public CyPhy.KinematicJoint CyphyJoint; // The original joint
public KinematicJoint(CyPhy.KinematicJoint kJoint)
{
CyphyJoint = kJoint;
JointType = GetJointType(kJoint);
Name = kJoint.Name;
CyPhyID = kJoint.ID;
// TODO: Error handling - many things can go wrong here
if (kJoint is CyPhy.HasKinematicRotationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicRotationalLimit).SrcConnections.KinematicRotationalLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Default)
{
RotationLimitDefault = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Max)
{
RotationLimitMax = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Min)
{
RotationLimitMin = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
}
}
if (kJoint is CyPhy.HasKinematicTranslationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicTranslationalLimit).DstConnections.KinematicTranslationallLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Default)
{
TranslationLimitDefault = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Max)
{
TranslationLimitMax = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Min)
{
TranslationLimitMin = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
}
}
if (!String.IsNullOrEmpty(kJoint.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(kJoint.Attributes.GeometricMarker);
if (kJoint.ParentContainer.ParentContainer.Kind == "Component")
{
Marker.ComponentID = CyPhyClasses.Component.Cast(kJoint.ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
}
}
}
public CyPhy.KinematicJoint CyphyJoint; // The original joint
public KinematicJoint(CyPhy.KinematicJoint kJoint)
{
CyphyJoint = kJoint;
JointType = GetJointType(kJoint);
Name = kJoint.Name;
CyPhyID = kJoint.ID;
// TODO: Error handling - many things can go wrong here
if (kJoint is CyPhy.HasKinematicRotationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicRotationalLimit).SrcConnections.KinematicRotationalLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Default)
{
RotationLimitDefault = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Max)
{
RotationLimitMax = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Min)
{
RotationLimitMin = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
}
}
if (kJoint is CyPhy.HasKinematicTranslationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicTranslationalLimit).DstConnections.KinematicTranslationallLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Default)
{
TranslationLimitDefault = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Max)
{
TranslationLimitMax = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Min)
{
TranslationLimitMin = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
}
}
if (!String.IsNullOrEmpty(kJoint.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(kJoint.Attributes.GeometricMarker);
if (kJoint.ParentContainer.ParentContainer.Kind == "Component")
{
Marker.ComponentID = CyPhyClasses.Component.Cast(kJoint.ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
}
}
}
