110 lines
No EOL
2.7 KiB
Java
110 lines
No EOL
2.7 KiB
Java
package roboter_demo;
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import com.sun.j3d.utils.geometry.Box;
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import javax.media.j3d.Appearance;
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import javax.media.j3d.BranchGroup;
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import javax.media.j3d.Material;
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import javax.media.j3d.Node;
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import javax.media.j3d.Transform3D;
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import javax.media.j3d.TransformGroup;
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import javax.vecmath.Vector3d;
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class Wrist {
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private final float mWidth = 0.25F;
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private final float mLength = 0.5F;
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private final float mScale = 1.0F;
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private BranchGroup mBrGrp = new BranchGroup();
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private TransformGroup mTfGrp = new TransformGroup();
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private TransformGroup mHandTfGrp = new TransformGroup();
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private Hand mHand = new Hand();
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private double mAngle;
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private Transform3D mRotTf = new Transform3D();
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private Transform3D mTrnTf = new Transform3D();
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private Transform3D mResTf = new Transform3D();
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public BranchGroup getBrGrp() {
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return this.mBrGrp;
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}
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public void incHandAngle() {
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this.mHand.incHandAngle();
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}
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public void decHandAngle() {
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this.mHand.decHandAngle();
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}
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public void incHandSpan() {
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this.mHand.incHandSpan();
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}
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public void decHandSpan() {
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this.mHand.decHandSpan();
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}
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public void incHandAngle(double paramDouble) {
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this.mHand.incHandAngle(paramDouble);
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}
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public void incHandSpan(double paramDouble) {
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this.mHand.incHandSpan(paramDouble);
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}
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public Wrist() {
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Box box = new Box(0.125F, 0.25F, 0.125F, 1, null);
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Material material = new Material();
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Appearance appearance = new Appearance();
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Transform3D transform3D = new Transform3D();
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Vector3d vector3d = new Vector3d();
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this.mTfGrp.addChild((Node)box);
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this.mHandTfGrp.addChild((Node)this.mHand.getBrGrp());
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this.mTfGrp.addChild((Node)this.mHandTfGrp);
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this.mBrGrp.addChild((Node)this.mTfGrp);
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vector3d.set(0.0D, 0.125D, -0.25D);
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transform3D.rotY(1.5707963267948966D);
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transform3D.setTranslation(vector3d);
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this.mHandTfGrp.setTransform(transform3D);
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material.setDiffuseColor(0.0F, 0.0F, 1.0F);
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material.setAmbientColor(0.0F, 0.0F, 0.4F);
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appearance.setMaterial(material);
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box.setAppearance(appearance);
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this.mTfGrp.setCapability(18);
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rotate(0.0D);
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}
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public void incAngle() {
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rotate(0.02D);
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}
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private void rotate(double paramDouble) {
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this.mAngle += paramDouble;
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this.mRotTf.rotY(this.mAngle);
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this.mResTf.setIdentity();
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this.mResTf.mul(this.mRotTf);
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this.mTfGrp.setTransform(this.mResTf);
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}
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public void incAngle(double paramDouble) {
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rotate(paramDouble);
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}
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public void decAngle() {
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rotate(-0.02D);
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}
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}
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/* Location: /opt/SpaceControl/Roboter_Demo.jar!/roboter_demo/Wrist.class
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* Java compiler version: 8 (52.0)
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* JD-Core Version: 1.2.1
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*/ |