Axis defines the kinematic and physical movement axis for drives and kinematic systems. More...
Public Types | |
| enum | AxisPositionTypes { None , Pivot , BoundingBoxCenter , RadiusCenter } |
Public Member Functions | |
| void | SignalSubDriveAxis (Axis subAxis, bool added) |
| Signals this axis when a sub-drive axis is added or removed from the hierarchy. | |
| void | removeSecondaryAxis (GameObject obj) |
| Removes a secondary axis from this axis's list of secondary axes. | |
| void | DisplayGroupMeshes (Color color, bool forcecolor=false) |
| Displays wireframe meshes for all objects in the same kinematic group with the specified color. | |
| void | AlignToReference () |
| Aligns this axis to the position and rotation of the AxisReferenceGameObject. | |
| void | AxisDelete () |
| Deletes this axis and all connected secondary axes from the hierarchy. | |
| void | OnDestroy () |
| void | Break (bool breaking) |
| Enables or disables the breaking (locking) of this axis movement. | |
| Vector3 | DirectionToVector (DIRECTION direction) |
| Converts a DIRECTION enum value to its corresponding Vector3 direction. | |
Static Public Member Functions | |
| static bool | DirectionIsLinear (DIRECTION direction) |
| Determines if the given direction represents linear movement (returns true) or rotational movement (returns false). | |
Public Attributes | |
| GameObject | AxisReferenceGameObject |
| Reference game object that defines the axis position and orientation. | |
| bool | Balljoint |
| Indicates if this is a ball joint axis allowing rotation in all directions. | |
| bool | IsSecondaryAxis |
| Indicates if this axis is a secondary axis in a kinematic chain. | |
| AxisPositionTypes | PositionMode |
| Defines how the axis position is calculated (Pivot, BoundingBoxCenter, or RadiusCenter) | |
| DIRECTION | Direction |
| The movement direction of this axis (LinearX/Y/Z or RotationX/Y/Z) | |
| Vector3 | RotationOffset |
| Rotation offset applied to the axis in degrees. | |
| bool | DrawGizmos |
| Enables or disables the visual gizmos for this axis in the Scene view. | |
| float | GizmoDistance |
| Distance in meters for displaying the axis gizmo. | |
| Vector3 | axisReferencePosition |
| The reference position of the axis in world coordinates. | |
| bool | UseLimits |
| Enables position or rotation limits for this axis. | |
| float | LowerLimit |
| Lower limit position in millimeters for linear axes or degrees for rotational axes. | |
| float | UpperLimit |
| Upper limit position in millimeters for linear axes or degrees for rotational axes. | |
| float | LimitEndPosWindow |
| Window in millimeters or degrees for detecting when the axis reaches its limits. | |
| bool | OnLowerLimit |
| Indicates if the axis is currently at its lower limit. | |
| bool | OnUppperLimit |
| Indicates if the axis is currently at its upper limit. | |
| Vector3 | AnchorPos |
| The anchor position for the physical joint in world coordinates. | |
| Vector3 | LocalAnchorPos |
| The anchor position for the physical joint in local coordinates. | |
| Vector3 | ConnectedLocalAnchorPos |
| The connected anchor position in local coordinates of the connected body. | |
| float | AxisGizmoSize |
| Size multiplier for the axis gizmo visualization. | |
| GameObject | ConnectedAxis |
| The connected axis GameObject in the kinematic chain. | |
| float | Position |
| Current position in millimeters for linear axes or degrees for rotational axes. | |
| string | icon |
| Color | MeshColor |
| Color | AxisColor |
| bool | activeInKinTool |
| List< GameObject > | secondaryAxis |
| List of secondary axes connected to this axis. | |
| Axis | parentAxis |
| List< Axis > | SubDriveAxises |
| List of sub-drive axes controlled by this axis. | |
Detailed Description
Axis defines the kinematic and physical movement axis for drives and kinematic systems.
It specifies the movement direction, limits, and physical joint properties for both linear and rotational movements. Axes can be hierarchically connected to create complex kinematic chains for robotic systems.
Member Function Documentation
◆ AlignToReference()
| void realvirtual.Axis.AlignToReference | ( | ) |
Aligns this axis to the position and rotation of the AxisReferenceGameObject.
◆ AxisDelete()
| void realvirtual.Axis.AxisDelete | ( | ) |
Deletes this axis and all connected secondary axes from the hierarchy.
◆ Break()
| void realvirtual.Axis.Break | ( | bool | breaking | ) |
Enables or disables the breaking (locking) of this axis movement.
◆ DirectionIsLinear()
|
static |
Determines if the given direction represents linear movement (returns true) or rotational movement (returns false).
◆ DirectionToVector()
| Vector3 realvirtual.Axis.DirectionToVector | ( | DIRECTION | direction | ) |
Converts a DIRECTION enum value to its corresponding Vector3 direction.
◆ DisplayGroupMeshes()
| void realvirtual.Axis.DisplayGroupMeshes | ( | Color | color, |
| bool | forcecolor = false |
||
| ) |
Displays wireframe meshes for all objects in the same kinematic group with the specified color.
◆ removeSecondaryAxis()
| void realvirtual.Axis.removeSecondaryAxis | ( | GameObject | obj | ) |
Removes a secondary axis from this axis's list of secondary axes.
◆ SignalSubDriveAxis()
| void realvirtual.Axis.SignalSubDriveAxis | ( | Axis | subAxis, |
| bool | added | ||
| ) |
Signals this axis when a sub-drive axis is added or removed from the hierarchy.
Member Data Documentation
◆ AnchorPos
| Vector3 realvirtual.Axis.AnchorPos |
The anchor position for the physical joint in world coordinates.
◆ AxisGizmoSize
| float realvirtual.Axis.AxisGizmoSize |
Size multiplier for the axis gizmo visualization.
◆ AxisReferenceGameObject
| GameObject realvirtual.Axis.AxisReferenceGameObject |
Reference game object that defines the axis position and orientation.
◆ axisReferencePosition
| Vector3 realvirtual.Axis.axisReferencePosition |
The reference position of the axis in world coordinates.
◆ Balljoint
| bool realvirtual.Axis.Balljoint |
Indicates if this is a ball joint axis allowing rotation in all directions.
◆ ConnectedAxis
| GameObject realvirtual.Axis.ConnectedAxis |
The connected axis GameObject in the kinematic chain.
◆ ConnectedLocalAnchorPos
| Vector3 realvirtual.Axis.ConnectedLocalAnchorPos |
The connected anchor position in local coordinates of the connected body.
◆ Direction
| DIRECTION realvirtual.Axis.Direction |
The movement direction of this axis (LinearX/Y/Z or RotationX/Y/Z)
◆ DrawGizmos
| bool realvirtual.Axis.DrawGizmos |
Enables or disables the visual gizmos for this axis in the Scene view.
◆ GizmoDistance
| float realvirtual.Axis.GizmoDistance |
Distance in meters for displaying the axis gizmo.
◆ IsSecondaryAxis
| bool realvirtual.Axis.IsSecondaryAxis |
Indicates if this axis is a secondary axis in a kinematic chain.
◆ LimitEndPosWindow
| float realvirtual.Axis.LimitEndPosWindow |
Window in millimeters or degrees for detecting when the axis reaches its limits.
◆ LocalAnchorPos
| Vector3 realvirtual.Axis.LocalAnchorPos |
The anchor position for the physical joint in local coordinates.
◆ LowerLimit
| float realvirtual.Axis.LowerLimit |
Lower limit position in millimeters for linear axes or degrees for rotational axes.
◆ OnLowerLimit
| bool realvirtual.Axis.OnLowerLimit |
Indicates if the axis is currently at its lower limit.
◆ OnUppperLimit
| bool realvirtual.Axis.OnUppperLimit |
Indicates if the axis is currently at its upper limit.
◆ Position
| float realvirtual.Axis.Position |
Current position in millimeters for linear axes or degrees for rotational axes.
◆ PositionMode
| AxisPositionTypes realvirtual.Axis.PositionMode |
Defines how the axis position is calculated (Pivot, BoundingBoxCenter, or RadiusCenter)
◆ RotationOffset
| Vector3 realvirtual.Axis.RotationOffset |
Rotation offset applied to the axis in degrees.
◆ secondaryAxis
| List<GameObject> realvirtual.Axis.secondaryAxis |
List of secondary axes connected to this axis.
◆ SubDriveAxises
| List<Axis> realvirtual.Axis.SubDriveAxises |
List of sub-drive axes controlled by this axis.
◆ UpperLimit
| float realvirtual.Axis.UpperLimit |
Upper limit position in millimeters for linear axes or degrees for rotational axes.
◆ UseLimits
| bool realvirtual.Axis.UseLimits |
Enables position or rotation limits for this axis.