Assembly *GraspGLObjects::CreateRoom( void ) {
Assembly *structure = new Assembly();
structure->SetColor( BLACK );
// Tunnel
tunnel = new Assembly();
Cylinder *cylinder = new Cylinder( room_radius, room_radius, room_length, room_facets );
cylinder->SetColor( WHITE );
cylinder->SetTexture( wall_texture );
cylinder->SetOrientation( 90.0, 0.0, 0.0 );
tunnel->AddComponent( cylinder );
// Reference Bars
double bar_length = room_length - 5.0 * reference_bar_radius;
for (int i=0; i < reference_bars; i++ ){
Cylinder *referenceBar = new Cylinder( reference_bar_radius, reference_bar_radius, bar_length, reference_bar_facets );
referenceBar->SetOffset( room_radius, 0.0, 0.0 );
referenceBar->SetOrientation( 90.0 + 180 * (float) i / (float) reference_bars, referenceBar->kVector );
referenceBar->SetColor( 1.0 - (double) i / reference_bars, 1.0f - (double) i / reference_bars, 1.0f - (double) i / reference_bars, 1.0 );
// The texturing on the bars may be commented out for the moment because it lengthens the rendering time too much.
referenceBar->SetTexture( references_texture );
tunnel->AddComponent( referenceBar );
referenceBar = new Cylinder( reference_bar_radius, reference_bar_radius, bar_length, reference_bar_facets );
referenceBar->SetOffset( room_radius, 0.0, 0.0 );
referenceBar->SetOrientation( - 90.0 + 180 * (float) i / (float) reference_bars, referenceBar->kVector );
referenceBar->SetColor( (double) i / reference_bars, (double) i / reference_bars, (double) i / reference_bars, 1.0 );
// See above.
referenceBar->SetTexture( references_texture );
tunnel->AddComponent( referenceBar );
}
structure->AddComponent( tunnel );
Sphere *sphere = new Sphere( target_ball_radius );
sphere->SetPosition( 0.0, 0.0, room_length / 2.0 );
sphere->SetColor( RED );
structure->AddComponent( sphere );
return structure;
}
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 );
}
// 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;
}