private static Link randomBody(Random random) { Link ret = new Link("floatingBody"); ret.setMass(random.nextDouble()); ret.setComOffset(random.nextDouble(), random.nextDouble(), random.nextDouble()); ret.setMomentOfInertia(getRotationalInertiaMatrixOfSolidEllipsoid(ret.getMass(), random.nextDouble(), random.nextDouble(), random.nextDouble())); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(COORDINATE_SYSTEM_LENGTH); createInertiaEllipsoid(ret, linkGraphics, YoAppearance.Orange()); ret.setLinkGraphics(linkGraphics); return ret; }
private static Link randomBodyNoYCoMOffset(Random random) { Link ret = new Link("floatingBody"); ret.setMass(random.nextDouble()); ret.setComOffset(random.nextDouble(), 0.0, random.nextDouble()); ret.setMomentOfInertia(getRotationalInertiaMatrixOfSolidEllipsoid(ret.getMass(), random.nextDouble(), random.nextDouble(), random.nextDouble())); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(COORDINATE_SYSTEM_LENGTH); createInertiaEllipsoid(ret, linkGraphics, YoAppearance.Orange()); ret.setLinkGraphics(linkGraphics); return ret; }
private CombinedTerrainObject3D setUpWedgeBarrier(String name, Point2D location) { CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name); AppearanceDefinition appearance = YoAppearance.Orange(); combinedTerrainObject.addRamp(location.getX() - wedgeBarrierLength, location.getY() - wedgeBarrierWength / 2, location.getX(), location.getY() + wedgeBarrierWength / 2, wedgeBarrierHeight, appearance); return combinedTerrainObject; }
private static Link link21(Random random, double l2, double r2) { Link ret = new Link("link2"); ret.setMass(random.nextDouble()); ret.setComOffset(0.0, 0.0, l2 / 2.0); // ret.setComOffset(0.0, 0.0, 0.0); ret.setMomentOfInertia(getRotationalInertiaMatrixOfSolidEllipsoid(ret.getMass(), r2, r2, l2 / 2.0)); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(COORDINATE_SYSTEM_LENGTH); createInertiaEllipsoid(ret, linkGraphics, YoAppearance.Orange()); ret.setLinkGraphics(linkGraphics); return ret; }
graphics.translate(jointContactPoint.getRight()); double radius = 0.01; graphics.addSphere(radius, YoAppearance.Orange());
obj.addEllipsoid(a, b, c, YoAppearance.Orange()); obj.rotate(-Math.PI / 4.0, Axis.X);
obj.addEllipsoid(a, b, c, YoAppearance.Orange()); obj.rotate(-Math.PI / 4.0, Axis.X);
break; case INTERSECTION_BUT_OUTSIDE_TRAJECTORY: appearance = YoAppearance.Orange(); size = 0.013; break;
color = YoAppearance.Orange();
color = YoAppearance.Orange();
scsLink.addEllipsoidFromMassProperties(YoAppearance.Orange());
private void createFloatingRobot() { Robot floatingRobot = new Robot("floatingRobot"); Vector3D position = new Vector3D(0.0, 0.02, 1.1); double length = 0.01; floatingRobot.setGravity(0.0, 0.0, 0.0); horizontalJoint = new SliderJoint("y", position, floatingRobot, Axis.Y); floatingRobot.addRootJoint(horizontalJoint); Link linkHorizontal = new Link("linkHorizontal"); linkHorizontal.setMass(0.5); linkHorizontal.setComOffset(length / 2.0, 0.0, 0.0); linkHorizontal.setMomentOfInertia(0.0, 0.01, 0.0); Graphics3DObject linkHorizontalGraphics = new Graphics3DObject(); linkHorizontalGraphics.addCylinder(length * 10, 0.005, YoAppearance.Orange()); linkHorizontal.setLinkGraphics(linkHorizontalGraphics); horizontalJoint.setLink(linkHorizontal); verticalJoint = new SliderJoint("z", new Vector3D(0.0, 0.0, 0.0), floatingRobot, Axis.Z); Link linkVertical = new Link("linkVertical"); linkVertical.setMass(0.5); linkVertical.setComOffset(length / 2.0, 0.0, 0.0); linkVertical.setMomentOfInertia(0.0, 0.01, 0.0); Graphics3DObject linkVerticalGraphics = new Graphics3DObject(); linkVerticalGraphics.addCylinder(length, 0.005, YoAppearance.Blue()); linkVertical.setLinkGraphics(linkVerticalGraphics); verticalJoint.setLink(linkVertical); horizontalJoint.addJoint(verticalJoint); createFloatingRobotController(); robots[0] = floatingRobot; robots[0].setController(floatingRobotController); }
YoGraphicPosition position1 = new YoGraphicPosition("contactFrame1", contactFrameOnePosition, pointSize, YoAppearance.Orange());