public void UpdateOutput()
{
// Only update the output if we've set our kinematic model
if (model == null)
{
return;
}
Point3D point = new Point3D();
point.X = InvertX ? -x : x;
point.Y = InvertY ? -y : y;
point.Z = InvertZ ? -z : z;
double[] angles = model.GetJointAngles(point);
for (int i = 0; i < angles.Length; i++)
{
if (ArmSide == 1 && i == 3)
{
Outputs[model.OutputNames[i]].Value = -angles[i];
}
else
{
Outputs[model.OutputNames[i]].Value = angles[i];
}
}
byte r = map(Math.Pow(angles[angles.Length - 3], 2) + Math.Pow(angles[angles.Length - 2], 2) + Math.Pow(angles[angles.Length - 1], 2), 0, 48, 50, 255);
HapticColor = new SolidColorBrush(Color.FromRgb(r, 50, 50));
}
public void UpdateOutput()
{
// Only update the output if we've set our kinematic model
if (model == null)
{
return;
}
Point3D point = new Point3D();
point.X = InvertX ? -x : x;
point.Y = InvertY ? -y : y;
point.Z = InvertZ ? -z : z;
double[] angles = model.GetJointAngles(point);
for (int i = 0; i < angles.Length; i++)
{
Outputs[model.OutputNames[i]].Value = angles[i];
}
}
public void UpdateOutput()
{
// Only update the output if we've set our kinematic model
if (model == null)
{
return;
}
Point3D point = new Point3D();
point.X = InvertX ? -ix : ix;
point.Y = InvertY ? -iy : iy;
point.Z = InvertZ ? -iz : iz;
Point3D orient = new Point3D();
orient.X = iroll;
orient.Y = ipitch;
orient.Z = iyaw;
double[] angles = model.GetJointAngles(point, orient);
for (int i = 0; i < angles.Length; i++)
{
Outputs[model.OutputNames[i]].Value = angles[i];
}
}
public void UpdateOutput()
{
// Only update the output if we've set our kinematic model
if (model == null)
{
return;
}
Point3D pointL = new Point3D();
pointL.X = InvertXL ? -xL : xL;
pointL.Y = InvertYL ? -yL : yL;
pointL.Z = InvertZL ? -zL : zL;
Point3D pointR = new Point3D();
pointR.X = InvertXR ? -xR : xR;
pointR.Y = InvertYR ? -yR : yR;
pointR.Z = InvertZR ? -zR : zR;
double[] angles = model.GetJointAngles(pointL, pointR);
for (int i = 0; i < angles.Length; i++)
{
Outputs[model.OutputNames[i]].Value = angles[i];
}
}