public BasisVectorVisualizer(String name, int rhoSize, double vizScaling, YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry) { AppearanceDefinition basisAppearance = YoAppearance.Aqua(); this.rhoSize = rhoSize; YoGraphicsList yoGraphicsList = new YoGraphicsList(name); for (int i = 0; i < rhoSize; i++) { String prefix = name + i; YoFrameVector basisVector = new YoFrameVector(prefix + "BasisVector", ReferenceFrame.getWorldFrame(), registry); yoBasisVectors.put(i, basisVector); YoFramePoint pointOfBasis = new YoFramePoint(prefix + "PointOfBasis", ReferenceFrame.getWorldFrame(), registry); pointOfBases.put(i, pointOfBasis); YoGraphicVector basisVisualizer = new YoGraphicVector(prefix + "BasisViz", pointOfBasis , basisVector, BASIS_VECTOR_SCALE * vizScaling, basisAppearance, true); basisVisualizers.put(i, basisVisualizer); yoGraphicsList.add(basisVisualizer); } yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); parentRegistry.addChild(registry); }
public void addPoints(List<Point3D> points) { if(!disableGraphics) { for(Point3D point : points) { Graphics3DObject testCubeGraphicObject = new Graphics3DObject(); testCubeGraphicObject.addCube(VOXEL_SIZE, VOXEL_SIZE, VOXEL_SIZE, YoAppearance.Aqua()); Graphics3DNode cubeNode = scs.addStaticLinkGraphics(testCubeGraphicObject, Graphics3DNodeType.VISUALIZATION); cubeNode.translate(point.getX(), point.getY(), point.getZ()); if(rootNode == null) rootNode = cubeNode; else rootNode.addChild(cubeNode); } } }
private static Link link22(Link link21) { Link ret = new Link("link22"); ret.setComOffset(link21.getComOffset()); ret.setMass(link21.getMass()); Matrix3D link2moi = new Matrix3D(); link21.getMomentOfInertia(link2moi); ret.setMomentOfInertia(link2moi); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(COORDINATE_SYSTEM_LENGTH); createInertiaEllipsoid(ret, linkGraphics, YoAppearance.Aqua()); ret.setLinkGraphics(linkGraphics); return ret; }
linkGraphics.addSphere(SPHERE_R, YoAppearance.Aqua());
linkGraphics.addSphere(SPHERE_R, YoAppearance.Aqua());
YoAppearance.Aqua()); vectors.add(surfaceNormalGraphic);