public ArrayList<Graphics3DObject> createLinkGraphics() { ArrayList<Graphics3DObject> linkGraphicsArray = new ArrayList<Graphics3DObject>(); for (SteppingStone steppingStone : steppingStones) { Graphics3DObject linkGraphics = steppingStone.createLinkGraphics(YoAppearance.Red()); //YoAppearance.Black()); // LinkGraphics linkGraphics = steppingStone.createLinkGraphics(YoAppearance.Red()); linkGraphicsArray.add(linkGraphics); } return linkGraphicsArray; }
private void addSupportBaseControlTargetGraphics(YoGraphicsListRegistry yoGraphicsListRegistry) { addSupportBaseGraphics(yoGraphicsListRegistry,baseControlTargetPoints,baseControlTargetPointsList,baseControlTargetLinesList,"baseControlTarget",YoAppearance.Red()); }
private void addSupportBaseControlTargetGraphics(YoGraphicsListRegistry yoGraphicsListRegistry) { addSupportBaseGraphics(yoGraphicsListRegistry,baseControlTargetPoints,baseControlTargetPointsList,baseControlTargetLinesList,"baseControlTarget",YoAppearance.Red()); }
public static void addBlinkingAppearance(ArrayList<Runnable> runnables, Graphics3DObject teapotObject) { Graphics3DInstruction teapotAppearanceHolder = teapotObject.addTeaPot(YoAppearance.Red()); BlinkRunnable blinker = new BlinkRunnable(teapotAppearanceHolder); runnables.add(blinker); } public static void addJiggle(Graphics3DNode node,Graphics3DAdapter adapter,ArrayList<Runnable> runnables)
public static void addBlinkingAppearance(ArrayList<Runnable> runnables, Graphics3DObject teapotObject) { Graphics3DInstruction teapotAppearanceHolder = teapotObject.addTeaPot(YoAppearance.Red()); BlinkRunnable blinker = new BlinkRunnable(teapotAppearanceHolder); runnables.add(blinker); } public static void addJiggle(Graphics3DNode node,Graphics3DAdapter adapter,ArrayList<Runnable> runnables)
public static Graphics3DObject createCubeObject(double lengthWidthHeight) { Graphics3DObject cube = new Graphics3DObject(); cube.addCube(lengthWidthHeight, lengthWidthHeight, lengthWidthHeight, YoAppearance.Red()); return cube; }
public static Graphics3DObject createCubeObject(double lengthWidthHeight) { Graphics3DObject cube = new Graphics3DObject(); cube.addCube(lengthWidthHeight, lengthWidthHeight, lengthWidthHeight, YoAppearance.Red()); return cube; }
public static Graphics3DObject createCubeObject(double lengthWidthHeight) { Graphics3DObject cube = new Graphics3DObject(); cube.addCube(lengthWidthHeight, lengthWidthHeight, lengthWidthHeight, YoAppearance.Red()); return cube; }
public static Graphics3DObject createCubeObject(double lengthWidthHeight) { Graphics3DObject cube = new Graphics3DObject(); cube.addCube(lengthWidthHeight, lengthWidthHeight, lengthWidthHeight, YoAppearance.Red()); return cube; }
public void addCoordinateSystem(double length, AppearanceDefinition arrowAppearance) { addCoordinateSystem(length, YoAppearance.Red(), YoAppearance.White(), YoAppearance.Blue(), arrowAppearance); }
public void addCoordinateSystem(double length, AppearanceDefinition arrowAppearance) { addCoordinateSystem(length, YoAppearance.Red(), YoAppearance.White(), YoAppearance.Blue(), arrowAppearance); }
private void createCandidateFootstep(String name, int index, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry) { YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + index + "FramePose", ReferenceFrame.getWorldFrame(), registry); footstepYoFramePose.setToNaN(); YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + index + "YoGraphicPolygon", footstepYoFramePose, defaultFootPolygon.getNumberOfVertices(), registry, 1.0, YoAppearance.Red()); footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon); candidateFootstepPolygons.put(index, footstepYoGraphicPolygon); yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon); }
private void addFalseStair() { final double courseAngle = 3 * 45. / 2; final double startDistance = 6.75; AppearanceDefinition app = YoAppearance.Red(); YoAppearance.makeTransparent(app, 1); final double stepWidth = 0.812; final double stepTread = stepWidth; final double stepThickness = 0.0381; final double stepRise = 0.3048; double[] centerPointLocal = {startDistance + stepTread / 2, 0}; double[] centerPoint; double stairTopHeight = stepRise; centerPoint = rotateAroundOrigin(centerPointLocal, courseAngle); setUpFloatingStair(combinedTerrainObject3D, centerPoint, stepWidth, stepTread, stepThickness, stairTopHeight, courseAngle, app); }
private Link createRandomLink(String linkName, boolean useZeroCoMOffset) { Link link = new Link(linkName); link.setMomentOfInertia(random.nextDouble(), random.nextDouble(), random.nextDouble()); link.setMass(random.nextDouble()); Vector3D comOffset = useZeroCoMOffset ? new Vector3D() : new Vector3D(random.nextDouble(), random.nextDouble(), random.nextDouble()); link.setComOffset(comOffset); Graphics3DObject linkGraphics = new Graphics3DObject(); Matrix3D momentOfInertia = new Matrix3D(); link.getMomentOfInertia(momentOfInertia); double mass = link.getMass(); linkGraphics.createInertiaEllipsoid(momentOfInertia, comOffset, mass, YoAppearance.Red()); link.setLinkGraphics(linkGraphics); return link; }
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 void vidualizeCorruptedFootsteps(FootstepDataListMessage corruptedFootstepDataList, SimulationConstructionSet scs) { if (!VISUALIZE) return; List<FootstepDataMessage> dataList = corruptedFootstepDataList.getFootstepDataList(); for (int i = 0; i < dataList.size(); i++) { FootstepDataMessage footstepData = dataList.get(i); Graphics3DObject staticLinkGraphics = new Graphics3DObject(); staticLinkGraphics.translate(new Vector3D(footstepData.getLocation())); RotationMatrix rotationMatrix = new RotationMatrix(); rotationMatrix.set(footstepData.getOrientation()); staticLinkGraphics.rotate(rotationMatrix); staticLinkGraphics.addCoordinateSystem(0.15, YoAppearance.Red()); scs.addStaticLinkGraphics(staticLinkGraphics); } }
private static Link link11(Random random, double l1, double r1) { Link ret = new Link("link11"); ret.setMass(random.nextDouble()); ret.setComOffset(0.0, 0.0, -l1 / 2.0); ret.setMomentOfInertia(getRotationalInertiaMatrixOfSolidEllipsoid(ret.getMass(), r1, r1, l1 / 2.0)); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(COORDINATE_SYSTEM_LENGTH); createInertiaEllipsoid(ret, linkGraphics, YoAppearance.Red()); ret.setLinkGraphics(linkGraphics); return ret; }
private static Link shin() { AppearanceDefinition shinApp = YoAppearance.Red(); Link ret = new Link("shin"); ret.setMass(SHIN_MASS); // 0.864); ret.setMomentOfInertia(0.00429, 0.00429, 0.00106); ret.setComOffset(0.0, 0.0, -SHIN_LENGTH / 2.0); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCylinder(SHIN_LENGTH, SHIN_RAD, shinApp); ret.setLinkGraphics(linkGraphics); return ret; }
private Link upperArm() { Link link = new Link("upperArm"); Graphics3DObject linkGraphics = new Graphics3DObject(); link.setLinkGraphics(linkGraphics); link.setMass(upperArmMass); link.setComOffset(0.0, 0.0, -0.5*linkLength); link.setMomentOfInertia(upperArmMass * hopperBodyRadius * hopperBodyRadius, upperArmMass * hopperBodyRadius * hopperBodyRadius, upperArmMass * hopperBodyRadius * hopperBodyRadius); if (SHOW_COORDINATE_SYSTEM) linkGraphics.addCoordinateSystem(linkLength * 0.3); linkGraphics.addCube(0.1*linkLength, 0.1*linkLength, -linkLength, YoAppearance.Red()); return link; }