protected void StopArcMovement(int index)
{
AJointActive ith_joint = (AJointActive)Joints[index];
jI[index].ArcActivity = (int)Math.Sign(-jI[index].ArcVelocity);
jI[index].IsClenching = true;
ith_joint.BecomeOfConstArcAcceleration(-jI[index].ArcVelocity);
ImpactCore();
ith_joint.BecomeNoOfConstArcAcceleration();
jI[index].IsClenching = false;
jI[index].ArcActivity = 0;
}
public void SetArcAcceleration(int jointIndex, double arcAcc)
{
AJointActive joint = (AJointActive)joints[jointIndex];
joint.BecomeOfConstArcAcceleration(arcAcc);
}
