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lod 2025-06-28 12:44:20 +02:00
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Roboter_Demo/roboter_demo/Hand.java Normal file
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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 Hand {
private final float mWidth = 0.25F;
private final float mScale = 1.0F;
private final float mThumbWitdh = 0.025F;
private BranchGroup mBrGrp = new BranchGroup();
private TransformGroup mTfGrp = new TransformGroup();
private TransformGroup mThumbTfGrp = new TransformGroup();
private TransformGroup mFingersTfGrp = new TransformGroup();
private double mSpan;
private double mAngle;
private Vector3d mVec = new Vector3d();
private Transform3D mTrnTf = new Transform3D();
private Transform3D mRotTf = new Transform3D();
public BranchGroup getBrGrp() {
return this.mBrGrp;
}
public Hand() {
Box box1 = new Box(0.125F, 0.125F, 0.125F, 1, null);
Box box2 = new Box(0.0125F, 0.125F, 0.125F, 1, null);
Box box3 = new Box(0.0125F, 0.125F, 0.125F, 1, null);
TransformGroup transformGroup = new TransformGroup();
Vector3d vector3d = new Vector3d();
Transform3D transform3D = new Transform3D();
Material material1 = new Material();
Material material2 = new Material();
Appearance appearance1 = new Appearance();
Appearance appearance2 = new Appearance();
this.mSpan = 0.25D;
this.mAngle = 0.0D;
transformGroup.addChild((Node)box1);
this.mThumbTfGrp.addChild((Node)box2);
this.mFingersTfGrp.addChild((Node)box3);
this.mTfGrp.addChild((Node)transformGroup);
this.mTfGrp.addChild((Node)this.mThumbTfGrp);
this.mTfGrp.addChild((Node)this.mFingersTfGrp);
this.mBrGrp.addChild((Node)this.mTfGrp);
moveThumbAndFingers(this.mSpan);
rotateHand(0.0D);
material1.setDiffuseColor(0.0F, 1.0F, 1.0F);
material1.setAmbientColor(0.0F, 0.4F, 0.4F);
appearance1.setMaterial(material1);
box1.setAppearance(appearance1);
material2.setDiffuseColor(1.0F, 1.0F, 0.0F);
material2.setAmbientColor(0.4F, 0.4F, 0.0F);
appearance2.setMaterial(material2);
box2.setAppearance(appearance2);
box3.setAppearance(appearance2);
this.mTfGrp.setCapability(18);
this.mThumbTfGrp.setCapability(18);
this.mFingersTfGrp.setCapability(18);
this.mBrGrp.compile();
}
public void moveThumbAndFingers(double paramDouble) {
this.mVec.set(-paramDouble / 2.0D, 0.25D, 0.0D);
this.mTrnTf.set(this.mVec);
this.mThumbTfGrp.setTransform(this.mTrnTf);
this.mVec.set(paramDouble / 2.0D, 0.25D, 0.0D);
this.mTrnTf.set(this.mVec);
this.mFingersTfGrp.setTransform(this.mTrnTf);
}
public void incHandSpan() {
if (this.mSpan < 0.25D)
this.mSpan += 0.01D;
moveThumbAndFingers(this.mSpan);
}
public void incHandSpan(double paramDouble) {
this.mSpan += paramDouble;
if (this.mSpan <= 0.02500000037252903D)
this.mSpan = 0.02500000037252903D;
if (this.mSpan >= 0.25D)
this.mSpan = 0.25D;
moveThumbAndFingers(this.mSpan);
}
public void decHandSpan() {
if (this.mSpan > 0.02500000037252903D)
this.mSpan -= 0.01D;
moveThumbAndFingers(this.mSpan);
}
public void rotateHand(double paramDouble) {
this.mRotTf.rotX(paramDouble);
this.mTfGrp.setTransform(this.mRotTf);
}
public void incHandAngle() {
this.mAngle += 0.02D;
rotateHand(this.mAngle);
}
public void incHandAngle(double paramDouble) {
this.mAngle += paramDouble;
rotateHand(this.mAngle);
}
public void decHandAngle() {
this.mAngle -= 0.02D;
rotateHand(this.mAngle);
}
}
/* Location: /opt/SpaceControl/Roboter_Demo.jar!/roboter_demo/Hand.class
* Java compiler version: 8 (52.0)
* JD-Core Version: 1.2.1
*/