public ArmPart(ArmAssembler part, Tuple <Servo, ServoGimbal> servo, ServoGimbal extraGimbal)
{
Node = part.Node;
Mount = part.Mount;
ChildMount = part.ChildMount;
Servo = servo.Item1;
Gimbal = servo.Item2;
ExtraGimbal = extraGimbal;
}
public SimzArmB1(Scene scene)
{
//construct the arm
Arm = scene.CreateChild("arm");
//base
var baseBuilder = new ArmAssembler("Scenes/zArmB1.xml", Arm).Create("base");
baseBuilder.Immovable();
Base = baseBuilder.Node;
//knob & Led
var knobLight = baseBuilder.Attach("knob-light");
var knob = knobLight.Attach("knob", new Vector3(0, 1, 0));
Led = knobLight.AttachLed();
var knobParts = knob.AttachKnob();
Knob = knobParts.Item1;
Button = knobParts.Item2;
KnobGimbal = knobParts.Item3;
//shoulder
var shoulder = baseBuilder.Attach("servo").Attach("shoulder", new Vector3(1, 0, 0), new Quaternion(0, 50, 0));
var servoPart = shoulder.AttachServo(0);
var servo = shoulder.Attach("servo");
var extraGimbal = servo.AttachServoGimbal();
Shoulder = new ArmPart(shoulder, servoPart, extraGimbal);
//upper arm
var upperArm = servo.Attach("upperarm", new Vector3(0, 0, 1), new Quaternion(-90, 0, 0));
servoPart = upperArm.AttachServo(1);
servo = upperArm.Attach("servo");
extraGimbal = servo.AttachServoGimbal();
UpperArm = new ArmPart(upperArm, servoPart, extraGimbal);
//forearm
var foreArm = servo.Attach("forearm", new Vector3(0, 0, 1));
servoPart = foreArm.AttachServo(2);
servo = foreArm.Attach("servo");
extraGimbal = servo.AttachServoGimbal();
ForeArm = new ArmPart(foreArm, servoPart, extraGimbal);
//hand
var hand = servo.Attach("hand", new Vector3(0, 0, 1));
servoPart = hand.AttachServo(3);
servo = hand.Attach("servo");
extraGimbal = servo.AttachServoGimbal();
Hand = new ArmPart(hand, servoPart, extraGimbal);
//finger
var finger = servo.Attach("finger", new Vector3(0, 1, 0));
servoPart = finger.AttachServo(4, true);
Finger = new ArmPart(finger, servoPart, null);
Finger.Servo.SetRenderLimits(-6f, null); //limit finger to not allow folding in on itself
//grippers
var handGrip = hand.Attach("grip");
var fingerGrip = finger.Attach("grip");
Gripper = hand.AttachPrimaryGripper(fingerGrip.Node);
//all servos
ArmSegments = new ArmPart[]
{
Shoulder,
UpperArm,
ForeArm,
Hand,
Finger
};
}