protected override Wrist AddWristController(device_type_t deviceType)
{
Wrist wrist = base.AddWristController(deviceType);
PhysicsWrist physicsWrist = wrist as PhysicsWrist;
physicsWrist.PhysicsWristSettings = PhysicsWristSettings;
return(wrist);
}
public MockRobot()
{
Head = new Head(Align.Normal, 0);
LeftElbow = new Elbow(180);
RightElbow = new Elbow(180);
LeftWrist = new Wrist(0);
RightWrist = new Wrist(0);
}
public static IObserverBodyPart CreateWrist()
{
var wristStateMachine = CreateWristStateList();
var wristUpdateStrategy = CreateArmUpdateStrategy();
var wrist = new Wrist(wristUpdateStrategy)
{
Id = GenerateGuidId()
};
wrist.SetStates(wristStateMachine);
return(wrist);
}
public override int AmountOfCollidingObjects()
{
var count = 0;
foreach (var finger in FingerControllers.Values)
{
count += finger.AmountOfCollidingObjects();
}
if (Wrist != null)
{
count += Wrist.AmountOfCollidingObjects();
}
if (Grabber.GrabbedItem && Grabber.GrabbedItem.AmountOfCollidingObjects() > 0)
{
count += Grabber.GrabbedItem.AmountOfCollidingObjects();
}
return(count);
}
public Arm()
{
Elbow = new Elbow(this);
Wrist = new Wrist(this);
}
// Use this for initialization
public override void Start()
{
_wristTarget = Target.Wrist;
base.Start();
}
public MockRobot WithRightWristLimitedToLeftDirection()
{
RightWrist = new Wrist(180);
return(this);
}
public MockRobot WithLeftWristLimitedToRightDirection()
{
LeftWrist = new Wrist(-90);
return(this);
}
