public void Create_Hinge(string type, AgX_Frame left, AgX_Frame right, double lowerLimit, double upperLimit)
{
this.type = type;
//Hinge is locked between the two objects.
hinge_Frame.setCenter((left.GetAgxObject().getPosition() + right.GetAgxObject().getPosition()).Divide(2));
if (left.GetRotation().x == 0) //pitch or yaw module
{
hinge_Frame.setAxis(new agx.Vec3(1, 0, 0)); //axis along the x direction
}
else
{
hinge_Frame.setAxis(new agx.Vec3(0, 1, 0)); //axis along the x direction
}
joint = new agx.Hinge(hinge_Frame, left.GetAgxObject(), right.GetAgxObject());
joint.asHinge().getMotor1D().setEnable(true);
joint.asHinge().getRange1D().setEnable(true);
joint.asHinge().getRange1D().setRange(lowerLimit, upperLimit);
}
/// <summary>
/// Finds constraint type given native instance.
/// </summary>
/// <param name="native">Native instance.</param>
/// <returns>ConstraintType of the native instance.</returns>
public static ConstraintType FindType(agx.Constraint native)
{
return(native == null ? ConstraintType.Unknown :
native.asHinge() != null ? ConstraintType.Hinge :
native.asPrismatic() != null ? ConstraintType.Prismatic :
native.asLockJoint() != null ? ConstraintType.LockJoint :
native.asCylindricalJoint() != null ? ConstraintType.CylindricalJoint :
native.asBallJoint() != null ? ConstraintType.BallJoint :
native.asDistanceJoint() != null ? ConstraintType.DistanceJoint :
native.asAngularLockJoint() != null ? ConstraintType.AngularLockJoint :
native.asPlaneJoint() != null ? ConstraintType.PlaneJoint :
ConstraintType.Unknown);
}
public void Create_Hinge(string type, AgX_Frame left, AgX_Frame right, double leftLimit, double rightLimit)
{
this.type = type;
//Hinge is locked between the two objects.
hinge_Frame.setCenter((left.GetAgxObject().getPosition() + right.GetAgxObject().getPosition()).Divide(2));
if (left.Get_Rotation().x == 0)
{
hinge_Frame.setAxis(new agx.Vec3(1, 0, 0)); //axis along the x direction
//UnityEngine.Debug.Log("z in agxint: " + left.Get_Rotation().x);
}
else
{
hinge_Frame.setAxis(new agx.Vec3(0, 1, 0)); //axis along the x direction
}
Joint = new agx.Hinge(hinge_Frame, left.GetAgxObject(), right.GetAgxObject());
//Joint.asHinge().getLock1D().setEnable(true);
Joint.asHinge().getMotor1D().setEnable(true);
Joint.asHinge().getRange1D().setEnable(true);
//Might want to have this as a modifyable parameter:
Joint.asHinge().getRange1D().setRange(leftLimit, rightLimit /*-Math.PI / 2, Math.PI / 2*/);
//Joint.asHinge().getMotor1D().setSpeed(0.2f);
}
public double GetAngle()
{
return(joint.asHinge().getAngle());
}