public override void SetJointValue(HomogenousTransformation transformation, HomogenousTransformation nextTransformation, Link link, double q) { Vector p = nextTransformation.GetPosition(); RootObject.transform.localPosition = p.ToVector3(); RotationMatrix R = nextTransformation.GetRotation(); RootObject.transform.localRotation = R.ToUnityMatrix().rotation; }
public override void SetJointValue(HomogenousTransformation transformation, HomogenousTransformation nextTransformation, Link link, double q) { RootObject.transform.localPosition = transformation.GetPosition().ToVector3(); RootObject.transform.localRotation = transformation.GetRotation().ToUnityMatrix().rotation; LinearJoint.transform.localPosition = (link.offset + link.linearMotionDirection * q).ToVector3() / RootObject.transform.localScale.x; }