realvirtual.RoboDKInterface Class Reference

This is the first version of the RoboDK integration. More...

Inheritance diagram for realvirtual.RoboDKInterface:

Public Member Functions
void	GetTargets ()
Quaternion	GetRotationQuaternion (Mat mat)
Matrix4x4	GetTRSFlipped (Mat rdkmat)
Vector3	GetPosition (Mat rdkmat)
void	GetParams ()
void	InitSignals ()
void	StartProgramm ()
void	StopProgramm ()
void	StartProgramm (string programm)
void	SetSpeed ()
override void	OpenInterface ()
override void	CloseInterface ()
Public Member Functions inherited from realvirtual.InterfaceBaseClass
void	UpdateInterfaceSignals (ref int inputs, ref int outputs)
	Creates a new List of InterfaceSignals based on the Components under this Interface GameObject.
Signal	CreateSignalObject (string name, SIGNALTYPE type, SIGNALDIRECTION direction)
	Create a signal object as sub gameobject.
Signal	AddSignal (InterfaceSignal interfacesignal)
void	RemoveSignal (InterfaceSignal interfacesignal)
virtual GameObject	GetSignal (string name)
	Gets a signal with a name.
void	SetAllSignalStatus (bool connected)
void	DestroyAllSignals ()
void	DeleteSignals ()
void	PostAllScenesLoaded ()
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.
DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.
float	GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()
List< Signal >	GetConnectedSignals ()
void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()
GameObject	GetChildByName (string name)
	Gets a child by name.
List< GameObject >	GetChildsByName (string name)
	Gets all child by name.
GameObject	GetChildByNameAlsoHidden (string name)
List< GameObject >	GetAllMeshesWithGroup (string group)
List< GameObject >	GetAllWithGroup (string group)
List< GameObject >	GetAllWithGroups (List< string > groups)
List< GameObject >	GetAllMeshesWithGroups (List< string > groups)
List< string >	GetMyGroups ()
List< GameObject >	GetMeshesWithSameGroups ()
List< GameObject >	GetAllWithSameGroups ()
MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.
void	SetCollider (bool enabled)
	sets the collider in all child objects
void	ErrorMessage (string message)
	Displays an error message.
void	ChangeConnectionMode (bool isconnected)
void	Log (string message)
	Logs a message.
void	Log (string message, object obj)
	Logs a message with a relation to an object.
void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.
void	Error (string message, object obj)
	Logs an error with a relation to an object.
void	Error (string message)
	Logs an error.
GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.
void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()

Static Public Member Functions
static Vector3	GetAngles (Mat source)
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.

Public Attributes
string	RoboDKApplication
string	RobotDKFile
string	RobotName
string	RobotDKIP
bool	OpenRDKOnStart
float	RDKSimulationSpeed
string	RobotProgramm
bool	RunProgrammOnStart
bool	LoopProgramm
bool	ProgrammIsRunning
bool	StopProgrammOnUnityStop
GameObject	TargetPrefab
GameObject	DebugEndEffector
Vector3	EffectorPos
Vector3	EffectorRot
Vector3	OrigRot
List< Drive >	Axis
List< float >	CurrentAxisPosition
Public Attributes inherited from realvirtual.InterfaceThreadedBaseClass
int	MinUpdateCycle
int	CommCycleMeasures
int	CommCycleNr
int	CommTimeMs
int	CommTimeMin
float	CommTimeMed
int	CommTimeMax
int	CommCycleMeasureNum
int	UpdateCycleMs
string	ThreadStatus
int	MinUpdateCycle2
int	CommCycleNr2
int	CommTimeMs2
int	CommTimeMin2
float	CommTimeMed2
int	CommTimeMax2
int	CommCycleMeasureNum2
int	UpdateCycleMs2
string	ThreadStatus2
bool	NoThreading
bool	TwoThreads
Public Attributes inherited from realvirtual.InterfaceBaseClass
bool	IsConnected
List< InterfaceSignal >	InterfaceSignals
Hashtable	SignalNamesOutputs
Hashtable	SignalNamesInputs
Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.
ActiveOnly	Active
GameObject	FromTemplate
realvirtualController	realvirtualController
bool	HideNonG44Components
bool	SceneIsAdditive
bool	ForceStop

Protected Member Functions
override void	CommunicationThreadUpdate ()
override void	CommunicationThreadClose ()
Protected Member Functions inherited from realvirtual.InterfaceThreadedBaseClass
virtual void	SecondCommunicationThreadUpdate ()
virtual void	SecondCommunicationThreadClose ()
Protected Member Functions inherited from realvirtual.InterfaceBaseClass
void	OnConnected ()
void	OnDisconnected ()
void	OnEnable ()
void	OnDisable ()
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
virtual void	OnStartSim ()
MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)
void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void	AfterAwake ()
void	Awake ()

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }

Detailed Description

This is the first version of the RoboDK integration.

Still in Beta and some interactions from Unity side like showing Targets, following in Editmode... are missing.

Member Function Documentation

CloseInterface()

override void realvirtual.RoboDKInterface.CloseInterface ( )

virtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

CommunicationThreadClose()

override void realvirtual.RoboDKInterface.CommunicationThreadClose ( )

protectedvirtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

CommunicationThreadUpdate()

override void realvirtual.RoboDKInterface.CommunicationThreadUpdate ( )

protectedvirtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

OpenInterface()

override void realvirtual.RoboDKInterface.OpenInterface ( )

virtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.