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realvirtual.RobotIK Class Reference

Robot Inverse Kinematics - the main IK component attached to the robot and calculating the inverse kinematics.

Inheritance diagram for realvirtual.RobotIK:

Public Member Functions

Vector3 GetTCPPosGlobal ()
Quaternion GetTCPRotGlobal ()
void TargetMoveEditMode (bool active)
void MoveEditMode ()
void ToHomePos ()
void SetTCP (GameObject tcp)
void SetTargetProperties (IKTarget target)
void SolveIK (IKTarget target)
bool PositionRobotGlobal (Vector3 globalpos, Quaternion globalrot, int Solution, bool TurnCorrection)
- Public Member Functions inherited from realvirtual.realvirtualBehavior
void SetForceStop (bool forcestop)
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< BehaviorInterfaceConnectionUpdateConnectionInfo ()
List< SignalGetConnectedSignals ()
void SetVisibility (bool visibility)
 Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnectionGetConnections ()
List< SignalGetSignals ()
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.
virtual void AwakeAlsoDeactivated ()

Public Attributes

int Solution
 The current solution of the IK calculation.
string[] Solutions = new string[8]
 The solutions of the IK calculation.
bool MoveInEditMode = false
 Move the robot in edit mode.
bool FollowTarget
 Follow the target in edit mode.
IKTarget Target
 The target to follow in edit mode.
Vector3 TargetPosRightHanded
 The target position in right handed coordinates.
Vector3 TargetRotRightHanded
 The target rotation in right handed coordinates.
bool ElbowInUnityX = false
 The elbow is in the Unity X direction.
Drive[] Axis
 The drives of the robot.
GameObject TCP
 The TCP of the robot

IKTarget HomePosOnStart
 The home position of the robot on start.
Vector3 ToolOffset
 The tool offset of the TCP.
double a1
 The a1 parameter of the robot.
double a2
double b
double c1
double c2
double c3
double c4
 The a2, b, c1, c2, c3, c4 parameter of the robot.
- 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 = false

Additional Inherited Members

- Public Types inherited from realvirtual.realvirtualBehavior
enum  ActiveOnly
- Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool DirectionIsLinear (DIRECTION direction)
 Gets back if the direction is linear or a rotation.
- Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool hidename ()
bool hideactiveonly ()
virtual void OnStop ()
virtual void OnStart ()
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 ()

Member Function Documentation

◆ SetTargetProperties()

void realvirtual.RobotIK.SetTargetProperties ( IKTarget  target)

Don't display / update on playing because of NaughtyAttributes bug