private void Start()
{
joint = GetComponent <Joint>();
jointStateWriter = GetComponent <JointStateWriter>();
jointUrdfDataManager = GetComponent <JointUrdfDataManager>();
SetLimit();
}
private void Start()
{
jointUrdfDataManager = GetComponent <JointUrdfDataManager>();
if (jointUrdfDataManager.IsRevoluteOrContinuous)
{
joint = new RevoluteJoint(GetComponent <HingeJoint>());
}
else if (jointUrdfDataManager.IsPrismatic)
{
joint = new PrismaticJoint(GetComponent <ConfigurableJoint>());
}
}
public static HingeJoint CreateHingeJoint(this Joint joint, GameObject gameObject, Rigidbody parentRigidbody)
{
HingeJoint hingeJoint = gameObject.AddComponent <HingeJoint>();
hingeJoint.connectedBody = parentRigidbody;
// axis:
hingeJoint.axis = (joint.axis != null) ? joint.axis.GetAxis() : joint.axis.GetDefaultAxis();
// origin:
hingeJoint.autoConfigureConnectedAnchor = false;
hingeJoint.connectedAnchor = joint.GetConnectedAnchor();
// spring, damper & position:
if (joint.dynamics != null)
{
hingeJoint.spring = joint.dynamics.GetJointSpring();
}
// limits:
if (joint.type == "revolute" && joint.limit != null)
{
hingeJoint.limits = joint.limit.GetJointLimits();
// large joint limits:
if (hingeJoint.limits.min < -180 || hingeJoint.limits.max > 180)
{
JointLimitsManager jointLimitsManager = gameObject.AddComponent <JointLimitsManager>();
jointLimitsManager.LargeAngleLimitMin = hingeJoint.limits.min;
jointLimitsManager.LargeAngleLimitMax = hingeJoint.limits.max;
JointLimits jointLimits = hingeJoint.limits;
jointLimits.min = -180;
jointLimits.max = +180;
hingeJoint.limits = jointLimits;
}
else
{
hingeJoint.useLimits = true;
}
}
// data:
JointUrdfDataManager.AddComponent(gameObject, joint.name, joint.type);
return(hingeJoint);
}
public static ConfigurableJoint CreatePrismaticJoint(this Joint joint, GameObject gameObject, Rigidbody parentRigidbody)
{
ConfigurableJoint prismaticJoint = gameObject.AddComponent <ConfigurableJoint>();
prismaticJoint.connectedBody = parentRigidbody;
prismaticJoint.axis = (joint.axis != null) ? joint.axis.GetAxis() : joint.axis.GetDefaultAxis();
// degrees of freedom:
prismaticJoint.xMotion = ConfigurableJointMotion.Limited;
prismaticJoint.yMotion = ConfigurableJointMotion.Locked;
prismaticJoint.zMotion = ConfigurableJointMotion.Locked;
prismaticJoint.angularXMotion = ConfigurableJointMotion.Locked;
prismaticJoint.angularYMotion = ConfigurableJointMotion.Locked;
prismaticJoint.angularZMotion = ConfigurableJointMotion.Locked;
// origin:
prismaticJoint.autoConfigureConnectedAnchor = false;
prismaticJoint.connectedAnchor = joint.GetConnectedAnchor();
// spring, damper & max. force:
if (joint.dynamics != null)
{
prismaticJoint.xDrive = joint.dynamics.GetJointDrive();
}
// limits:
if (joint.limit != null)
{
prismaticJoint.lowAngularXLimit = joint.limit.GetLowSoftJointLimit();
prismaticJoint.highAngularXLimit = joint.limit.GetHighSoftJointLimit();
// set linear limit
prismaticJoint.linearLimit = joint.limit.GetLinearLimit();
}
// data:
JointUrdfDataManager.AddComponent(gameObject, joint.name, joint.type);
return(prismaticJoint);
}
private void Start()
{
joint = GetComponent <UnityEngine.Joint>();
jointUrdfDataManager = GetComponent <JointUrdfDataManager>();
}
