private List <Joint> create_joints(int N)
{
List <Joint> joints = new List <Joint>();
for (int i = 0; i < N; i++)
{
HingeJoint joint = new HingeJoint();
joint.Name = String.Format("j{0}", i);
joint.Motor__enable = true;
joint.Motor__targetVelocity = 1F;
joint.Motor__maxImpulse = 1024F;
joint.AngularLimit__softness = 0.1F;
joint.AngularLimit__bias = 0.99F;
joint.AngularLimit__relaxation = 0.1F;
joint.Params__bias = 0.99F;
MeshInstance joint_ind = generate_joint_mesh(String.Format("{0}_indicator", joint.Name));
joint.AddChild(joint_ind);
joints.Add(joint);
}
return(joints);
}
private static List <Joint> generate_joints()
{
List <Joint> joints = new List <Joint>();
DEBUG_PRINT("Generating joints...");
for (int i = 0; i < joint_count; i++)
{
HingeJoint joint = new HingeJoint();
joint.Name = String.Format("j{0}", i);
joint.Motor__enable = true;
joint.Motor__targetVelocity = 1F;
joint.Motor__maxImpulse = 1024F;
joint.AngularLimit__bias = 0.99F;
joint.AngularLimit__softness = 0.1F;
joint.AngularLimit__relaxation = 0.1F;
joint.Params__bias = 0.99F;
MeshInstance joint_indicator = generate_joint_mesh(
String.Format("{0}_indicator", joint.Name)
);
joint.AddChild(joint_indicator);
joints.Add(joint);
}
DEBUG_PRINT("Finished joint generation.");
return(joints);
}
private void Generate2DoFArmHelper()
{
GD.Print("Creating arm with code...");
StaticBody base_node = generate_static("Arm");
MeshInstance base_mesh_node = new MeshInstance();
base_mesh_node.Name = "base_mesh";
CubeMesh base_mesh = new CubeMesh();
Vector3 base_sizes = new Vector3(.7F, .2F, .7F);
base_mesh.Size = base_sizes;
base_mesh_node.Mesh = base_mesh;
HingeJoint j0 = new HingeJoint();
j0.Name = "j0";
j0.AngularLimit__enable = false;
j0.Motor__enable = true;
j0.Motor__targetVelocity = 1F;
j0.Motor__maxImpulse = 300F;
j0.AngularLimit__bias = .99F;
j0.AngularLimit__softness = 0.01F;
j0.AddChild(generate_joint_mesh(j0.Name));
RigidBody l0 = new RigidBody();
l0.Name = "l0";
l0.Mass = 2.0f;
l0.Weight = (l0.Mass * 9.8F);
l0.PhysicsMaterialOverride = new PhysicsMaterial();
l0.ContinuousCd = true;
l0.CanSleep = false;
MeshInstance l0_mesh_node = new MeshInstance();
l0_mesh_node.Name = "l0_mesh";
CubeMesh l0_mesh = new CubeMesh();
Vector3 l0_size = new Vector3(.2F, .8F, .1F);
l0_mesh.Size = l0_size;
l0_mesh_node.Mesh = l0_mesh;
base_node.AddChild(j0);
base_node.AddChild(base_mesh_node);
RootView.GetNode("main/env").AddChild(base_node);
// Translate links/joints
Transform j0_og = j0.Transform;
j0_og = j0_og.Translated(new Vector3(0F, .1F, 0F));
// j0_og = j0_og.Rotated(new Vector3(1F, 0F, 0F), Mathf.Pi / 2F);
j0.Transform = j0_og;
j0.AddChild(l0);
l0.AddChild(l0_mesh_node);
j0.Nodes__nodeA = base_node.GetPath();
j0.Nodes__nodeB = l0.GetPath();
Transform l0_og = l0.Transform;
l0.Transform = l0_og.Translated(new Vector3(0F, .4F, 0F));
}
