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Roboter_Demo/roboter_demo/Base.java

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+package roboter_demo;
+
+import com.sun.j3d.utils.geometry.Box;
+import javax.media.j3d.Appearance;
+import javax.media.j3d.BranchGroup;
+import javax.media.j3d.Material;
+import javax.media.j3d.Node;
+import javax.media.j3d.Transform3D;
+import javax.media.j3d.TransformGroup;
+import javax.vecmath.Vector3d;
+
+class Base {
+  private final float mWidth = 1.0F;
+  
+  private final float mScale = 1.0F;
+  
+  private final Vector3d mNullVec = new Vector3d(0.0D, 0.5D, 0.0D);
+  
+  private BranchGroup mBrGrp = new BranchGroup();
+  
+  private TransformGroup mBaseTfGrp;
+  
+  private TransformGroup mUpperArmTfGrp = new TransformGroup();
+  
+  private UpperArm mUpperArm = new UpperArm();
+  
+  private double mAngle;
+  
+  private Transform3D mRotTf = new Transform3D();
+  
+  public BranchGroup getBrGrp() {
+    return this.mBrGrp;
+  }
+  
+  public void incUpperArmAngle() {
+    this.mUpperArm.incAngle();
+  }
+  
+  public void decUpperArmAngle() {
+    this.mUpperArm.decAngle();
+  }
+  
+  public void incForeArmAngle() {
+    this.mUpperArm.incForeArmAngle();
+  }
+  
+  public void decForeArmAngle() {
+    this.mUpperArm.decForeArmAngle();
+  }
+  
+  public void incWristAngle() {
+    this.mUpperArm.incWristAngle();
+  }
+  
+  public void decWristAngle() {
+    this.mUpperArm.decWristAngle();
+  }
+  
+  public void incHandAngle() {
+    this.mUpperArm.incHandAngle();
+  }
+  
+  public void decHandAngle() {
+    this.mUpperArm.decHandAngle();
+  }
+  
+  public void incHandSpan() {
+    this.mUpperArm.incHandSpan();
+  }
+  
+  public void decHandSpan() {
+    this.mUpperArm.decHandSpan();
+  }
+  
+  public void incUpperArmAngle(double paramDouble) {
+    this.mUpperArm.incAngle(paramDouble);
+  }
+  
+  public void incForeArmAngle(double paramDouble) {
+    this.mUpperArm.incForeArmAngle(paramDouble);
+  }
+  
+  public void incWristAngle(double paramDouble) {
+    this.mUpperArm.incWristAngle(paramDouble);
+  }
+  
+  public void incHandAngle(double paramDouble) {
+    this.mUpperArm.incHandAngle(paramDouble);
+  }
+  
+  public void incHandSpan(double paramDouble) {
+    this.mUpperArm.incHandSpan(paramDouble);
+  }
+  
+  public Base(TransformGroup paramTransformGroup) {
+    Box box = new Box(0.5F, 0.5F, 0.25F, 1, null);
+    Material material = new Material();
+    Appearance appearance = new Appearance();
+    Transform3D transform3D = new Transform3D();
+    Vector3d vector3d = new Vector3d();
+    this.mBaseTfGrp = paramTransformGroup;
+    this.mBaseTfGrp.addChild((Node)box);
+    this.mUpperArmTfGrp.addChild((Node)this.mUpperArm.getBrGrp());
+    this.mBaseTfGrp.addChild((Node)this.mUpperArmTfGrp);
+    this.mBrGrp.addChild((Node)this.mBaseTfGrp);
+    vector3d.set(0.0D, 0.5D, 0.0D);
+    transform3D.setTranslation(vector3d);
+    this.mBaseTfGrp.setTransform(transform3D);
+    vector3d.set(0.5D, 0.875D, 0.25D);
+    transform3D.setTranslation(vector3d);
+    this.mUpperArmTfGrp.setTransform(transform3D);
+    material.setDiffuseColor(1.0F, 0.0F, 0.0F);
+    material.setAmbientColor(0.4F, 0.0F, 0.0F);
+    appearance.setMaterial(material);
+    box.setAppearance(appearance);
+    this.mBaseTfGrp.setCapability(18);
+  }
+  
+  public void incBaseAngle() {
+    rotateBase(0.02D);
+  }
+  
+  private void rotateBase(double paramDouble) {
+    this.mAngle += paramDouble;
+    this.mRotTf.rotY(this.mAngle);
+    this.mRotTf.setTranslation(this.mNullVec);
+    this.mBaseTfGrp.setTransform(this.mRotTf);
+  }
+  
+  public void incBaseAngle(double paramDouble) {
+    rotateBase(paramDouble);
+  }
+  
+  public void decBaseAngle() {
+    rotateBase(-0.02D);
+  }
+}
+
+
+/* Location:              /opt/SpaceControl/Roboter_Demo.jar!/roboter_demo/Base.class
+ * Java compiler version: 8 (52.0)
+ * JD-Core Version:       1.2.1
+ */