public void ConnectForceSensor(ForceSensor fs)//Pre-initialize
{
forceSensor = fs;
forceSensorLock = new Joint();
switch (fs.sensorPosition)
{
case 0:
{
fs.position = position; fs.position.y = position.y - size.y - fs.size.y / 2 - 0.001; //bot position
forceLockPosition = fs.position; forceLockPosition.y = fs.position.y + fs.size.y / 2 + 0.0005; //position of the point where they are locked together.
break; //
}
case 1:
{
fs.position = position; fs.position.x = position.x - size.x - fs.size.x / 2 - 0.001; //left position
forceLockPosition = fs.position; forceLockPosition.x = fs.position.x + fs.size.x / 2 + 0.0005; //position of the point where they are locked together.
break;
}
case 2:
{
fs.position = position; fs.position.y = position.y + size.y + fs.size.y / 2 + 0.001; //top position
forceLockPosition = fs.position; forceLockPosition.y = fs.position.y - fs.size.y / 2 - 0.0005; //position of the point where they are locked together.
break;
}
case 3:
{
fs.position = position; fs.position.x = position.x + size.x + fs.size.x / 2 + 0.001; //right position
forceLockPosition = fs.position; forceLockPosition.x = fs.position.x - fs.size.x / 2 - 0.0005; //position of the point where they are locked together.
break;
}
}
}
/*-------------------------------------------------Force Sensors:-------------------------------------------------*/
public void Create_ForceSensorLock(SensorModule sm, ForceSensor fs, Vector3 lockPosition)
{
agxJoint = new AgX_Joint(guid);
agxJoint.ForceSensorLock(sm.agxPrimitive, fs.agxSensor, lockPosition);
agxJoint.AddtoAssembly();
}