private List<SDFVisual> createSDFVisual(Link scsLink) { if (scsLink.getName().contains("body")) System.out.println(); List<SDFVisual> sdfVisuals = new ArrayList<>(); ArrayList<Graphics3DPrimitiveInstruction> graphics3dInstructions = scsLink.getLinkGraphics().getGraphics3DInstructions(); RigidBodyTransform parentJointTransformToWorld = new RigidBodyTransform(); Joint parentJoint = scsLink.getParentJoint(); if (scsRobot.getRootJoints().contains(parentJoint)) parentJoint.getTransformToWorld(parentJointTransformToWorld); SDFVisual sdfVisual = createSDFVisual(parentJointTransformToWorld, graphics3dInstructions); if (sdfVisual != null) sdfVisuals.add(sdfVisual); return sdfVisuals; }
private List<SDFVisual> createSDFVisual(Link scsLink) { if (scsLink.getName().contains("body")) System.out.println(); List<SDFVisual> sdfVisuals = new ArrayList<>(); ArrayList<Graphics3DPrimitiveInstruction> graphics3dInstructions = scsLink.getLinkGraphics().getGraphics3DInstructions(); RigidBodyTransform parentJointTransformToWorld = new RigidBodyTransform(); Joint parentJoint = scsLink.getParentJoint(); if (scsRobot.getRootJoints().contains(parentJoint)) parentJoint.getTransformToWorld(parentJointTransformToWorld); SDFVisual sdfVisual = createSDFVisual(parentJointTransformToWorld, graphics3dInstructions); if (sdfVisual != null) sdfVisuals.add(sdfVisual); return sdfVisuals; }
public void addJointAxis(FloatingRootJointRobot valkyrieRobot) { ArrayList<OneDegreeOfFreedomJoint> joints = new ArrayList<>(Arrays.asList(valkyrieRobot.getOneDegreeOfFreedomJoints())); for (OneDegreeOfFreedomJoint joint : joints) { Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(0.5); linkGraphics.combine(joint.getLink().getLinkGraphics()); joint.getLink().setLinkGraphics(linkGraphics); } }
instructions.add(e); Graphics3DObject oldLinkGraphics = link.getLinkGraphics();
dummyRegistry = new YoVariableRegistry("dummyRegistry"); staticLink = new Link("simpleLink"); staticLinkGraphics = staticLink.getLinkGraphics(); graphics3DNodeType = Graphics3DNodeType.GROUND; simpleExternalForcePoint = new ExternalForcePoint("simpleExternalForcePoint", dummyRegistry);