public void Create_Hinge(string type, AgX_Frame left, AgX_Frame right, double lowerLimit, double upperLimit)
{
this.type = type;
//Hinge is locked between the two objects.
hinge_Frame.setCenter((left.GetAgxObject().getPosition() + right.GetAgxObject().getPosition()).Divide(2));
if (left.GetRotation().x == 0) //pitch or yaw module
{
hinge_Frame.setAxis(new agx.Vec3(1, 0, 0)); //axis along the x direction
}
else
{
hinge_Frame.setAxis(new agx.Vec3(0, 1, 0)); //axis along the x direction
}
joint = new agx.Hinge(hinge_Frame, left.GetAgxObject(), right.GetAgxObject());
joint.asHinge().getMotor1D().setEnable(true);
joint.asHinge().getRange1D().setEnable(true);
joint.asHinge().getRange1D().setRange(lowerLimit, upperLimit);
}
public void Create_Hinge(string type, AgX_Frame left, AgX_Frame right, double leftLimit, double rightLimit)
{
this.type = type;
//Hinge is locked between the two objects.
hinge_Frame.setCenter((left.GetAgxObject().getPosition() + right.GetAgxObject().getPosition()).Divide(2));
if (left.Get_Rotation().x == 0)
{
hinge_Frame.setAxis(new agx.Vec3(1, 0, 0)); //axis along the x direction
//UnityEngine.Debug.Log("z in agxint: " + left.Get_Rotation().x);
}
else
{
hinge_Frame.setAxis(new agx.Vec3(0, 1, 0)); //axis along the x direction
}
Joint = new agx.Hinge(hinge_Frame, left.GetAgxObject(), right.GetAgxObject());
//Joint.asHinge().getLock1D().setEnable(true);
Joint.asHinge().getMotor1D().setEnable(true);
Joint.asHinge().getRange1D().setEnable(true);
//Might want to have this as a modifyable parameter:
Joint.asHinge().getRange1D().setRange(leftLimit, rightLimit /*-Math.PI / 2, Math.PI / 2*/);
//Joint.asHinge().getMotor1D().setSpeed(0.2f);
}
public void Create_Lock(string type, AgX_Primitive s_mod, AgX_Frame left)
{
//THIS IS NOT THE MIDDLE OF THE LOCK FRAME (frames are longer than sensors)
joint = new agx.LockJoint(s_mod.GetAgxObject(), left.GetAgxObject(), (left.GetAgxObject().getPosition() + s_mod.GetAgxObject().getPosition()).Divide(2));
}
//Sensory module locks:
public void Create_Lock(string type, AgX_Frame right, AgX_Primitive s_mod)
{
//Creates a joint with a specified middle position for the lockframe.
//THIS IS NOT THE MIDDLE OF THE LOCK FRAME (frames are longer than sensors)
joint = new agx.LockJoint(right.GetAgxObject(), s_mod.GetAgxObject(), (right.GetAgxObject().getPosition() + s_mod.GetAgxObject().getPosition()).Divide(2));
}
public void Create_Lock(string type, AgX_Frame left, AgX_Frame right)
{
//connects right frame of left robot (LEFT) to left frame of right robot (RIGHT)
joint = new agx.LockJoint(left.GetAgxObject(), right.GetAgxObject(), (left.GetAgxObject().getPosition() + right.GetAgxObject().getPosition()).Divide(2));
}