Unity3D Robot Simulator API

public class Robot

public Link GetLink(string name)
public Joint GetJoint(string name)
public Link[] GetLinks()
public Joint[] GetJoints()
public Objective[] GetObjectives()
public IKSolver AddIKSolver()
public void RemoveIKSolver()
public void ResetAll()
public void ResetJoints()
public void StopAll()
public void SetMotionType(MotionType type)
public void SetValues(Joint[] joints, float[] values)
public void SetValues(string[] names, float[] values)
public float[] GetValues(Joint[] joints)
public float[] GetValues(string[] names)
public float[] GetCurrentValues(Joint[] joints)
public float[] GetCurrentValues(string[] names)
public void SetConfiguration(float[] values)
public float[] GetConfiguration()
public float[] GetCurrentConfiguration()
public int GetDOF()

public class Link

public string GetName()
public Vector3 GetWorldPosition()
public Quaternion GetWorldRotation()
public Vector3 GetLocalPosition()
public Quaternion GetLocalRotation()
public Position AddPositionObjective()
public Orientation AddOrientationObjective()

public class Joint

public void SetValue(float value)
public float GetValue()
public float GetCurrentValue()
public void SetMaximumVelocity(float value)
public float GetMaximumVelocity()
public void SetMaximumAcceleration(float value)
public float GetMaximumAcceleration()
public float GetLowerLimit()
public float GetUpperLimit()
public JointType GetJointType()
public Vector3 GetAnchor()
public Vector3 GetOrientation()
public void SetMotionType(MotionType type)
public void Stop()

namespace BioIK

public class Objective

Position : Objective

public void SetTarget(Vector3 position)
public void SetTarget(Transform target)
public void SetMaximumError(double value)

Orientation : Objective

public void SetTarget(Quaternion orientation)
public void SetTarget(Transform target)
public void SetMaximumError(double value)

public class IKSolver

public double MaximumFrameTime
public void SetPopulationSize(int value)
public void SetElites(int value)
public void SetExploitations(int value)