public static Vector3 GetObjectPositionInFeeder(string objectType, FeederType feeder)
{
Vector3 position = Vector3.zero;
if (feeder == FeederType.right_feeder)
{
position.x = 1.69f;
}
else
{
position.x = -0.165f;
}
switch (objectType)
{
case FeederObjects.Stretcher:
case FeederObjects.Spojka:
//position.y = (0.7f + (0.7f - 0.18f)) / 2.0f + 0.046f;
//position.y = 0.61f;
position.y = 0.656f;
//position.z = 0.19f + 0.015f;
position.z = 0.205f;
break;
case FeederObjects.ShortLeg:
case FeederObjects.Kratka_noha:
//position.y = ((0.7f - 0.495f) + (0.7f - 0.18f)) / 2.0f + 0.046f;
//position.y = 0.3625f;
position.y = 0.4085f;
//position.z = 0.19f + 0.015f;
position.z = 0.205f;
break;
case FeederObjects.LongLeg:
case FeederObjects.Dlouha_noha:
//position.y = (0.7f + (0.7f - 0.18f)) / 2.0f + 0.046f;
//position.y = 0.61f;
position.y = 0.656f;
//position.z = 0.39f + 0.015f;
position.z = 0.405f;
break;
}
return(position);
}
public static Quaternion GetObjectOrientationInFeeder(string objectType, FeederType feeder)
{
Quaternion orientation = new Quaternion();
if (feeder == FeederType.right_feeder)
{
switch (objectType)
{
case FeederObjects.Stretcher:
case FeederObjects.Spojka:
orientation.x = 0.6f;
orientation.y = 0.395f;
orientation.z = -0.373f;
orientation.w = 0.586f;
break;
case FeederObjects.ShortLeg:
case FeederObjects.Kratka_noha:
orientation.x = 0.5705f;
orientation.y = 0.4311f;
orientation.z = -0.4121f;
orientation.w = 0.5645f;
break;
case FeederObjects.LongLeg:
case FeederObjects.Dlouha_noha:
orientation.x = 0.5831f;
orientation.y = 0.4178f;
orientation.z = -0.3825f;
orientation.w = 0.5822f;
break;
}
}
else
{
switch (objectType)
{
case FeederObjects.Stretcher:
case FeederObjects.Spojka:
orientation.x = -0.4094f;
orientation.y = 0.5576f;
orientation.z = 0.5858f;
orientation.w = 0.4222f;
break;
case FeederObjects.ShortLeg:
case FeederObjects.Kratka_noha:
orientation.x = -0.408f;
orientation.y = 0.5753f;
orientation.z = 0.5737f;
orientation.w = 0.4161f;
break;
case FeederObjects.LongLeg:
case FeederObjects.Dlouha_noha:
orientation.x = -0.387f;
orientation.y = 0.5832f;
orientation.z = 0.6023f;
orientation.w = 0.3834f;
break;
}
}
return(orientation);
}
