AnyCAD.Simulate.RobotArm类 参考

RobotArm 更多...

类 AnyCAD.Simulate.RobotArm 继承关系图:

Public 成员函数
	RobotArm (global::System.IntPtr cPtr, bool cMemoryOwn)
	仅供内部使用
float	GetAxisSize ()
void	SetAxisSize (float val)
EnumDHComputeMethod	GetMethod ()
void	SetMethod (EnumDHComputeMethod val)
uint	AddJoint (EnumRobotJointType jointType, Matrix4d frame)
	增加轴
uint	AddJoint (EnumRobotJointType jointType, Matrix4d frame, double maxV, double minV, double velocity)
uint	AddJoint (RobotJoint joint)
RobotJoint	GetJoint (uint idx)
	Get RobotJoint by index
uint	GetJointCount ()
	Get the joint count.
uint	AddLink (uint jointIdx, SceneNode bone, string name)
	Add link to bind the joint.
uint	AddLink (uint jointIdx, SceneNode bone)
	Add link to bind the joint.
RobotLink	GetLink (uint idx)
uint	GetLinkCount ()
bool	UpdateLink (uint linkIdx, SceneNode bone)
	Update the link.
void	Apply ()
	若对关节或Link做了修改，则调用以应用更改.
bool	SetValue (uint idx, double value)
	Update the value of the joint.
double	GetValue (uint idx)
void	ResetValues ()
	Set the values to zero.
void	UpdateFrames ()
	Compute the transform.
Matrix4d	GetFinalFrame ()
	获取末端的矩阵
void	ShowLinks (bool bShow)
	Show the links.
void	ShowJoints (bool bShow)
	Show the axis.
Uint32List	SelfCollisionTest ()
	Self collision testing
RobotArm	CloneRobotArm ()
override SceneNode	Clone ()
Public 成员函数 继承自 AnyCAD.Foundation.GroupSceneNode
	GroupSceneNode (global::System.IntPtr cPtr, bool cMemoryOwn)
	仅供内部使用
SceneNodeIterator	CreateIterator ()
void	AddNode (SceneNode node)
bool	RemoveNode (ulong nodeId)
SceneNode	FindNode (ulong nodeId)
void	Clear ()
SceneNode	FindNodeByUserId (ulong userId)
uint	GetCount ()
override void	UpdateTransform (Matrix4d parent)
	Update the local transform.
Public 成员函数 继承自 AnyCAD.Foundation.SceneNode
	SceneNode (global::System.IntPtr cPtr, bool cMemoryOwn)
	仅供内部使用
string	GetName ()
void	SetName (string val)
ulong	GetUserId ()
void	SetUserId (ulong val)
ulong	GetParentId ()
void	SetParentId (ulong val)
Matrix4d	GetTransform ()
AABox	GetBoundingBox ()
void	SetBoundingBox (AABox val)
Matrix4d	GetWorldTransform ()
AABox	GetWorldBBox ()
uint	GetState ()
SceneNode	GetParent ()
void	SetParent (SceneNode val)
float	GetPickOrder ()
void	SetPickOrder (float val)
uint	GetUpdateVersion ()
void	SetUpdateVersion (uint val)
MaterialInstance	GetOverrideFaceMaterial ()
void	SetOverrideFaceMaterial (MaterialInstance val)
MaterialInstance	GetOverrideEdgeMaterial ()
void	SetOverrideEdgeMaterial (MaterialInstance val)
bool	GetCastShadow ()
	是否投射阴影
void	SetCastShadow (bool bEnabled)
	设置投射阴影
bool	GetPickable ()
	是否可被选
void	SetPickable (bool bEnabled)
	设置是否可选
bool	GetPickByBox ()
	是否用包围盒选择，粗选（InfiniteSize对象始终用包围盒选择）
void	SetPickByBox (bool bEnabled)
	设置是否选择包围盒就算选中，不精确选择
bool	GetCulling ()
	是否参与场景剔除
void	SetCulling (bool bEnabled)
	设置是否可被剔除
bool	GetVisible ()
	是否可见
void	SetVisible (bool bEnabled)
	设置可见性
bool	GetChildrenPickable ()
	子节点是否可选
void	SetChildrenPickable (bool bEnabled)
	设置子节点是否可选
bool	GetContainer ()
	是否为根节点容器
void	SetContainer (bool bEnabled)
	设置是否为根节点容器
bool	GetFixedSize ()
	是否屏幕固定大小，不随相机缩放而缩放
void	SetFixedSize (bool bEnabled)
	设置相对屏幕显示固定大小
void	SetFixedSizeByShader (bool bEnabled)
	设置相对屏幕显示固定大小
bool	GetFixedSizeByShader ()
	是否屏幕固定大小，不随相机缩放而缩放
bool	GetInfiniteSize ()
	设置是否为无限大，无限大则不影响场景包围盒大小。
void	SetInfiniteSize (bool bEnabled)
	设置是否为无限大
bool	GetPhysics ()
	是否参与物理引擎计算。默认为否
void	SetPhysics (bool bEnabled)
	设置是否参与物理计算。
void	SetTransform (Matrix4d trf)
	设置变换矩阵。覆盖之前的矩阵
SceneNode	GetRootNode ()
void	RequestUpdate ()
	请求更新
void	AddTransform (Matrix4d trf)
	multiply the transform to the existing one
void	SetWorldTransform (Matrix4d world)
virtual AABox	ComputeBoundingBox (Matrix4d parent)
bool	IsVisiblePath ()
Public 成员函数 继承自 AnyCAD.Foundation.GfxObject
	GfxObject (global::System.IntPtr cPtr, bool cMemoryOwn)
	仅供内部使用
void	Dispose ()
uint	GetUuid ()

静态 Public 成员函数
static new RobotArm	Cast (GfxObject obj)
静态 Public 成员函数 继承自 AnyCAD.Foundation.GroupSceneNode
static new GroupSceneNode	Cast (GfxObject obj)
静态 Public 成员函数 继承自 AnyCAD.Foundation.SceneNode
static SceneNode	Cast (GfxObject obj)

详细描述

RobotArm

Group: Simulate

成员函数说明

AddJoint()

uint AnyCAD.Simulate.RobotArm.AddJoint	(	EnumRobotJointType	jointType,
		Matrix4d	frame )

增加轴

参数

jointType

the joint type.

返回

the joint index

AddLink() [1/2]

uint AnyCAD.Simulate.RobotArm.AddLink	(	uint	jointIdx,
		SceneNode	bone )

Add link to bind the joint.

参数

jointIdx	the index of the joint to bind.
bone	the visual node of the link.

返回

the link index.

AddLink() [2/2]

uint AnyCAD.Simulate.RobotArm.AddLink	(	uint	jointIdx,
		SceneNode	bone,
		string	name )

Add link to bind the joint.

参数

jointIdx	the index of the joint to bind.
bone	the visual node of the link.

返回

the link index.

Clone()

override SceneNode AnyCAD.Simulate.RobotArm.Clone ( )

virtual

重载 AnyCAD.Foundation.GroupSceneNode .

GetFinalFrame()

Matrix4d AnyCAD.Simulate.RobotArm.GetFinalFrame

(

)

获取末端的矩阵

返回

矩阵

GetJoint()

RobotJoint AnyCAD.Simulate.RobotArm.GetJoint

(

uint

idx

)

Get RobotJoint by index

参数

idx

the index

返回

the robot joint.

GetJointCount()

uint AnyCAD.Simulate.RobotArm.GetJointCount

(

)

Get the joint count.

返回

the count.

SelfCollisionTest()

Uint32List AnyCAD.Simulate.RobotArm.SelfCollisionTest

(

)

Self collision testing

返回

the link id pair.

ShowJoints()

void AnyCAD.Simulate.RobotArm.ShowJoints

(

bool

bShow

)

Show the axis.

参数

bShow

true to show

ShowLinks()

void AnyCAD.Simulate.RobotArm.ShowLinks

(

bool

bShow

)

Show the links.

参数

bShow

true to show.

UpdateLink()

bool AnyCAD.Simulate.RobotArm.UpdateLink	(	uint	linkIdx,
		SceneNode	bone )

Update the link.

参数

bone	the new visual node.

返回

true if successful.