public ArmSegment(ArmSegment parent, double length, double minAngle, double maxAngle, double angle)
{
this.maxAngle = maxAngle * (Math.PI / 180);
this.minAngle = minAngle * (Math.PI / 180);
Parent = parent;
Length = length;
Angle = angle * (Math.PI / 180);
}
/// <summary> Get the absolute position of a given arm segment </summary>
/// <param name="segment"> The segment </param>
/// <returns> a vector3 pointing at the absolute position </returns>
public static Vector3 Forward(ArmSegment segment)
{
if (segment.Parent == null)
{
return(new Vector3((float)(segment.Length * System.Math.Sin(segment.Angle)),
(float)(segment.Length * System.Math.Cos(segment.Angle)),
0));
}
var pos = Forward(segment.Parent);
return(new Vector3(pos.X + (float)(segment.Length * System.Math.Sin(segment.Angle)),
pos.Y + (float)(segment.Length * System.Math.Cos(segment.Angle)),
0));
}