public void setHingeJoint(HingeJoint hingeJoint, int index)
{
this.hingeJointArray[index] = hingeJoint;
}
private void parseHingeJoint(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
string name = "";
float angle = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "n")
{
name = pointer.list.next.val;
}
if (pointer.list.val == "ax")
{
angle = (float)Convert.ToInt32(pointer.list.next.val);
}
}
pointer = pointer.next;
}
HingeJoint hJoint = new HingeJoint();
hJoint.setAxis(angle);
if (name == "hj1")
{
this.worldModel.setHingeJoint(hJoint, 0);
}
else if (name == "hj2")
{
this.worldModel.setHingeJoint(hJoint, 1);
}
else if (name == "raj1")
{
this.worldModel.setHingeJoint(hJoint, 2);
}
else if (name == "raj2")
{
this.worldModel.setHingeJoint(hJoint, 3);
}
else if (name == "raj3")
{
this.worldModel.setHingeJoint(hJoint, 4);
}
else if (name == "raj4")
{
this.worldModel.setHingeJoint(hJoint, 5);
}
else if (name == "laj1")
{
this.worldModel.setHingeJoint(hJoint, 6);
}
else if (name == "laj2")
{
this.worldModel.setHingeJoint(hJoint, 7);
}
else if (name == "laj3")
{
this.worldModel.setHingeJoint(hJoint, 8);
}
else if (name == "laj4")
{
this.worldModel.setHingeJoint(hJoint, 9);
}
else if (name == "rlj1")
{
this.worldModel.setHingeJoint(hJoint, 10);
}
else if (name == "rlj2")
{
this.worldModel.setHingeJoint(hJoint, 11);
}
else if (name == "rlj3")
{
this.worldModel.setHingeJoint(hJoint, 12);
}
else if (name == "rlj4")
{
this.worldModel.setHingeJoint(hJoint, 13);
}
else if (name == "rlj5")
{
this.worldModel.setHingeJoint(hJoint, 14);
}
else if (name == "rlj6")
{
this.worldModel.setHingeJoint(hJoint, 15);
}
else if (name == "llj1")
{
this.worldModel.setHingeJoint(hJoint, 16);
}
else if (name == "llj2")
{
this.worldModel.setHingeJoint(hJoint, 17);
}
else if (name == "llj3")
{
this.worldModel.setHingeJoint(hJoint, 18);
}
else if (name == "llj4")
{
this.worldModel.setHingeJoint(hJoint, 19);
}
else if (name == "llj5")
{
this.worldModel.setHingeJoint(hJoint, 20);
}
else if (name == "llj6")
{
this.worldModel.setHingeJoint(hJoint, 21);
}
}
