129 lines
No EOL
3.2 KiB
Java
129 lines
No EOL
3.2 KiB
Java
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 ForeArm {
|
|
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 mWristTfGrp = new TransformGroup();
|
|
|
|
private Wrist mWrist = new Wrist();
|
|
|
|
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 incWristAngle() {
|
|
this.mWrist.incAngle();
|
|
}
|
|
|
|
public void decWristAngle() {
|
|
this.mWrist.decAngle();
|
|
}
|
|
|
|
public void incHandAngle() {
|
|
this.mWrist.incHandAngle();
|
|
}
|
|
|
|
public void decHandAngle() {
|
|
this.mWrist.decHandAngle();
|
|
}
|
|
|
|
public void incHandSpan() {
|
|
this.mWrist.incHandSpan();
|
|
}
|
|
|
|
public void decHandSpan() {
|
|
this.mWrist.decHandSpan();
|
|
}
|
|
|
|
public void incWristAngle(double paramDouble) {
|
|
this.mWrist.incAngle(paramDouble);
|
|
}
|
|
|
|
public void incHandAngle(double paramDouble) {
|
|
this.mWrist.incHandAngle(paramDouble);
|
|
}
|
|
|
|
public void incHandSpan(double paramDouble) {
|
|
this.mWrist.incHandSpan(paramDouble);
|
|
}
|
|
|
|
public ForeArm() {
|
|
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.mWristTfGrp.addChild((Node)this.mWrist.getBrGrp());
|
|
this.mTfGrp.addChild((Node)this.mWristTfGrp);
|
|
this.mBrGrp.addChild((Node)this.mTfGrp);
|
|
vector3d.set(0.0D, 0.75D, 0.0D);
|
|
transform3D.setTranslation(vector3d);
|
|
this.mWristTfGrp.setTransform(transform3D);
|
|
material.setDiffuseColor(0.0F, 1.0F, 0.0F);
|
|
material.setAmbientColor(0.0F, 0.4F, 0.0F);
|
|
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/ForeArm.class
|
|
* Java compiler version: 8 (52.0)
|
|
* JD-Core Version: 1.2.1
|
|
*/ |