Assembly *GraspGLObjects::CreateVisualTool( double magnifier ) {
Assembly *tool = new Assembly();
// Create a set of 'fingers', each of which is a 'capsule' composed of a tube with rounded caps.
static int n_fingers = target_balls-1;
double radius = finger_ball_radius * magnifier;
double length = finger_length * magnifier;
double spacing = radius * 2.0;
for ( int trg = - n_fingers; trg <= n_fingers ; trg++ ){
// Each finger is a 'capsule' composed of a cylinder that is capped on each end with a sphere.
Assembly *finger = new Assembly();
Sphere *sphere = new Sphere( radius );
sphere->SetPosition( 0.0, 0.0, 0.0 );
finger->AddComponent( sphere );
Cylinder *cylinder = new Cylinder( radius, radius, length );
cylinder->SetPosition( 0.0, 0.0, - length / 2 );
finger->AddComponent( cylinder );
sphere = new Sphere( radius );
sphere->SetPosition( 0.0, 0.0, - length );
finger->AddComponent( sphere );
// Space the fingers vertically.
finger->SetPosition( 0.0, spacing * trg, 0.0 );
tool->AddComponent( finger );
}
SetHandColor( tool, true );
return tool;
}
MeterStick::MeterStick( void ) {
double stick_radius = 25.0;
Cylinder *cylinder;
Disk *disk;
cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
cylinder->SetColor( RED );
AddComponent( cylinder );
cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
cylinder->SetOffset( 0.0, 0.0, 200.0 );
cylinder->SetColor( WHITE );
AddComponent( cylinder );
cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
cylinder->SetOffset( 0.0, 0.0, 400.0 );
cylinder->SetColor( RED );
AddComponent( cylinder );
cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
cylinder->SetOffset( 0.0, 0.0, 600.0 );
cylinder->SetColor( WHITE );
AddComponent( cylinder );
cylinder = new Cylinder( stick_radius, stick_radius, 200.0 );
cylinder->SetOffset( 0.0, 0.0, 800.0 );
cylinder->SetColor( RED );
AddComponent( cylinder );
cylinder = new Cylinder( stick_radius / 2.0, stick_radius / 2.0, 100.0 );
cylinder->SetAttitude( 90.0, j_vector );
cylinder->SetColor( BLACK );
AddComponent( cylinder );
cylinder = new Cylinder( stick_radius / 2.0, stick_radius / 2.0, 100.0 );
cylinder->SetAttitude( 90.0, j_vector );
cylinder->SetPosition( 0.0, 0.0, 1000.0 - stick_radius );
cylinder->SetColor( BLACK );
AddComponent( cylinder );
disk = new Disk( stick_radius );
disk->SetPosition( 0.0, 0.0, 990.0 );
disk->SetColor( RED );
AddComponent( disk );
}
Assembly *GraspGLObjects::CreateKinestheticTool( void ) {
static const double hand_radius = finger_ball_radius * 2.5;
Assembly *finger = new Assembly();
Sphere *sphere = new Sphere( hand_radius );
sphere->SetPosition( 0.0, 0.0, 0.0 );
finger->AddComponent( sphere );
Cylinder *cylinder = new Cylinder( hand_radius, hand_radius, finger_length );
cylinder->SetPosition( 0.0, 0.0, - finger_length / 2 );
finger->AddComponent( cylinder );
sphere = new Sphere( hand_radius );
sphere->SetPosition( 0.0, 0.0, - finger_length );
finger->AddComponent( sphere );
// Set a default color. I like blue.
// In K-K color will be varied according to the orientation error.
finger->SetColor( 0.0, 0.0, 1.0, 1.0 );
return finger;
}
// The following objects are not used during the Grasp protocol and are not seen by the subject.
// Rather, these objects are used in the GraspGUI and elswhere to visualize the subject's pose.
// Perhaps they would be better placed in another class so that they are not included when not needed.
Assembly *GraspGLObjects::CreateHead( void ) {
Assembly *head = new Assembly();
// Skull
Ellipsoid *skull = new Ellipsoid( head_shape );
skull->SetColor( .4f, 0.0f, .4f );
// Eyes
head->AddComponent( skull );
Sphere *sphere = new Sphere( 20.0 );
sphere->SetColor( 0.0f, 0.0f, 1.0f );
sphere->SetPosition( -50.0, 20.0, -100.0 );
head->AddComponent( sphere );
sphere = new Sphere( 20.0 );
sphere->SetColor( 0.0f, 0.0f, 1.0f );
sphere->SetPosition( 50.0, 20.0, -100.0 );
head->AddComponent( sphere );
// Nose
Cylinder *cylinder = new Cylinder( 20.0, 5.0, 30.0 );
cylinder->SetPosition( 0.0, -20.0, - head_shape[Z] );
cylinder->SetOrientation( 0.0, 90.0, 0.0 );
cylinder->SetColor( YELLOW );
head->AddComponent( cylinder );
return head;
}
Assembly *GraspGLObjects::CreateOrientationTarget( void ) {
Assembly *target = new Assembly();
if ( useBars ) {
for (int trg = - target_bars ; trg <= target_bars ; trg++ ){
Cylinder *cylinder = new Cylinder( target_bar_radius, target_bar_radius,2.0 * room_radius );
cylinder->SetPosition( 0.0 + target_bar_spacing * trg, 0.0, 0.0 );
cylinder->SetOrientation(0.0, 90.0, 0.0);
cylinder->SetColor( Translucid( BLUE ) );
target->AddComponent( cylinder );
}
}
else {
for (int trg = - target_balls ; trg <= target_balls ; trg++ ){
Sphere *sphere = new Sphere( target_ball_radius );
sphere->SetPosition( 0.0, 0.0 + target_ball_spacing * trg, 0.0 );
sphere->SetColor(( 255.0 - abs(trg) * 50.0 ) / 255.0, 0.0, 0.0);
target->AddComponent( sphere );
}
}
return target;
}
