // This will be updated by the post-physic delegate 
+	FRobotActuators AnimStartRobotActuators;
+	FRobotActuators AnimTargetRobotActuators;
+};

Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotMultiRotorDrone.h

@@ -0,0 +1,13 @@
+#pragma once
+#include "CoreMinimal.h"
+#include "Robot/PilotComponent/RobotPilotComponent.h"
+#include "RobotPilotMultiRotorDrone.generated.h"
+
+UCLASS(Blueprintable)
+class LUCKYWORLDV2_API URobotPilotMultiRotorDrone : public URobotPilotComponent
+{
+	GENERATED_BODY()
+
+public:
+	URobotPilotMultiRotorDrone();
+};

Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h

@@ -0,0 +1,50 @@
+#pragma once
+#include "CoreMinimal.h"
+#include "Robot/PilotComponent/RobotPilotComponent.h"
+#include "RobotPilotSO100Component.generated.h"
+
+USTRUCT(BlueprintType)
+struct FSo100Actuators : public FRobotActuators
+{
+	GENERATED_BODY()
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	float Rotation = 0.f;
+	
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	float Pitch = 0.f;
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	float Elbow = 0.f;
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	float WristPitch = 0.f;
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	float WristRoll = 0.f;
+	
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	float Jaw = 0.f;
+};
+
+UCLASS(Blueprintable)
+class LUCKYWORLDV2_API URobotPilotSO100Component : public URobotPilotComponent
+{
+	GENERATED_BODY()
+
+	public:
+	URobotPilotSO100Component();
+	
+	virtual void BeginPlay() override;
+	virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
+
+	UFUNCTION(BlueprintCallable)
+	virtual void StartAnimation(const FRobotActuators& NewAnimationTarget) override;
+	
+	// Here let's write the code trying to match with Constantin class
+	// After both classes have been designed around specific needs, see what can be migrated in the parent class and update both children
+	
+	// Tick where it can have targets
+	// Open Claw (ClawIndex)
+	// Presets to move certain joints into certain positions -> HardCode
+	// Move the arm myself JB + Capture LOG
+};

Source/LuckyWorldV2/Public/Robot/RobotPawn.h

@@ -0,0 +1,37 @@
+#pragma once
+#include "CoreMinimal.h"
+#include "SharedDef.h"
+#include "RobotPawn.generated.h"
+
+class AMujocoVolumeActor;
+class URobotPilotComponent;
+
+// Enum of bots
+
+UCLASS(Blueprintable)
+class LUCKYWORLDV2_API ARobotPawn : public APawn // Should be an actor?
+{
+	GENERATED_BODY()
+	
+public:
+	ARobotPawn();
+
+	virtual void BeginPlay() override;
+
+	// TODO Called by GameInstance after robot has been spawned
+	void InitRobot();
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	ERobotsName RobotType = ERobotsName::None; // This value must be set in the pawn
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite) // TODO Remove UPROPERTY once we migrate physics proxy initialization from Pawn
+	TWeakObjectPtr<AMujocoVolumeActor> PhysicSceneProxy;
+	
+	// -------------------
+	// ------ PILOT ------
+	// -------------------
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	URobotPilotComponent* RobotPilotComponent = nullptr;
+	UFUNCTION(BlueprintCallable)
+	void InitPilotComponent(); // This should have Robot type as parameter?  
+};