public CustomRigidJoint(RigidBodyJoint joint, CustomRigidGroup groupOnez, CustomRigidGroup groupTwoz)
{
foreach (AssemblyJoint aj in joint.Joints)
{
joints.Add(aj);
}
foreach (AssemblyConstraint cj in joint.Constraints)
{
constraints.Add(cj);
}
groupOne = groupOnez;
groupTwo = groupTwoz;
type = joint.JointType;
joint.GetJointData(out geomOne, out geomTwo, out options);
try
{
jointBased = options.get_Value("FromJoint");
}
catch
{
jointBased = false;
}
}
private byte[] ProcessRotationalJoint(RigidBodyJoint linearJoint, JointData jointDataObject)
{
try {
ArrayList rotationalJointBytes = new ArrayList();
//Adds ID to signify that it's a rotational joint
ushort ID = 0;
byte[] rotationalJointID = BitConverter.GetBytes(ID);
rotationalJointBytes.Add(rotationalJointID);
foreach (AssemblyJoint joint in linearJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
rotationalJointBytes.Add(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
rotationalJointBytes.Add(childIDBytes);
//Adds the vector parallel to the movement onto the array of bytes
object GeometryOne, GeometryTwo;
NameValueMap nameMap;
linearJoint.GetJointData(out GeometryOne, out GeometryTwo, out nameMap);
Circle vectorCircle = (Circle)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes(vectorCircle.Center.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes(vectorCircle.Center.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes(vectorCircle.Center.Z).CopyTo(vectorJointData, 8);
rotationalJointBytes.Add(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes(jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes(jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes(jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
rotationalJointBytes.Add(transJointData);
//Adds the degrees of freedom
byte[] freedomData = new byte[8];
ModelParameter positionData = (ModelParameter)jointData.AngularPosition;
double relataivePosition = positionData._Value;
positionData = (ModelParameter)jointData.AngularPositionEndLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 0);
positionData = (ModelParameter)jointData.AngularPositionStartLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 4);
rotationalJointBytes.Add(freedomData);
rotationalJointBytes.Add(processJointAttributes(jointDataObject));
}
object[] tempArray = rotationalJointBytes.ToArray();
byte[] returnedArray = new byte[tempArray.Length];
tempArray.CopyTo(returnedArray, 0);
return(returnedArray);
}
catch (Exception e) {
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}