UnityEngine.Quaternion AgxHelper(AgX_Interface.Quaternion quat)
{
UnityEngine.Quaternion Uq = new UnityEngine.Quaternion();
Uq.x = (float)quat.x;
Uq.y = (float)quat.y;
Uq.z = (float)quat.z;
Uq.w = (float)quat.w;
return(Uq);
}
public void ChangeInitRot(AgX_Interface.Quaternion rot)
{
if (!simulation_Running)
{
AgX_Assembly.SetRotation(rot);
robot.Update();
Update_Vis(robot);
RobotStartRotation = rot;
}
}
void Start()
{
//Start simulation:
Agx_Simulation.Start(0.01);
//Setting position and rotations:
var pos = new AgX_Interface.Vector3(0, 0, 0);
var u_quat = UnityEngine.Quaternion.Euler(0, 90, 0);
AgX_Interface.Quaternion frame_rot = new AgX_Interface.Quaternion(u_quat.x, u_quat.y, u_quat.z, u_quat.w);
//Create Frames:
Frame[] frames = new Frame[2];
for (int i = 0; i < 2; i++)
{
frames[i] = new Frame()
{
guid = Guid.NewGuid(),
position = pos,
scale = 10,
quatRotation = frame_rot,
//rotation = rot,
mass = 10,
isStatic = false,
materialName = "Plastic"
};
}
//download mesh obj file:
loadmesh();
//Set mesh of frames:
frames[0].SetMesh(AgxHelper(leftmesh.vertices), AgxHelper(leftmesh.uv), leftmesh.triangles);
frames[1].SetMesh(AgxHelper(rightmesh.vertices), AgxHelper(rightmesh.uv), rightmesh.triangles);
//Create Joint:
Simulation_Core.Joint joint = new Simulation_Core.Joint()
{
guid = Guid.NewGuid(),
leftFrameGuid = frames[0].guid,
rightFrameGuid = frames[1].guid,
type = "Hinge",
lowerRangeLimit = -Math.PI / 2,
upperRangeLimit = Math.PI / 2,
max_vel = Math.PI / 6,
Kp = 3
};
//Create Module:
var module = new Module();
module.Create(frames[0], joint, frames[1]);
//Add module to robot:
robot.Add_Module(module);
//Add second module to robot:
//robot.Add_Module(module2,new Simulation_Core.Joint());
//Initialize robot:
robot.Initialize();
//Scene object:
sceneobj = new SceneObject()
{
guid = Guid.NewGuid(),
shape = "Box",
size = new AgX_Interface.Vector3(5, 1, 10),
position = new AgX_Interface.Vector3(0, -2, 0),
quatRotation = new AgX_Interface.Quaternion(0, 0, 0, 1),
materialName = "Rock",
mass = 10,
isStatic = true
};
sceneobj.Initialize();
//Load vis from mesh and robot + scene object:
Load_Vis();
//Start sim update loop:
InvokeRepeating("Update_Sim", 0.01f, 0.01f);
}
