Package us.ihmc.graphics3DAdapter.graphics

Examples of us.ihmc.graphics3DAdapter.graphics.Graphics3DObject.translate()

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      kdArmWeld.set(100.0);
      kpPenOnDesk.set(1000.0);
     
      // Desk
      Graphics3DObject tableLinkGraphics = new Graphics3DObject();
      tableLinkGraphics.translate(TABLE_CENTER_X_OFFSET, TABLE_CENTER_Y_OFFSET, TABLE_HEIGHT - TABLE_THICKNESS/2.0);
      tableLinkGraphics.addCube(TABLE_LENGTH, TABLE_WIDTH, TABLE_THICKNESS, YoAppearance.Brown());
      this.addStaticLinkGraphics(tableLinkGraphics);
     
      // Desk Pendulum
      PinJoint deskPendulumXJoint = new PinJoint("deskPendulumX", new Vector3d(0.0, 0.0, TABLE_HEIGHT), this, Axis.X);
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      xPendulumArmGimbalLinkGraphics.rotate(-Math.PI/2.0, Axis.Y);
      xPendulumArmGimbalLinkGraphics.addCylinder(ARM_LENGTH, ARM_RADIUS, YoAppearance.Pink());
     
      // Pen:
      xPendulumArmGimbalLinkGraphics.identity();
      xPendulumArmGimbalLinkGraphics.translate(-ARM_LENGTH, 0.0, -PEN_HEIGHT);
      xPendulumArmGimbalLinkGraphics.addCylinder(PEN_HEIGHT, PEN_RADIUS);

     
      xPendulumArmGimbalLink.setLinkGraphics(xPendulumArmGimbalLinkGraphics);
     
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      Link deskPendulumLink = new Link("deskPendulum");
      deskPendulumLink.setMassAndRadiiOfGyration(DESK_PENDULUM_MASS, DESK_PENDULUM_RADIUS_GRYRATION_X, DESK_PENDULUM_RADIUS_GRYRATION_Y, DESK_PENDULUM_RADIUS_GRYRATION_Z);
      deskPendulumLink.setComOffset(new Vector3d(0.0, 0.0, DESK_PENDULUM_COM_Z));
     
      Graphics3DObject deskPendulumLinkGraphics = new Graphics3DObject();
      deskPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, DESK_PENDULUM_OFFSET_Z));
      deskPendulumLinkGraphics.addCylinder(DESK_PENDULUM_LENGTH, DESK_PENDULUM_RADIUS);
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_WEIGHTS_DISTANCE_FROM_BOTTOM);
      deskPendulumLinkGraphics.addCylinder(DESK_WEIGHTS_HEIGHT, DESK_WEIGHTS_RADIUS);
      deskPendulumLinkGraphics.identity();
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_HEIGHT);
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      deskPendulumLink.setComOffset(new Vector3d(0.0, 0.0, DESK_PENDULUM_COM_Z));
     
      Graphics3DObject deskPendulumLinkGraphics = new Graphics3DObject();
      deskPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, DESK_PENDULUM_OFFSET_Z));
      deskPendulumLinkGraphics.addCylinder(DESK_PENDULUM_LENGTH, DESK_PENDULUM_RADIUS);
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_WEIGHTS_DISTANCE_FROM_BOTTOM);
      deskPendulumLinkGraphics.addCylinder(DESK_WEIGHTS_HEIGHT, DESK_WEIGHTS_RADIUS);
      deskPendulumLinkGraphics.identity();
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_HEIGHT);
      deskPendulumLinkGraphics.addCube(DESK_WIDTH, DESK_LENGTH, DESK_THICKNESS);
     
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      deskPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, DESK_PENDULUM_OFFSET_Z));
      deskPendulumLinkGraphics.addCylinder(DESK_PENDULUM_LENGTH, DESK_PENDULUM_RADIUS);
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_WEIGHTS_DISTANCE_FROM_BOTTOM);
      deskPendulumLinkGraphics.addCylinder(DESK_WEIGHTS_HEIGHT, DESK_WEIGHTS_RADIUS);
      deskPendulumLinkGraphics.identity();
      deskPendulumLinkGraphics.translate(0.0, 0.0, DESK_HEIGHT);
      deskPendulumLinkGraphics.addCube(DESK_WIDTH, DESK_LENGTH, DESK_THICKNESS);
     
      deskPendulumLink.setLinkGraphics(deskPendulumLinkGraphics);
      return deskPendulumLink;
   }
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      xPendulumLink.setMassAndRadiiOfGyration(XY_PENDULUM_MASS, XY_PENDULUM_RADIUS_GRYRATION_X, XY_PENDULUM_RADIUS_GRYRATION_Y, XY_PENDULUM_RADIUS_GRYRATION_Z);
      xPendulumLink.setComOffset(new Vector3d(0.0, 0.0, XY_PENDULUM_COM_Z));
     
      Graphics3DObject xPendulumLinkGraphics = new Graphics3DObject();
    
      xPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, XY_PENDULUM_OFFSET_Z));
      xPendulumLinkGraphics.addCylinder(XY_PENDULUM_LENGTH, XY_PENDULUM_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addCylinder(XY_WEIGHTS_HEIGHT, XY_WEIGHTS_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_PENDULUM_LENGTH-XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addSphere(0.03);
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      Graphics3DObject xPendulumLinkGraphics = new Graphics3DObject();
    
      xPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, XY_PENDULUM_OFFSET_Z));
      xPendulumLinkGraphics.addCylinder(XY_PENDULUM_LENGTH, XY_PENDULUM_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addCylinder(XY_WEIGHTS_HEIGHT, XY_WEIGHTS_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_PENDULUM_LENGTH-XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addSphere(0.03);
     
      xPendulumLink.setLinkGraphics(xPendulumLinkGraphics);
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      xPendulumLinkGraphics.translate(new Vector3d(0.0, 0.0, XY_PENDULUM_OFFSET_Z));
      xPendulumLinkGraphics.addCylinder(XY_PENDULUM_LENGTH, XY_PENDULUM_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addCylinder(XY_WEIGHTS_HEIGHT, XY_WEIGHTS_RADIUS);
      xPendulumLinkGraphics.translate(0.0, 0.0, XY_PENDULUM_LENGTH-XY_WEIGHTS_DISTANCE_FROM_BOTTOM);
      xPendulumLinkGraphics.addSphere(0.03);
     
      xPendulumLink.setLinkGraphics(xPendulumLinkGraphics);
      return xPendulumLink;
   }
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