public MechanismCSpace(Mechanisms mechanism, SceneBoxes scene)
{
this.mechanism = mechanism;
this.scene = scene;
double[] dimensionLowLimit = new double[mechanism.Joints.Count];
double[] dimensionHighLimit = new double[mechanism.Joints.Count];
double[] dimensionWeight = new double[mechanism.Joints.Count];
for (int i = 0; i < mechanism.Joints.Count; i++)
{
dimensionLowLimit[i] = -180;
dimensionHighLimit[i] = 180;
dimensionWeight[i] = 1;
}
this.cSpace = new CSpace(mechanism.Joints.Count, dimensionLowLimit, dimensionHighLimit, dimensionWeight, CheckCollision);
}
public SceneView(NArticulatedPlanar robot, SceneBoxes scene, Matrix world)
{
this._scene = scene;
this._robot = robot;
this._world = world;
}
