private Link exampleExtrudedPolygonShape() { Link ret = new Link("exampleExtrudedPolygonShape"); Graphics3DObject linkGraphics = new Graphics3DObject(); // Extruded Polygon linkGraphics.translate(-2.0 * OFFSET, OFFSET, 0.0); linkGraphics.addCoordinateSystem(COORD_LENGTH); ArrayList<Point2D> polygonPoints = new ArrayList<Point2D>(); polygonPoints.add(new Point2D(0.0, 0.0)); polygonPoints.add(new Point2D(0.4, 0.0)); polygonPoints.add(new Point2D(0.3, 0.3)); double height = 0.25; linkGraphics.addExtrudedPolygon(polygonPoints, height, YoAppearance.Purple()); ret.setLinkGraphics(linkGraphics); return ret; }
public static AppearanceDefinition[] getStandardRoyGBivRainbow() { AppearanceDefinition[] rainbow = new AppearanceDefinition[] { YoAppearance.Red(), YoAppearance.OrangeRed(), YoAppearance.Yellow(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Indigo(), YoAppearance.Purple()}; return rainbow; }
public static AppearanceDefinition[] getStandardRoyGBivRainbow() { AppearanceDefinition[] rainbow = new AppearanceDefinition[] { YoAppearance.Red(), YoAppearance.OrangeRed(), YoAppearance.Yellow(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Indigo(), YoAppearance.Purple()}; return rainbow; }
private Link MS3DMLink() { Link p = new Link("ms3DMLink"); p.setMass(MS3DM_MASS); p.setComOffset(0.0, 0.0, 0.0); p.setMomentOfInertia(0.1, 0.1, 0.1); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(0.1); linkGraphics.addCube(MS3DM_LENGTH, MS3DM_WIDTH, MS3DM_HEIGHT, YoAppearance.Purple()); p.setLinkGraphics(linkGraphics); return p; }
private void drawHeightOfOriginalPointsInPurple(ArrayList<Point3D> points, int pointsPerBallUpdate) { if (!visualize) return; int count = 0; Graphics3DObject staticLinkGraphics = new Graphics3DObject(); for (Point3D point : points) { count ++; if (count >= pointsPerBallUpdate) { count = 0; double z = heightMap.getHeightAtPoint(point.getX(), point.getY()); staticLinkGraphics.identity(); staticLinkGraphics.translate(new Vector3D(point.getX(), point.getY(), z + 0.001)); double cubeSize = resolution * 0.35; staticLinkGraphics.addCube(cubeSize, cubeSize, cubeSize / 3.0, YoAppearance.Purple()); } } scs.addStaticLinkGraphics(staticLinkGraphics); }
testHelper.drawAllPointsInQuadTree(resolution/2.0, YoAppearance.Purple());
YoGraphicPosition unprojectedDesiredCMPViz = new YoGraphicPosition("Unprojected Desired CMP", yoUnprojectedDesiredCMP, 0.008, Purple(), YoGraphicPosition.GraphicType.BALL_WITH_ROTATED_CROSS); YoArtifactPosition artifact = unprojectedDesiredCMPViz.createArtifact(); artifact.setVisible(false);
public DoublePendulum() { super("DoublePendulum"); j1 = new PinJoint("j1", new Vector3D(0, 0, 2), this, Axis.X); Link l1 = new Link("l1"); l1.setComOffset(0, 0, 0.5); l1.setMassAndRadiiOfGyration(1.0, 0.05, 0.05, 0.3); l1.addEllipsoidFromMassProperties(YoAppearance.Pink()); j1.setLink(l1); j2 = new PinJoint("j2", new Vector3D(0.0, 0.0, 1.0), this, Axis.X); Link l2 = new Link("l2"); l2.setComOffset(0, 0, 0.5); l2.setMassAndRadiiOfGyration(1.0, 0.05, 0.05, 0.3); l2.addEllipsoidFromMassProperties(YoAppearance.Purple()); j2.setLink(l2); j1.addJoint(j2); addRootJoint(j1); }
groundObject.addHeightMap(flatHeightMap, 100, 100, YoAppearance.Purple()); Graphics3DNode groundNode = new Graphics3DNode("ground", Graphics3DNodeType.JOINT);
groundObject.addHeightMap(flatHeightMap, 100, 100, YoAppearance.Purple()); Graphics3DNode groundNode = new Graphics3DNode("ground", Graphics3DNodeType.JOINT);
leftFootstepSolvedPlan.setConvexPolygon2d(leftFootInSoleFrame); YoGraphicPolygon leftFootstepSolvedPlanViz = new YoGraphicPolygon("leftFootstepSolvedPlanViz" + i, leftFootstepSolvedPlan, "leftFootstepSolvedPlan" + i, "", registry, 1.0, YoAppearance.Purple()); graphicsListRegistry.registerYoGraphic("FootstepPlanner", leftFootstepSolvedPlanViz); rightFootstepSolvedPlan.setConvexPolygon2d(rightFootInSoleFrame); YoGraphicPolygon rightFootstepSolvedPlanViz = new YoGraphicPolygon("rightFootstepSolvedPlanViz" + i, rightFootstepSolvedPlan, "rightFootstepSolvedPlan" + i, "", registry, 1.0, YoAppearance.Purple()); graphicsListRegistry.registerYoGraphic("FootstepPlanner", rightFootstepSolvedPlanViz);
polygonPoints.add(new Point2D(0.3, 0.3)); double height = 0.25; linkGraphics.addExtrudedPolygon(polygonPoints, height, YoAppearance.Purple());
YoGraphicPosition pointOnAViz = new YoGraphicPosition("pointOnA", "_" + i, robot.getRobotsYoVariableRegistry(), 0.03, YoAppearance.Purple()); YoGraphicPosition pointOnBViz = new YoGraphicPosition("pointOnB", "_" + i, robot.getRobotsYoVariableRegistry(), 0.03, YoAppearance.Gold());
staticLinkGraphics.addCube(cubeSize, cubeSize, cubeSize / 3.0, YoAppearance.Purple()); scs.addStaticLinkGraphics(staticLinkGraphics);
polygonSnapperVisualizer.addPlanarRegionsList(planarRegionsList, YoAppearance.Gold(), YoAppearance.Purple(), YoAppearance.Brown(), YoAppearance.Blue(), YoAppearance.Chartreuse());
YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, Yellow(), GraphicType.BALL_WITH_ROTATED_CROSS); YoGraphicPosition finalDesiredCapturePointViz = new YoGraphicPosition("Final Desired Capture Point", yoFinalDesiredICP, 0.01, Beige(), GraphicType.BALL_WITH_ROTATED_CROSS); YoGraphicPosition desiredCMPViz = new YoGraphicPosition("Desired CMP", yoDesiredCMP, 0.012, Purple(), GraphicType.BALL_WITH_CROSS); YoGraphicPosition achievedCMPViz = new YoGraphicPosition("Achieved CMP", yoAchievedCMP, 0.005, DarkRed(), GraphicType.BALL_WITH_CROSS); YoGraphicPosition perfectCMPViz = new YoGraphicPosition("Perfect CMP", yoPerfectCMP, 0.002, BlueViolet());
YoGraphicPosition position0 = new YoGraphicPosition("contactFrame0", contactFrameZeroPosition, pointSize, YoAppearance.Purple()); YoGraphicPosition position1 = new YoGraphicPosition("contactFrame1", contactFrameOnePosition, pointSize, YoAppearance.Orange());