Examples of us.ihmc.graphics3DAdapter.graphics.Graphics3DObject

Package us.ihmc.graphics3DAdapter.graphics

Examples of us.ihmc.graphics3DAdapter.graphics.Graphics3DObject

us.ihmc.graphics3DAdapter.graphics.Graphics3DObject

      kpArmWeld.set(1000.0);
      kdArmWeld.set(100.0);
      kpPenOnDesk.set(1000.0);
      
      // Desk
      Graphics3DObject tableLinkGraphics = new Graphics3DObject();
      tableLinkGraphics.translate(TABLE_CENTER_X_OFFSET, TABLE_CENTER_Y_OFFSET, TABLE_HEIGHT - TABLE_THICKNESS/2.0);
      tableLinkGraphics.addCube(TABLE_LENGTH, TABLE_WIDTH, TABLE_THICKNESS, YoAppearance.Brown());
      this.addStaticLinkGraphics(tableLinkGraphics);
      
      // Desk Pendulum
      PinJoint deskPendulumXJoint = new PinJoint("deskPendulumX", new Vector3d(0.0, 0.0, TABLE_HEIGHT), this, Axis.X);
      Link universalLink = createDeskPendulumUniversalLink();

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   private Link createXPendulumArmLink()
   {
      Link xPendulumArmGimbalLink = new Link("xPendulumArmGimbalLink");
      xPendulumArmGimbalLink.setMassAndRadiiOfGyration(0.05, 0.02, 0.02, 0.02);
      xPendulumArmGimbalLink.setComOffset(-ARM_LENGTH/2.0, 0.0, 0.0);
      Graphics3DObject xPendulumArmGimbalLinkGraphics = new Graphics3DObject();
      xPendulumArmGimbalLinkGraphics.addSphere(0.04, YoAppearance.Red());
      xPendulumArmGimbalLinkGraphics.rotate(-Math.PI/2.0, Axis.Y);
      xPendulumArmGimbalLinkGraphics.addCylinder(ARM_LENGTH, ARM_RADIUS, YoAppearance.Pink());
      
      // Pen:
      xPendulumArmGimbalLinkGraphics.identity();
      xPendulumArmGimbalLinkGraphics.translate(-ARM_LENGTH, 0.0, -PEN_HEIGHT);
      xPendulumArmGimbalLinkGraphics.addCylinder(PEN_HEIGHT, PEN_RADIUS);


      
      xPendulumArmGimbalLink.setLinkGraphics(xPendulumArmGimbalLinkGraphics); 
      
      return xPendulumArmGimbalLink;

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   private Link createYPendulumArmLink()
   {
      Link yPendulumArmGimbalLink = new Link("yPendulumArmGimbalLink");
      yPendulumArmGimbalLink.setMassAndRadiiOfGyration(0.05, 0.02, 0.02, 0.02);
      yPendulumArmGimbalLink.setComOffset(0.0, -ARM_LENGTH/2.0, 0.0);
      Graphics3DObject yPendulumArmGimbalLinkGraphics = new Graphics3DObject();
      yPendulumArmGimbalLinkGraphics.addSphere(0.04, YoAppearance.Red());
      yPendulumArmGimbalLinkGraphics.rotate(Math.PI/2.0, Axis.X);
      yPendulumArmGimbalLinkGraphics.addCylinder(ARM_LENGTH, ARM_RADIUS, YoAppearance.Pink());
      yPendulumArmGimbalLink.setLinkGraphics(yPendulumArmGimbalLinkGraphics);
      return yPendulumArmGimbalLink;
   }

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   private Link createDeskPendulumUniversalLink()
   {
      Link universalLink = new Link("universal");
      universalLink.setMassAndRadiiOfGyration(0.1, 0.1, 0.1, 0.1);
      Graphics3DObject universalLinkGraphics = new Graphics3DObject();
      universalLinkGraphics.addSphere(0.03);
      universalLink.setLinkGraphics(universalLinkGraphics);
      return universalLink;
   }

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   {
      Link deskPendulumLink = new Link("deskPendulum");
      deskPendulumLink.setMassAndRadiiOfGyration(DESK_PENDULUM_MASS, DESK_PENDULUM_RADIUS_GRYRATION_X, DESK_PENDULUM_RADIUS_GRYRATION_Y, DESK_PENDULUM_RADIUS_GRYRATION_Z);
      deskPendulumLink.setComOffset(new Vector3d(0.0, 0.0, DESK_PENDULUM_COM_Z));
      
      Graphics3DObject deskPendulumLinkGraphics = new Graphics3DObject();
      deskPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, DESK_PENDULUM_OFFSET_Z));
      deskPendulumLinkGraphics.addCylinder(DESK_PENDULUM_LENGTH, DESK_PENDULUM_RADIUS);
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_WEIGHTS_DISTANCE_FROM_BOTTOM);
      deskPendulumLinkGraphics.addCylinder(DESK_WEIGHTS_HEIGHT, DESK_WEIGHTS_RADIUS);
      deskPendulumLinkGraphics.identity();
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_HEIGHT);
      deskPendulumLinkGraphics.addCube(DESK_WIDTH, DESK_LENGTH, DESK_THICKNESS);
      
      deskPendulumLink.setLinkGraphics(deskPendulumLinkGraphics);
      return deskPendulumLink;
   }

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   {
      Link xPendulumLink = new Link("xPendulum");
      xPendulumLink.setMassAndRadiiOfGyration(XY_PENDULUM_MASS, XY_PENDULUM_RADIUS_GRYRATION_X, XY_PENDULUM_RADIUS_GRYRATION_Y, XY_PENDULUM_RADIUS_GRYRATION_Z);
      xPendulumLink.setComOffset(new Vector3d(0.0, 0.0, XY_PENDULUM_COM_Z));
      
      Graphics3DObject xPendulumLinkGraphics = new Graphics3DObject();
     
      xPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, XY_PENDULUM_OFFSET_Z));
      xPendulumLinkGraphics.addCylinder(XY_PENDULUM_LENGTH, XY_PENDULUM_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addCylinder(XY_WEIGHTS_HEIGHT, XY_WEIGHTS_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_PENDULUM_LENGTH-XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addSphere(0.03);
      
      xPendulumLink.setLinkGraphics(xPendulumLinkGraphics);
      return xPendulumLink;
   }

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