// Use this for initialization
void Start()
{
string[] args = System.Environment.GetCommandLineArgs();
double[] inLinkLen = new double[3] {
2, 2, 2
};
for (int i = 0; i < args.Length; i++)
{
if (args[i] == "-link1")
{
try
{
inLinkLen[0] = System.Double.Parse(args[i + 1]);
}
catch {
Debug.LogError("Start Parameter Error");
}
}
if (args[i] == "-link2")
{
try
{
inLinkLen[1] = System.Double.Parse(args[i + 1]);
}
catch
{
Debug.LogError("Start Parameter Error");
inLinkLen[1] = 2;
}
}
if (args[i] == "-link3")
{
try
{
inLinkLen[2] = System.Double.Parse(args[i + 1]);
}
catch
{
Debug.LogError("Start Parameter Error");
inLinkLen[2] = 2;
}
}
}
joints = Robots3DOF.GetArticulated(inLinkLen[0], inLinkLen[1], inLinkLen[2]);
}
void OnBtnMoveClick(int dir)
{
Vector3F pos = new Vector3F(endpoint.transform.position.x, endpoint.transform.position.z, endpoint.transform.position.y);
Vector3F posnew = pos;
switch (dir)
{
case 0:
posnew = pos + new Vector3F(-speed, 0, 0);
break;
case 1:
posnew = pos + new Vector3F(speed, 0, 0);
break;
case 2:
posnew = pos + new Vector3F(0, 0, speed);
break;
case 3:
posnew = pos + new Vector3F(0, 0, -speed);
break;
case 4:
posnew = pos + new Vector3F(0, speed, 0);
break;
case 5:
posnew = pos + new Vector3F(0, -speed, 0);
break;
}
tf3d = Robots3DOF.ArticulatedInverse(ref joints, posnew);
changed = true;
}
// Use this for initialization
void Start()
{
string[] args = System.Environment.GetCommandLineArgs();
double[] inLinkLen = new double[3] {
2, 2, 2
};
for (int i = 0; i < args.Length; i++)
{
if (args[i] == "-link1")
{
try
{
inLinkLen[0] = System.Double.Parse(args[i + 1]);
}
catch
{
Debug.LogError("Start Parameter Error");
}
}
if (args[i] == "-link2")
{
try
{
inLinkLen[1] = System.Double.Parse(args[i + 1]);
}
catch
{
Debug.LogError("Start Parameter Error");
inLinkLen[1] = 2;
}
}
if (args[i] == "-link3")
{
try
{
inLinkLen[2] = System.Double.Parse(args[i + 1]);
}
catch
{
Debug.LogError("Start Parameter Error");
inLinkLen[2] = 2;
}
}
if (args[i] == "-speed")
{
try
{
speed = (float)System.Double.Parse(args[i + 1]);
}
catch
{
Debug.LogError("Start Parameter Error");
speed = 0.1f;
}
}
}
joints = Robots3DOF.GetArticulated(inLinkLen[0], inLinkLen[1], inLinkLen[2]);
btnL.onClick.AddListener(delegate { OnBtnMoveClick(0); });
btnR.onClick.AddListener(delegate { OnBtnMoveClick(1); });
btnU.onClick.AddListener(delegate { OnBtnMoveClick(2); });
btnD.onClick.AddListener(delegate { OnBtnMoveClick(3); });
btnI.onClick.AddListener(delegate { OnBtnMoveClick(4); });
btnO.onClick.AddListener(delegate { OnBtnMoveClick(5); });
}
