First implementation of 3 mode switch ( INDEPENDENT, SCREW, PRESS )
parent
1c2a3d6daa
commit
cfd40b86e5
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@ -0,0 +1,192 @@
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using System;
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using System.IO;
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using System.Linq;
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using ln.ethercat.controller;
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using ln.ethercat.controller.drives;
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using ln.ethercat.controller.remote;
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using ln.json;
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using ln.json.mapping;
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using ln.logging;
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namespace ln.ethercat.service
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{
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public enum GTOperationMode { NONE, INDEPENDENT, SCREW, PRESS }
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public class GalaTechControllerLogic : ControllerLogic
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{
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public MyParameters Parameters { get; set; }
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SDOValue svRelais;
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SDOValue svEnable;
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private SDOValue svMode0, svMode1, svMode2;
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public GalaTechControllerLogic()
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{
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Parameters = new MyParameters();
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if (File.Exists("gtcl.json"))
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{
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JSONValue configValue = JSONParser.ParseFile("gtcl.json");
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JSONMapper.DefaultMapper.Apply(configValue as JSONObject, Parameters);
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}
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}
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public void Save()
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{
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if (JSONMapper.DefaultMapper.Serialize(Parameters, out JSONValue configObject))
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{
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using (StreamWriter sw = new StreamWriter("gtcl.json"))
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{
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sw.Write(configObject.ToString());
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sw.Flush();
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}
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}
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}
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public override void Initialize(Controller controller)
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{
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if (!(
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controller.ECMaster.GetSDOValue(1, 0x2012, 31, out svRelais) &&
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controller.ECMaster.GetSDOValue(1, 0x2012, 32, out svEnable) &&
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controller.ECMaster.GetSDOValue(2, 0x2008, 1, out svMode0) &&
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controller.ECMaster.GetSDOValue(2, 0x2008, 2, out svMode1) &&
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controller.ECMaster.GetSDOValue(2, 0x2008, 3, out svMode2)
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))
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throw new Exception("could not retrieve needed SDOValues");
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}
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public override void Cycle(Controller controller)
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{
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GTOperationMode operationMode = GTOperationMode.NONE;
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object mm0 = svMode0.GetValue();
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Logging.Log(LogLevel.DEBUG,"MT: {0}", mm0);
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sbyte m0 = svMode0.GetValue<sbyte>();
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sbyte m1 = svMode1.GetValue<sbyte>();
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sbyte m2 = svMode2.GetValue<sbyte>();
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Logging.Log(LogLevel.DEBUG, "Mode Bytes: {0} {1} {2}", m0,m1,m2);
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if ((m0 == 1) && (m1 == 0) && (m2 == 0))
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operationMode = GTOperationMode.INDEPENDENT;
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else if ((m0 == 0) && (m1 == 1) && (m2 == 0))
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operationMode = GTOperationMode.SCREW;
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else if ((m0 == 0) && (m1 == 0) && (m2 == 1))
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operationMode = GTOperationMode.PRESS;
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else
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operationMode = GTOperationMode.NONE;
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switch (controller.ControllerState)
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{
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case ControllerStates.FAULT:
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svEnable.SetValue((byte)0x00);
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controller.ECMaster.DriveControllers[0].TargetTorque = 0;
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controller.ECMaster.DriveControllers[0].TargetSpeed = 0;
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controller.ECMaster.DriveControllers[1].TargetTorque = 0;
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controller.ECMaster.DriveControllers[1].TargetSpeed = 0;
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break;
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case ControllerStates.NOTREADY:
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svEnable.SetValue((byte)0x01);
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break;
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}
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if (controller.ControllerState == ControllerStates.OPERATIONAL)
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{
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svRelais.SetValue((byte)0x01);
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switch (operationMode)
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{
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case GTOperationMode.NONE:
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controller.ECMaster.DriveControllers[0].TargetTorque = 0;
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controller.ECMaster.DriveControllers[0].TargetSpeed = 0;
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controller.ECMaster.DriveControllers[1].TargetTorque = 0;
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controller.ECMaster.DriveControllers[1].TargetSpeed = 0;
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break;
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case GTOperationMode.INDEPENDENT:
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controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
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controller.ECMaster.DriveControllers[0].TargetTorque = 0;
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controller.ECMaster.DriveControllers[0].TargetSpeed = controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
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controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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controller.ECMaster.DriveControllers[1].TargetTorque = 0;
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switch (controller.Remotes.FirstOrDefault()?.FeederOperation)
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{
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case FeederOperation.LEFT:
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controller.ECMaster.DriveControllers[1].TargetSpeed = Parameters.FeedSpeedRatio * controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
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break;
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case FeederOperation.RIGHT:
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controller.ECMaster.DriveControllers[1].TargetSpeed = Parameters.FeedSpeedRatio * -controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
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break;
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default:
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controller.ECMaster.DriveControllers[1].TargetSpeed = 0.0;
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break;
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}
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break;
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case GTOperationMode.SCREW:
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controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
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controller.ECMaster.DriveControllers[0].TargetTorque = 0;
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controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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controller.ECMaster.DriveControllers[1].TargetTorque = 0;
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switch (controller.Remotes.FirstOrDefault()?.FeederOperation)
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{
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case FeederOperation.LEFT:
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controller.ECMaster.DriveControllers[0].TargetSpeed = controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
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controller.ECMaster.DriveControllers[1].TargetSpeed = Parameters.FeedScrewGearRatio * controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
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break;
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case FeederOperation.RIGHT:
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controller.ECMaster.DriveControllers[0].TargetSpeed = -controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
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controller.ECMaster.DriveControllers[1].TargetSpeed = -Parameters.FeedScrewGearRatio * controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
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break;
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default:
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controller.ECMaster.DriveControllers[0].TargetSpeed = 0.0;
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controller.ECMaster.DriveControllers[1].TargetSpeed = 0.0;
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break;
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}
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break;
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case GTOperationMode.PRESS:
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controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
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controller.ECMaster.DriveControllers[0].TargetTorque = 0;
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controller.ECMaster.DriveControllers[0].TargetSpeed = controller.Remotes.FirstOrDefault()?.Targets[0] ?? 0.0;
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controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
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controller.ECMaster.DriveControllers[1].TargetSpeed = 0;
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switch (controller.Remotes.FirstOrDefault()?.FeederOperation)
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{
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case FeederOperation.LEFT:
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controller.ECMaster.DriveControllers[1].TargetTorque = Parameters.FeedTorqueRatio * controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
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break;
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case FeederOperation.RIGHT:
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controller.ECMaster.DriveControllers[1].TargetTorque = -Parameters.FeedTorqueRatio * controller.Remotes.FirstOrDefault()?.Targets[1] ?? 0.0;
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break;
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default:
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controller.ECMaster.DriveControllers[1].TargetTorque = 0.0;
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break;
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}
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break;
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}
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} else {
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svRelais.SetValue((byte)0x00);
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}
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}
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public class MyParameters
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{
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public double FeedSpeedRatio = 1.0;
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public double FeedTorqueRatio = 0.5;
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public double FeedScrewGearRatio = 0.3;
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}
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}
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}
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@ -39,17 +39,24 @@ namespace ln.ethercat.service
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{
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ECMaster.RequestPDOMapping(1, 0x2012, 31, true);
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ECMaster.RequestPDOMapping(1, 0x2012, 32, true);
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ECMaster.RequestPDOMapping(2, 0x2008, 1, false);
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ECMaster.RequestPDOMapping(2, 0x2008, 2, false);
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ECMaster.RequestPDOMapping(2, 0x2008, 3, false);
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}
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};
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ethercatService.ECMaster.Controller.Add(new CLGalaTechBohrautomat());
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//ethercatService.ECMaster.Controller.Add(new CLGalaTechBohrautomat());
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ethercatService.ECMaster.Controller.Add(new GalaTechControllerLogic());
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ethercatService.Start();
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if (SerialRemotePort != null)
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{
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StupidSerialRemote stupidSerialRemote = new StupidSerialRemote(ethercatService.ECMaster.Controller, SerialRemotePort);
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stupidSerialRemote.Start();
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// StupidSerialRemote stupidSerialRemote = new StupidSerialRemote(ethercatService.ECMaster.Controller, SerialRemotePort);
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// stupidSerialRemote.Start();
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NewSerialRemote serialRemote =
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new NewSerialRemote(ethercatService.ECMaster.Controller, SerialRemotePort);
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serialRemote.Start();
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}
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}
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}
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@ -98,6 +98,7 @@ LN
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d.socket = $ECAPP.connectWebSocket("/api/v1/sockets/controller");
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d.socket.onmessage = (evt)=>{
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let json = JSON.parse(evt.data);
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console.log(json);
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d.controller = json.value.Controller;
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let drives = []
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for (let n=0;n<d.controller.DriveCount;n++)
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@ -36,6 +36,9 @@ namespace ln.ethercat.controller
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[ESProperty]
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public bool IgnoreRemoteInterface { get; set; }
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private ISet<ControllerRemote> _remotes = new HashSet<ControllerRemote>();
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public IEnumerable<ControllerRemote> Remotes => _remotes;
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List<ControlLoop> controlLoops = new List<ControlLoop>();
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public ControlLoop[] ControlLoops => controlLoops.ToArray();
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@ -77,6 +80,9 @@ namespace ln.ethercat.controller
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public void Add(ControllerLogic controllerLogic) => controllerLogics.Add(controllerLogic);
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public void Remove(ControllerLogic controllerLogic) => controllerLogics.Remove(controllerLogic);
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public void Add(ControllerRemote remote) => _remotes.Add(remote);
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public void Remove(ControllerRemote remote) => _remotes.Remove(remote);
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public void Initialize()
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{
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CycleCounter = 0;
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@ -184,11 +190,15 @@ namespace ln.ethercat.controller
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public bool IsSafeToEnable()
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{
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foreach (ControllerIsSafeToEnable ciste in OnIsSafeToEnable.GetInvocationList())
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if (!(OnIsSafeToEnable is null))
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{
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if (!ciste(this))
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return false;
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foreach (ControllerIsSafeToEnable ciste in OnIsSafeToEnable.GetInvocationList())
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{
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if (!ciste(this))
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return false;
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}
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}
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return true;
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}
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@ -3,6 +3,7 @@
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using System;
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using System.Threading;
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using ln.ethercat.controller.drives;
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using ln.ethercat.controller.remote;
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using ln.logging;
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namespace ln.ethercat.controller
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@ -14,7 +15,7 @@ namespace ln.ethercat.controller
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CLEARFAULT, // Clear fault state
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}
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public abstract class ControllerRemote
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public abstract class ControllerRemote : IDisposable
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{
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protected Controller Controller;
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@ -34,8 +35,12 @@ namespace ln.ethercat.controller
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public ControllerRemote(Controller controller)
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{
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Controller = controller;
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Controller?.Add(this);
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}
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public abstract double[] Targets { get; set; }
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public abstract FeederOperation FeederOperation { get; }
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public void Start()
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{
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lock (this)
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@ -103,5 +108,9 @@ namespace ln.ethercat.controller
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Shutdown();
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}
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public void Dispose()
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{
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Controller?.Remove(this);
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}
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}
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}
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@ -0,0 +1,10 @@
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namespace ln.ethercat.controller.remote
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{
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public enum FeederOperation
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{
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NONE,
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LEFT,
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RIGHT,
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TORQUE
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}
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}
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@ -0,0 +1,236 @@
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using System;
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using System.IO.Ports;
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using System.Threading;
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using ln.ethercat.controller.drives;
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namespace ln.ethercat.controller.remote
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{
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/*
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#define LED_ERROR 0x00
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#define LED_RUN 0x01
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#define LED_LOAD25 0x02
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#define LED_LOAD50 0x03
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#define LED_LOAD75 0x04
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#define LED_LOAD100 0x05
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#define LED_SERVICE 0x06
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#define LED_AUX 0x07
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*/
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public class NewSerialRemote : ControllerRemote
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{
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public string SerialPortName { get; }
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private FeederOperation _feederOperation;
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public override FeederOperation FeederOperation { get => _feederOperation; }
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SerialPort serialPort;
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bool stopReceiverThread;
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Thread threadReceiver;
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public double MainTarget { get; set; }
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public double FeedTarget { get; set; }
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public override double[] Targets
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{
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get => new[] {MainTarget, FeedTarget};
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set => throw new NotImplementedException();
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}
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public double FeedRatio { get; set; } = 0.5;
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public double TorqueRatio { get; set; } = 1.0;
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public NewSerialRemote(Controller controller)
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:this(controller, SerialPort.GetPortNames()[0]){}
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public NewSerialRemote(Controller controller, string serialDevice)
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:base(controller)
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{
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SerialPortName = serialDevice;
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CycleFrequency = 10.0;
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}
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protected override void Cycle()
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{
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byte cycleDisplayStep = (byte)(CycleCounter & 0x0F);
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switch (Controller.ControllerState)
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{
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case ControllerStates.NOTREADY:
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SetLEDs(((cycleDisplayStep & 0x07) < 0x04) ? StupidLEDs.ALL : StupidLEDs.NONE);
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break;
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case ControllerStates.FAULT:
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SetLEDs(((cycleDisplayStep & 0x07) < 0x04) ? StupidLEDs.ERROR : StupidLEDs.NONE);
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break;
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case ControllerStates.READY:
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SetLEDs((cycleDisplayStep < 0x08) ? StupidLEDs.RUN : StupidLEDs.NONE);
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break;
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case ControllerStates.OPERATIONAL:
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StupidLEDs leds = StupidLEDs.RUN;
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if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.25)
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leds |= StupidLEDs.LOAD25;
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if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.5)
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leds |= StupidLEDs.LOAD50;
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if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.75)
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leds |= StupidLEDs.LOAD75;
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if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 1)
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leds |= StupidLEDs.LOAD100;
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SetLEDs(leds);
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//Controller.RemoteUpdateTarget(0, MainTarget);
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// switch (FeederOperation)
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// {
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// case FeederOperation.NONE:
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// Controller.RemoteUpdateTarget(1, 0);
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// break;
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// case FeederOperation.LEFT:
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// if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
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// {
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// Controller.RemoteUpdateTarget(1, FeedTarget * FeedRatio);
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// } else {
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// Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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// Controller.RemoteUpdateTarget(1, 0);
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// }
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// break;
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// case FeederOperation.RIGHT:
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// if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
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// {
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// Controller.RemoteUpdateTarget(1, -(FeedTarget * FeedRatio));
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// } else {
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// Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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// Controller.RemoteUpdateTarget(1, 0);
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// }
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// break;
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// case FeederOperation.TORQUE:
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// if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.TORQUE)
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// {
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// Controller.RemoteUpdateTarget(1, FeedTarget * TorqueRatio);
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// } else {
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// Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
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// Controller.RemoteUpdateTarget(1, 0);
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// }
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// break;
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// }
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break;
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case ControllerStates.ENABLING:
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break;
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case ControllerStates.DISABLING:
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break;
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}
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}
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void Receiver()
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{
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while (!stopReceiverThread)
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{
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string rxLine = serialPort.ReadLine();
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//Logging.Log(LogLevel.DEBUGDETAIL, rxLine);
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if (rxLine.Length >= 6)
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{
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ushort av = 0;
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ushort.TryParse(rxLine.Substring(2,4), System.Globalization.NumberStyles.HexNumber, null, out av);
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switch (rxLine[0])
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{
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case 'A':
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int drive = rxLine[1] - '0';
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double rel = (double)av / 65535;
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switch (drive)
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{
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case 0:
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FeedTarget = rel;
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break;
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case 2:
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MainTarget = rel;
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break;
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}
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Controller.RemoteTriggerWatchdog();
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break;
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case 'B':
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switch (rxLine[1])
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{
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case 'P':
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switch (av)
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{
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case 0:
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if (Controller.ControllerState == ControllerStates.FAULT)
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Controller.RemoteAction(CRActions.CLEARFAULT);
|
||||
else if (Controller.ControllerState == ControllerStates.READY)
|
||||
{
|
||||
Controller.ECMaster.DriveControllers[0].DriveMode = DriveMode.SPEED;
|
||||
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
|
||||
Controller.RemoteAction(CRActions.ENABLE);
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
Controller.RemoteAction(CRActions.DISABLE);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case 'D':
|
||||
switch (av)
|
||||
{
|
||||
case 3:
|
||||
_feederOperation = FeederOperation.LEFT;
|
||||
break;
|
||||
case 4:
|
||||
_feederOperation = FeederOperation.RIGHT;
|
||||
break;
|
||||
case 14:
|
||||
_feederOperation = FeederOperation.TORQUE;
|
||||
break; }
|
||||
break;
|
||||
case 'U':
|
||||
switch (av)
|
||||
{
|
||||
case 3:
|
||||
case 4:
|
||||
case 14:
|
||||
_feederOperation = FeederOperation.NONE;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SetLEDs(StupidLEDs leds)
|
||||
{
|
||||
serialPort.Write(string.Format("LS{0:X4}\r\n", (ushort)leds));
|
||||
}
|
||||
|
||||
|
||||
protected override void Initialize()
|
||||
{
|
||||
stopReceiverThread = false;
|
||||
|
||||
serialPort = new SerialPort(SerialPortName);
|
||||
serialPort.BaudRate = 57600;
|
||||
serialPort.Parity = Parity.None;
|
||||
serialPort.DataBits = 8;
|
||||
serialPort.StopBits = StopBits.One;
|
||||
serialPort.Open();
|
||||
|
||||
if (!(threadReceiver?.IsAlive ?? false))
|
||||
{
|
||||
threadReceiver = new Thread(Receiver);
|
||||
threadReceiver.Start();
|
||||
}
|
||||
}
|
||||
|
||||
protected override void Shutdown()
|
||||
{
|
||||
stopReceiverThread = true;
|
||||
serialPort.Close();
|
||||
}
|
||||
|
||||
public override bool IsSafeToEnable()
|
||||
{
|
||||
return (MainTarget==0) && (FeedTarget == 0);
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,17 @@
|
|||
using System;
|
||||
|
||||
namespace ln.ethercat.controller.remote
|
||||
{
|
||||
[Flags]
|
||||
public enum StupidLEDs : int
|
||||
{
|
||||
NONE = 0,
|
||||
ERROR = (1<<15),
|
||||
RUN = (1<<1),
|
||||
LOAD25 = (1<<2),
|
||||
LOAD50 = (1<<3),
|
||||
LOAD75 = (1<<4),
|
||||
LOAD100 = (1<<15),
|
||||
ALL = -1
|
||||
}
|
||||
}
|
|
@ -16,32 +16,12 @@ namespace ln.ethercat.controller.remote
|
|||
#define LED_AUX 0x07
|
||||
*/
|
||||
|
||||
[Flags]
|
||||
public enum StupidLEDs : int
|
||||
{
|
||||
NONE = 0,
|
||||
ERROR = (1<<15),
|
||||
RUN = (1<<1),
|
||||
LOAD25 = (1<<2),
|
||||
LOAD50 = (1<<3),
|
||||
LOAD75 = (1<<4),
|
||||
LOAD100 = (1<<15),
|
||||
ALL = -1
|
||||
}
|
||||
|
||||
public enum FeederOperation
|
||||
{
|
||||
NONE,
|
||||
LEFT,
|
||||
RIGHT,
|
||||
TORQUE
|
||||
}
|
||||
|
||||
public class StupidSerialRemote : ControllerRemote
|
||||
{
|
||||
public string SerialPortName { get; }
|
||||
|
||||
public FeederOperation FeederOperation { get; set; }
|
||||
private FeederOperation _feederOperation;
|
||||
public override FeederOperation FeederOperation { get => _feederOperation; }
|
||||
|
||||
SerialPort serialPort;
|
||||
|
||||
|
@ -186,13 +166,13 @@ namespace ln.ethercat.controller.remote
|
|||
switch (av)
|
||||
{
|
||||
case 3:
|
||||
FeederOperation = FeederOperation.LEFT;
|
||||
_feederOperation = FeederOperation.LEFT;
|
||||
break;
|
||||
case 4:
|
||||
FeederOperation = FeederOperation.RIGHT;
|
||||
_feederOperation = FeederOperation.RIGHT;
|
||||
break;
|
||||
case 14:
|
||||
FeederOperation = FeederOperation.TORQUE;
|
||||
_feederOperation = FeederOperation.TORQUE;
|
||||
break; }
|
||||
break;
|
||||
case 'U':
|
||||
|
@ -201,7 +181,7 @@ namespace ln.ethercat.controller.remote
|
|||
case 3:
|
||||
case 4:
|
||||
case 14:
|
||||
FeederOperation = FeederOperation.NONE;
|
||||
_feederOperation = FeederOperation.NONE;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
@ -218,6 +198,8 @@ namespace ln.ethercat.controller.remote
|
|||
}
|
||||
|
||||
|
||||
public override double[] Targets { get => new []{ MainTarget, FeedTarget }; set => throw new NotSupportedException(); }
|
||||
|
||||
protected override void Initialize()
|
||||
{
|
||||
stopReceiverThread = false;
|
||||
|
|
|
@ -0,0 +1,22 @@
|
|||
using System.Numerics;
|
||||
|
||||
namespace ln.ethercat.kinematics
|
||||
{
|
||||
public abstract class Joint
|
||||
{
|
||||
public Joint()
|
||||
{
|
||||
ForwardMatrix = Matrix4x4.Identity;
|
||||
}
|
||||
public Joint(Matrix4x4 forwardMatrix)
|
||||
{
|
||||
ForwardMatrix = forwardMatrix;
|
||||
}
|
||||
|
||||
public Matrix4x4 ForwardMatrix { get; protected set; }
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
|
@ -0,0 +1,20 @@
|
|||
using System.Numerics;
|
||||
|
||||
namespace ln.ethercat.kinematics
|
||||
{
|
||||
public struct Position
|
||||
{
|
||||
public readonly Vector3 Base;
|
||||
public readonly Vector3 X;
|
||||
public readonly Vector3 Y;
|
||||
public readonly Vector3 Z;
|
||||
|
||||
public Position(Vector3 b, Vector3 x, Vector3 y, Vector3 z)
|
||||
{
|
||||
Base = b;
|
||||
X = x;
|
||||
Y = y;
|
||||
Z = z;
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,34 @@
|
|||
using System.Numerics;
|
||||
|
||||
namespace ln.ethercat.kinematics
|
||||
{
|
||||
public class RotationalJoint : Joint
|
||||
{
|
||||
private Vector3 axis;
|
||||
private float angle;
|
||||
|
||||
public RotationalJoint()
|
||||
{
|
||||
}
|
||||
|
||||
public Vector3 Axis
|
||||
{
|
||||
get => axis;
|
||||
set
|
||||
{
|
||||
ForwardMatrix = Matrix4x4.CreateFromAxisAngle(value, angle);
|
||||
axis = value;
|
||||
}
|
||||
}
|
||||
|
||||
public float Angle
|
||||
{
|
||||
get => angle;
|
||||
set
|
||||
{
|
||||
ForwardMatrix = Matrix4x4.CreateFromAxisAngle(axis, value);
|
||||
angle = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,22 @@
|
|||
using System.Numerics;
|
||||
|
||||
namespace ln.ethercat.kinematics
|
||||
{
|
||||
public class TranslatingJoint : Joint
|
||||
{
|
||||
public TranslatingJoint() :base(Matrix4x4.Identity)
|
||||
{
|
||||
}
|
||||
|
||||
public Vector3 Translation
|
||||
{
|
||||
get => ForwardMatrix.Translation;
|
||||
set
|
||||
{
|
||||
Matrix4x4 m = ForwardMatrix;
|
||||
m.Translation = value;
|
||||
ForwardMatrix = m;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
Loading…
Reference in New Issue