Class ZOArticulatedBody

A Zero Sim wrapper class for a Unity Articulated Body Supports writing and reading to ZeroSim JSON format.

A body that forms part of a Physics articulation. An articulation is a set of bodies arranged in a logical tree. The parent-child link in this tree reflects that the bodies have their relative motion constrained. Articulations are solved by a Featherstone solver that works in reduced coordinates - that is each body has relative coordinates to its parent but only along the unlocked degrees of freedom. This guarantees there is no unwanted stretch.

Like with regular Joints, there are two anchors for each pair of connected articulation bodies. One anchor is defined in the parent body's reference frame, whereas the other one is defined in the child's reference frame. Changing the constraints, you directly affect the allowed space for relative positions of the two anchors. For instance, ArticulationDofLock.LockedMotion will not allow any relative motion at all.

Inheritance

System.Object

UnityEngine.Object

UnityEngine.Component

UnityEngine.Behaviour

UnityEngine.MonoBehaviour

ZOArticulatedBody

Implements

ZOSerializationInterface

ZOJointInterface

Inherited Members

UnityEngine.MonoBehaviour.IsInvoking()

UnityEngine.MonoBehaviour.CancelInvoke()

UnityEngine.MonoBehaviour.Invoke(System.String, System.Single)

UnityEngine.MonoBehaviour.InvokeRepeating(System.String, System.Single, System.Single)

UnityEngine.MonoBehaviour.CancelInvoke(System.String)

UnityEngine.MonoBehaviour.IsInvoking(System.String)

UnityEngine.MonoBehaviour.StartCoroutine(System.String)

UnityEngine.MonoBehaviour.StartCoroutine(System.String, System.Object)

UnityEngine.MonoBehaviour.StartCoroutine(System.Collections.IEnumerator)

UnityEngine.MonoBehaviour.StartCoroutine_Auto(System.Collections.IEnumerator)

UnityEngine.MonoBehaviour.StopCoroutine(System.Collections.IEnumerator)

UnityEngine.MonoBehaviour.StopCoroutine(UnityEngine.Coroutine)

UnityEngine.MonoBehaviour.StopCoroutine(System.String)

UnityEngine.MonoBehaviour.StopAllCoroutines()

UnityEngine.MonoBehaviour.print(System.Object)

UnityEngine.MonoBehaviour.useGUILayout

UnityEngine.MonoBehaviour.runInEditMode

UnityEngine.Behaviour.enabled

UnityEngine.Behaviour.isActiveAndEnabled

UnityEngine.Component.GetComponent(System.Type)

UnityEngine.Component.GetComponent<T>()

UnityEngine.Component.TryGetComponent(System.Type, UnityEngine.Component)

UnityEngine.Component.TryGetComponent<T>(T)

UnityEngine.Component.GetComponent(System.String)

UnityEngine.Component.GetComponentInChildren(System.Type, System.Boolean)

UnityEngine.Component.GetComponentInChildren(System.Type)

UnityEngine.Component.GetComponentInChildren<T>(System.Boolean)

UnityEngine.Component.GetComponentInChildren<T>()

UnityEngine.Component.GetComponentsInChildren(System.Type, System.Boolean)

UnityEngine.Component.GetComponentsInChildren(System.Type)

UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean)

UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean, System.Collections.Generic.List<T>)

UnityEngine.Component.GetComponentsInChildren<T>()

UnityEngine.Component.GetComponentsInChildren<T>(System.Collections.Generic.List<T>)

UnityEngine.Component.GetComponentInParent(System.Type)

UnityEngine.Component.GetComponentInParent<T>()

UnityEngine.Component.GetComponentsInParent(System.Type, System.Boolean)

UnityEngine.Component.GetComponentsInParent(System.Type)

UnityEngine.Component.GetComponentsInParent<T>(System.Boolean)

UnityEngine.Component.GetComponentsInParent<T>(System.Boolean, System.Collections.Generic.List<T>)

UnityEngine.Component.GetComponentsInParent<T>()

UnityEngine.Component.GetComponents(System.Type)

UnityEngine.Component.GetComponents(System.Type, System.Collections.Generic.List<UnityEngine.Component>)

UnityEngine.Component.GetComponents<T>(System.Collections.Generic.List<T>)

UnityEngine.Component.GetComponents<T>()

UnityEngine.Component.CompareTag(System.String)

UnityEngine.Component.SendMessageUpwards(System.String, System.Object, UnityEngine.SendMessageOptions)

UnityEngine.Component.SendMessageUpwards(System.String, System.Object)

UnityEngine.Component.SendMessageUpwards(System.String)

UnityEngine.Component.SendMessageUpwards(System.String, UnityEngine.SendMessageOptions)

UnityEngine.Component.SendMessage(System.String, System.Object)

UnityEngine.Component.SendMessage(System.String)

UnityEngine.Component.SendMessage(System.String, System.Object, UnityEngine.SendMessageOptions)

UnityEngine.Component.SendMessage(System.String, UnityEngine.SendMessageOptions)

UnityEngine.Component.BroadcastMessage(System.String, System.Object, UnityEngine.SendMessageOptions)

UnityEngine.Component.BroadcastMessage(System.String, System.Object)

UnityEngine.Component.BroadcastMessage(System.String)

UnityEngine.Component.BroadcastMessage(System.String, UnityEngine.SendMessageOptions)

UnityEngine.Component.transform

UnityEngine.Component.gameObject

UnityEngine.Component.tag

UnityEngine.Object.GetInstanceID()

UnityEngine.Object.GetHashCode()

UnityEngine.Object.Equals(System.Object)

UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion)

UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)

UnityEngine.Object.Instantiate(UnityEngine.Object)

UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform)

UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform, System.Boolean)

UnityEngine.Object.Instantiate<T>(T)

UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion)

UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)

UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform)

UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform, System.Boolean)

UnityEngine.Object.Destroy(UnityEngine.Object, System.Single)

UnityEngine.Object.Destroy(UnityEngine.Object)

UnityEngine.Object.DestroyImmediate(UnityEngine.Object, System.Boolean)

UnityEngine.Object.DestroyImmediate(UnityEngine.Object)

UnityEngine.Object.FindObjectsOfType(System.Type)

UnityEngine.Object.FindObjectsOfType(System.Type, System.Boolean)

UnityEngine.Object.DontDestroyOnLoad(UnityEngine.Object)

UnityEngine.Object.DestroyObject(UnityEngine.Object, System.Single)

UnityEngine.Object.DestroyObject(UnityEngine.Object)

UnityEngine.Object.FindSceneObjectsOfType(System.Type)

UnityEngine.Object.FindObjectsOfTypeIncludingAssets(System.Type)

UnityEngine.Object.FindObjectsOfType<T>()

UnityEngine.Object.FindObjectsOfType<T>(System.Boolean)

UnityEngine.Object.FindObjectOfType<T>()

UnityEngine.Object.FindObjectOfType<T>(System.Boolean)

UnityEngine.Object.FindObjectsOfTypeAll(System.Type)

UnityEngine.Object.FindObjectOfType(System.Type)

UnityEngine.Object.FindObjectOfType(System.Type, System.Boolean)

UnityEngine.Object.ToString()

UnityEngine.Object.name

UnityEngine.Object.hideFlags

System.Object.Equals(System.Object, System.Object)

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

Namespace: ZO.Physics

Assembly: Unity.ZeroSim.dll

Syntax

public class ZOArticulatedBody : MonoBehaviour, ZOSerializationInterface, ZOJointInterface

Fields

| Improve this Doc View Source

_articulationBody

Declaration

public ArticulationBody _articulationBody

Field Value

Type	Description
UnityEngine.ArticulationBody

| Improve this Doc View Source

_name

Declaration

[SerializeField]
public string _name

Field Value

Type	Description
System.String

Properties

| Improve this Doc View Source

ArticulationBodyJointType

Gets the joint type string.

Declaration

public string ArticulationBodyJointType { get; }

Property Value

Type	Description
System.String

| Improve this Doc View Source

ConnectedBody

Does not apply to articulated bodies. See property: UnityArticulationBody

Declaration

public Rigidbody ConnectedBody { get; set; }

Property Value

Type	Description
UnityEngine.Rigidbody

| Improve this Doc View Source

ConnectedOccurrence

The connected ZOSim Occurrence. Being null does not necessarily mean anything.

Declaration

public ZOSimOccurrence ConnectedOccurrence { get; }

Property Value

Type	Description
ZOSimOccurrence

| Improve this Doc View Source

Effort

The effort that is applied to the joint (Nm or N)

Declaration

public float Effort { get; set; }

Property Value

Type	Description
System.Single

| Improve this Doc View Source

JSON

Declaration

public JObject JSON { get; }

Property Value

Type	Description
Newtonsoft.Json.Linq.JObject

| Improve this Doc View Source

Name

Declaration

public string Name { get; }

Property Value

Type	Description
System.String

| Improve this Doc View Source

Position

The joint position.

For a hinge/revolute it would be the angle in radians.

For a linear/prismatic it would be the distance from center in meters.

Declaration

public float Position { get; set; }

Property Value

Type	Description
System.Single

| Improve this Doc View Source

Type

Declaration

public string Type { get; }

Property Value

Type	Description
System.String

| Improve this Doc View Source

UnityArticulationBody

Access to the Unity articulation body.

Declaration

public ArticulationBody UnityArticulationBody { get; }

Property Value

Type	Description
UnityEngine.ArticulationBody

| Improve this Doc View Source

Velocity

The velocity of the joint (rad/s or m/s)

Declaration

public float Velocity { get; set; }

Property Value

Type	Description
System.Single

Methods

| Improve this Doc View Source

CreateRequirements()

Creates requirements for the articulated body, including the actual Unity ArticulationBody and the name of the joint.

Declaration

public void CreateRequirements()

| Improve this Doc View Source

Deserialize(ZOSimDocumentRoot, JObject)

Declaration

public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)

Parameters

Type	Name	Description
ZOSimDocumentRoot	documentRoot
Newtonsoft.Json.Linq.JObject	json

| Improve this Doc View Source

Serialize(ZOSimDocumentRoot, Object)

Declaration

public JObject Serialize(ZOSimDocumentRoot documentRoot, Object parent = null)

Parameters

Type	Name	Description
ZOSimDocumentRoot	documentRoot
UnityEngine.Object	parent

Returns

Type	Description
Newtonsoft.Json.Linq.JObject

Implements

ZOSerializationInterface

ZOJointInterface