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The Claw (Expressions)
Added on: Sat Jul 01 2000
Page: 1 3 4 

Select finger 2 and go to the Motion Panel. Under the "Assign Controller Rollout" select the "Rotation: TCB Rotation" controller and then click the "Assign Controller" button. It should give you a list of different controllers. Pick "Euler XYZ".

The reason is... "Expression controllers can work only with the individual XYZ components of Euler rotation. You can't assign an expression to TCB rotation or other kinds of rotation controllers." (Straight from the online help).

Now click on the "Y Rotation: Bezier Float" and click "Assign Controller" again. This time select "Float Expression". Right click on "Y Rotation: Expression Float" and choose properties. You should now have a Expression floater that looks like this.

Ok here is a brief run down on what the different options are.
When writing your expression you can use two different types of variables. The first type is a scaler. A scaler is just a regular number ie) 10, 40.290, -1, 69 etc. You can also assign some controllers to your scaler like the Bezier Float controller.

The second type of variable is the vector or simply [x,y,z]. Like the scalers you can assign your own values or assign them to a controller.

It is normally a good idea to write down all your equations and stuff before you type them into the computer. Even if you have the right ideas in the expression you may have it in the wrong syntax and nothing will work right.
So if you have it on paper you can work through the equations to see if they work. If the do work then you know it is your syntax.

Now the first variable I need is the angle of my closed finger. If you remember from before, the claw's closed position is at 0 degrees (world coordinates) and the open position is at -35 degrees.
To make a scaler variable of 0 degrees do the following. Select scaler then type in "Closed" under name and then click create. Click on "assign to constant" and set it for 0.

Now lets make the two vector variables. One is the position of the Ball and the
other is the position of the Shaft. So click vector and under name type in BallPos and hit create. Then click "assign to controller" go through the "Track View Pick" until you find the Ball and apply it to the position controller.

If you can't find it World>Objects>Ball>Transform>Position. Now do the same thing again but call the new variable ConPos and pick the Shaft position controller. World>Objects>Shaft>Transform>Position.

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