public void Init()
{
Vector3 position = new Vector3(x, y, z);
//ставим в начало координат на нижнюю грань и устанавливаем размеры
//можно ставить в любое место, всё должно посчитаться
transform.position = new Vector3(position.x, position.y + height / 2, position.z);
transform.localScale = new Vector3(width, height, width);
//следующее звено
HingeJoint hinge = GetComponent <HingeJoint>();
GameObject next = hinge.connectedBody.gameObject;
rotatingplatform nextbehavior = hinge.connectedBody.GetComponent <rotatingplatform>();
//размещаем следующее звено
next.transform.localScale = new Vector3(nextbehavior.diameter, nextbehavior.width, nextbehavior.diameter);
next.transform.position = new Vector3(transform.position.x, transform.position.y + (height + /*mul 2 for cylinder*/ 2 * nextbehavior.width) / 2, transform.position.z);
//якорь шарнира
hinge.anchor = new Vector3(0.0f, 0.5f, 0.0f);
//настраиваем привод шарнира
drive.Attach(gameObject, next);
drive.AngleRange.SetLimits(angle0, angle1);
drive.AngleRange.SetTarget(angle0);
//инициализируем следующие звенья
nextbehavior.Init(position, angle);
//поворачиваем вокруг вертикальной оси
transform.RotateAround(position, Vector3.down, angle);
}
public void Init(Vector3 position, float angle)
{
//следующее звено
HingeJoint hinge = GetComponent <HingeJoint>();
GameObject next = hinge.connectedBody.gameObject;
armhingemanipulator2 nextbehavior = hinge.connectedBody.GetComponent <armhingemanipulator2>();
//размещаем следующее звено
next.transform.localScale = new Vector3(nextbehavior.diameter, nextbehavior.width, nextbehavior.diameter);
next.transform.position = new Vector3(transform.position.x, transform.position.y + (length + nextbehavior.diameter) / 2, transform.position.z);
//якорь шарнира
hinge.anchor = new Vector3(0.0f, 0.5f + nextbehavior.diameter / length / 2, 0.0f);
//настраиваем привод шарнира
drive.Attach(gameObject, next);
drive.AngleRange.SetLimits(-90 + angle0, -90 + angle1);
drive.AngleRange.SetTarget(-90 + angle0);
//инициализируем следующие звенья
nextbehavior.Init(position, angle);
//поворачиваем вокруг вертикальной оси
transform.RotateAround(position, Vector3.down, angle);
}
public void Init(capture1 device)
{
GetComponent <Rigidbody>().mass = device.config.ClampMass / 2;
GetComponent <Rigidbody>().useGravity = device.config.UseGravity;
transform.localScale = new Vector3(device.config.ClampDiameter, device.config.ClampWidth / 2 / CylinderFullHeight, device.config.ClampDiameter);
transform.position = pivotObject.transform.rotation * (Vector3.down * device.config.ClampWidth / 2) + pivotObject.transform.position;
transform.rotation = pivotObject.transform.rotation;
joint.Config(pivotObject, gameObject, device.config.ClampConnectorKinematic, JointPhysics.Hinge);
drive.KinematicAngularVelocity = device.config.ClampConnectorKinematicAngularVelocity;
drive.Proportional = device.config.ClampConnectorACSProportional;
drive.Integral = device.config.ClampConnectorACSIntegral;
drive.Differential = device.config.ClampConnectorACSDifferential;
drive.Attach(joint);
drive.AngleRange.SetLimits(device.config.ClampConnectorAngle0, device.config.ClampConnectorAngle1);
drive.AngleRange.SetTarget(device.config.ClampConnectorAngle0);
}
public void Init(finger1 device)
{
GetComponent <Rigidbody>().mass = device.config.SectionMass / 2;
GetComponent <Rigidbody>().useGravity = device.config.UseGravity;
transform.localScale = new Vector3(device.config.SectionThick, device.config.SectionWidth / CylinderFullHeight, device.config.SectionThick);
transform.position = pivotObject.transform.rotation * (Vector3.down * (isFirst ? device.config.ConnectorHeight : device.config.SectionHeight) / 2) + pivotObject.transform.position;
transform.rotation = pivotObject.transform.rotation * Quaternion.AngleAxis(90, Vector3.right);
joint.Config(pivotObject, gameObject, device.config.Kinematic, JointPhysics.Hinge);
drive.KinematicAngularVelocity = device.config.SectionKinematicAngularVelocity;
drive.Proportional = device.config.SectionACSProportional;
drive.Integral = device.config.SectionACSIntegral;
drive.Differential = device.config.SectionACSDifferential;
drive.Attach(joint);
drive.AngleRange.SetLimits(device.config.SectionAngle0, device.config.SectionAngle1);
drive.AngleRange.SetTarget(device.config.SectionAngle0);
}
