/// <summary>
/// Sets the direction of movement of the joint on every update
/// </summary>
/// <param name="jointIndex">Index of the link selected in the Articulation Chain</param>
private void UpdateDirection(int jointIndex)
{
float moveDirection = Input.GetAxis("Vertical");
JointControl current = articulationChain[jointIndex].GetComponent <JointControl>();
if (previousIndex != jointIndex)
{
JointControl previous = articulationChain[previousIndex].GetComponent <JointControl>();
previous.direction = RotationDirection.None;
previousIndex = jointIndex;
}
if (current.controltype != control)
{
UpdateControlType(current);
}
if (moveDirection > 0)
{
current.direction = RotationDirection.Positive;
}
else if (moveDirection < 0)
{
current.direction = RotationDirection.Negative;
}
else
{
current.direction = RotationDirection.None;
}
}
public void UpdateControlType(JointControl joint)
{
joint.controltype = control;
if (control == ControlType.PositionControl)
{
ArticulationDrive drive = joint.joint.xDrive;
drive.stiffness = stiffness;
drive.damping = damping;
joint.joint.xDrive = drive;
}
}
/// <summary>
/// Sets the direction of movement of the joint on every update
/// </summary>
/// <param name="jointIndex">Index of the link selected in the Articulation Chain</param>
private void UpdateDirection(int jointIndex)
{
bool SelectionInput1;
bool SelectionInput2;
if (left)
{
SelectionInput1 = Input.GetKey("w");
SelectionInput2 = Input.GetKey("s");
}
else
{
SelectionInput1 = Input.GetKey("up");
SelectionInput2 = Input.GetKey("down");
}
ArticulationBody actualJoint = articulationChain[jointIndex];
JointControl current = articulationChain[jointIndex].GetComponent <JointControl>();
if (previousIndex != jointIndex)
{
JointControl previous = articulationChain[previousIndex].GetComponent <JointControl>();
previous.direction = RotationDirection.None;
previousIndex = jointIndex;
}
if (current.controltype != control)
{
UpdateControlType(current);
}
if (SelectionInput1)
{
current.direction = RotationDirection.Positive;
}
else if (SelectionInput2)
{
current.direction = RotationDirection.Negative;
}
else
{
current.direction = RotationDirection.None;
}
print(actualJoint.xDrive.target);
}
public void UpdateDirection(int jointIndex)
{
JointControl current = articulationChain[jointIndex].GetComponent <JointControl>();
if (current.controltype != control)
{
UpdateControlType(current);
}
if (moveDirection > 0)
{
current.direction = RotationDirection.Positive;
}
else if (moveDirection < 0)
{
current.direction = RotationDirection.Negative;
}
else
{
current.direction = RotationDirection.None;
}
}
private void Start()
{
jointControl = GetComponent <JointControl>();
}
