public static void generate_generic(
int dof,
Spatial parent,
Vector3 origin)
{
configure(dof);
// Create Static base
StaticBody base_node = generate_base(new Vector3(0.7F, 0.2F, 0.7F));
List <Spatial> links = generate_links();
List <Joint> joints = generate_joints();
parent.AddChild(base_node);
base_node.GlobalTranslate(origin);
base_node.GlobalRotate(new Vector3(0F, 1F, 0F), rand.RandfRange(-3.14F, 3.14F));
Joint base_joint = joints[0];
base_node.AddChild(base_joint);
for (int i = 1; i < dof; i++)
{
Spatial link = links[i - 1];
Joint joint = joints[i];
link.AddChild(joint);
base_joint.AddChild(link);
}
base_joint.AddChild(links[dof - 1]);
transform_all(base_node, base_joint);
// connect_joints(joints, links, base_node, base_joint, dof);
}
private void GenerateNDofArmHelper(int N)
{
// Create base
StaticBody base_node = generate_static(String.Format("{0}_dof_base", N));
// Create N-1 Rigid Bodies
List <Spatial> links = create_links(N - 1);
print_list(links);
// Create N Joints
List <Joint> joints = create_joints(N);
print_list(joints);
Spatial env_node = RootView.GetNode <Spatial>("main/env");
env_node.AddChild(base_node);
base_node.GlobalTranslate(new Vector3(rand.Randfn() * 3F, 0F, rand.Randfn() * 3F));
base_node.GlobalRotate(new Vector3(0F, 1F, 0F), rand.RandfRange(-3.14F, 3.14F));
Joint base_joint = joints[0];
// Add base joint
base_node.AddChild(base_joint);
for (int i = 1; i < N; i++)
{
Spatial link = links[i - 1];
Joint joint = joints[i];
link.AddChild(joint);
base_joint.AddChild(link);
}
base_joint.AddChild(links[N - 1]);
construct_transforms(base_node, base_joint);
connect_joints(joints, links, base_node, base_joint, N);
EmitSignal("ArmAdded", base_node);
}