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Roboter_Demo/roboter_demo/UpperArm.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 UpperArm {
+  private final float mWidth = 0.25F;
+  
+  private final float mLength = 1.0F;
+  
+  private final float mScale = 1.0F;
+  
+  private final Vector3d mTransTo = new Vector3d(0.0D, 0.375D, 0.0D);
+  
+  private final Vector3d mTransFro = new Vector3d(0.0D, -0.375D, 0.0D);
+  
+  private BranchGroup mBrGrp = new BranchGroup();
+  
+  private TransformGroup mTfGrp = new TransformGroup();
+  
+  private TransformGroup mForeArmTfGrp = new TransformGroup();
+  
+  private ForeArm mForeArm = new ForeArm();
+  
+  private double mAngle;
+  
+  private Transform3D mRotTf = new Transform3D();
+  
+  private Transform3D mTrnTf = new Transform3D();
+  
+  private Transform3D mResTf = new Transform3D();
+  
+  public BranchGroup getBrGrp() {
+    return this.mBrGrp;
+  }
+  
+  public void incForeArmAngle() {
+    this.mForeArm.incAngle();
+  }
+  
+  public void decForeArmAngle() {
+    this.mForeArm.decAngle();
+  }
+  
+  public void incWristAngle() {
+    this.mForeArm.incWristAngle();
+  }
+  
+  public void decWristAngle() {
+    this.mForeArm.decWristAngle();
+  }
+  
+  public void incHandAngle() {
+    this.mForeArm.incHandAngle();
+  }
+  
+  public void decHandAngle() {
+    this.mForeArm.decHandAngle();
+  }
+  
+  public void incHandSpan() {
+    this.mForeArm.incHandSpan();
+  }
+  
+  public void decHandSpan() {
+    this.mForeArm.decHandSpan();
+  }
+  
+  public void incForeArmAngle(double paramDouble) {
+    this.mForeArm.incAngle(paramDouble);
+  }
+  
+  public void incWristAngle(double paramDouble) {
+    this.mForeArm.incWristAngle(paramDouble);
+  }
+  
+  public void incHandAngle(double paramDouble) {
+    this.mForeArm.incHandAngle(paramDouble);
+  }
+  
+  public void incHandSpan(double paramDouble) {
+    this.mForeArm.incHandSpan(paramDouble);
+  }
+  
+  public UpperArm() {
+    Box box = new Box(0.125F, 0.5F, 0.125F, 1, null);
+    Material material = new Material();
+    Appearance appearance = new Appearance();
+    Transform3D transform3D = new Transform3D();
+    Vector3d vector3d = new Vector3d();
+    this.mTfGrp.addChild((Node)box);
+    this.mForeArmTfGrp.addChild((Node)this.mForeArm.getBrGrp());
+    this.mTfGrp.addChild((Node)this.mForeArmTfGrp);
+    this.mBrGrp.addChild((Node)this.mTfGrp);
+    vector3d.set(0.0D, 0.75D, -0.25D);
+    transform3D.setTranslation(vector3d);
+    this.mForeArmTfGrp.setTransform(transform3D);
+    material.setDiffuseColor(1.0F, 0.0F, 1.0F);
+    material.setAmbientColor(0.4F, 0.0F, 0.4F);
+    appearance.setMaterial(material);
+    box.setAppearance(appearance);
+    this.mTfGrp.setCapability(18);
+    rotate(0.0D);
+  }
+  
+  public void incAngle() {
+    rotate(0.02D);
+  }
+  
+  private void rotate(double paramDouble) {
+    this.mAngle += paramDouble;
+    this.mRotTf.rotZ(this.mAngle);
+    this.mResTf.setIdentity();
+    this.mTrnTf.setTranslation(this.mTransFro);
+    this.mResTf.mul(this.mTrnTf);
+    this.mResTf.mul(this.mRotTf);
+    this.mTrnTf.setTranslation(this.mTransTo);
+    this.mResTf.mul(this.mTrnTf);
+    this.mTfGrp.setTransform(this.mResTf);
+  }
+  
+  public void incAngle(double paramDouble) {
+    rotate(paramDouble);
+  }
+  
+  public void decAngle() {
+    rotate(-0.02D);
+  }
+}
+
+
+/* Location:              /opt/SpaceControl/Roboter_Demo.jar!/roboter_demo/UpperArm.class
+ * Java compiler version: 8 (52.0)
+ * JD-Core Version:       1.2.1
+ */