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();
+	}
+}

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?  
+};