b31dad8ca5
- Robot Base Class -> Handles inputs, has Mujoco settings, creates proper movement component - LuckyWorldSubsystem -> Has Get and Ready functions for many Robot values/updates - LuckyRobotMovementComponent -> Base component for robot movement. Can read any value or input from the owning robot. Can be reused on similar robots or custom components can be created if needed.
75 lines
1.5 KiB
C++
75 lines
1.5 KiB
C++
// Fill out your copyright notice in the Description page of Project Settings.
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#include "Subsystems/LuckyWorldSubsystem.h"
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#include "Gameplay/Robot/LuckyRobotPawnBase.h"
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void ULuckyWorldSubsystem::CheckSimulationReady()
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{
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if (!bSimulationReady)
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{
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bool bReady = true;
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if (!GetLuckyRobot())
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{
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UE_LOG(LogTemp, Log, TEXT("CheckSimulationReady -> LuckyRobot IS NOT READY"));
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bReady = false;
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}
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// add any other false checks here if they are not ready
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if (bReady)
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{
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bSimulationReady = true;
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if (LuckyRobotSimulationReady.IsBound())
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{
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LuckyRobotSimulationReady.Broadcast();
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}
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}
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}
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}
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void ULuckyWorldSubsystem::RegisterLuckyRobot(ALuckyRobotPawnBase* InLuckyRobot)
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{
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if (InLuckyRobot)
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{
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LuckyRobotPawn = InLuckyRobot;
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if (LuckyRobotReady.IsBound())
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{
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LuckyRobotReady.Broadcast(GetLuckyRobot());
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//LuckyRobotReady.Clear();
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}
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CheckSimulationReady();
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}
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}
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void ULuckyWorldSubsystem::UpdateCurrentTaskIndex(const float InCurrentTaskIndex)
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{
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Robot_CurrentTaskIndex = InCurrentTaskIndex;
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if (CurrentTaskIndexChanged.IsBound())
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{
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CurrentTaskIndexChanged.Broadcast(Robot_CurrentTaskIndex);
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}
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}
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void ULuckyWorldSubsystem::UpdateTargetSpeed(const float InTargetSpeed)
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{
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Robot_TargetSpeed = InTargetSpeed;
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if (TargetSpeedChanged.IsBound())
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{
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TargetSpeedChanged.Broadcast(Robot_TargetSpeed);
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}
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}
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void ULuckyWorldSubsystem::UpdateTorqueLimiter(const float InTorqueLimiter)
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{
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Robot_TorqueLimiter = InTorqueLimiter;
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if (TorqueLimiterChanged.IsBound())
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{
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TorqueLimiterChanged.Broadcast(Robot_TorqueLimiter);
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}
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} |