Assembly *GraspGLObjects::CreateRollPrompt( double radius ) {
Assembly *prompt = new Assembly();
// Angular extent of the circular arrow, where 1.0 = 360°.
double guage = radius / 10.0;
double arc = 0.85;
Annulus *donut = new Annulus( radius, guage, arc, curve_facets, curve_facets );
donut->SetAttitude( 0.0, 90.0, 0.0 );
prompt->AddComponent( donut );
TaperedAnnulus *tip = new TaperedAnnulus( radius, radius / 3.0, 1.0, 0.05, curve_facets );
tip->SetAttitude( 0.0, 90.0, 0.0 );
tip->SetOrientation( - arc * 360.0, 0.0, 0.0 );
prompt->AddComponent( tip );
Ellipsoid *base = new Ellipsoid ( guage, guage / 2.0, guage );
base->SetPosition( radius, 0.0, 0.0 );
prompt->AddComponent( base );
prompt->SetColor( 0.5, 0.5, 0.5, 0.5 );
return prompt;
}
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;
}
Assembly *GraspGLObjects::CreateTorso( void ) {
Assembly *torso = new Assembly();
Slab *slab = new Slab( torso_shape[X], torso_shape[Y], torso_shape[Z] );
slab->SetColor( 0.1f, 0.4f, 0.0f );
torso->AddComponent( slab );
Disk *disk = new Disk( 50.0 );
disk->SetPosition( 0.0, 0.0, -40.0 );
disk->SetColor( 1.0f, 0.7f, 0.0f );
torso->AddComponent( disk );
return torso;
}
Assembly *GraspGLObjects::CreateSuccessIndicator( void ) {
Assembly *assembly = new Assembly();
Sphere *sphere = new Sphere( prompt_radius );
sphere->SetColor( GREEN );
assembly->AddComponent( sphere );
return assembly;
}
// Create a translucid cloud to show where to place the hand.
Assembly *GraspGLObjects::CreateZone( void ) {
Assembly *assembly = new Assembly();
Disk *disk = new Disk( 50.0, 0.0, 128 );
assembly->AddComponent( disk );
// Set the color to a blinking translucid green.
assembly->SetColor( 0.0, 1.0, 0.0, - 0.05 );
return assembly;
}
Assembly *GraspGLObjects::CreateStarrySky( void ) {
Assembly *sky = new Assembly();
Patch *patch = new Patch( room_radius * 4.4, room_radius * 4.4 );
patch->SetTexture( sky_texture );
sky->AddComponent( patch );
sky->SetColor(WHITE);
return( sky );
}
Assembly *GraspGLObjects::CreateCodaBar( double r, double g, double b ) {
Assembly *coda = new Assembly();
Slab *slab = new Slab( coda_shape[X], coda_shape[Y], coda_shape[Z] );
slab->SetColor( r, g, b, 1.0 );
coda->AddComponent( slab );
for ( int lens = 0; lens < 3; lens ++ ) {
slab = new Slab( coda_shape[X] / 10.0, coda_shape[Y] * 0.8, coda_shape[Z] );
slab->SetPosition( ( 1 - lens ) * 0.4 * coda_shape[X], 0.0, - 10.0 );
slab->SetColor( BLACK );
coda->AddComponent( slab );
}
coda->SetOffset( - 0.4 * coda_shape[X], 0.0, 0.0 );
coda->SetAttitude( 0.0, -90.0, 0.0 );
return coda;
}
Assembly *GraspGLObjects::CreateDarkSky( void ) {
Assembly *darkSky = new Assembly();
Patch *patch = new Patch( room_radius * 2.2, room_radius * 2.2 );
patch->SetTexture( sky_texture );// there is something strange if I dont put the texture the ligthing of the whole tunnel changes
darkSky->AddComponent( patch );
darkSky->SetColor( BLACK );
darkSky->enabled = false;
return( darkSky );
}
Assembly *GraspGLObjects::CreateLaserPointer( void ) {
Assembly *laserPointer = new Assembly();
Sphere *sphere = new Sphere( finger_ball_radius*2.0 );
sphere->SetPosition( 0.0, 0.0, - laser_distance );
laserPointer->AddComponent( sphere );
// Laser is off by default.
laserPointer->Disable();
return laserPointer;
}
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;
}
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;
}
Assembly *GraspGLObjects::CreateIndicator( Texture *texture, double hole_radius ) {
Assembly *assembly = new Assembly();
Disk *surface;
surface = new Disk( 120.0, hole_radius, 128 );
surface->SetTexture( texture );
assembly->AddComponent( surface );
assembly->SetColor( 0.9, 0.9, 1.0, hmdTransparency );
assembly->Disable();
return assembly;
}
Assembly *GraspGLObjects::CreateResponse( void ) {
static int fingers = target_balls - 1;
static double finger_spacing = target_ball_radius;
Assembly *projectiles = new Assembly();
for ( int trg = - fingers; trg <= fingers ; trg++ ){
Sphere *sphere = new Sphere( target_ball_radius * 0.75 );
sphere->SetColor( 200.0f/255.0f, (75.0f + float(trg) * 75.0f/2.0f)/255.0f , 0.0f, 1.0f );
// Space the balls vertically.
sphere->SetPosition( 0.0, 0.0 + target_ball_spacing * trg, 0.0 );
projectiles->AddComponent( sphere );
}
return projectiles;
}
// 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;
}
Assembly *GraspGLObjects::CreatePositionOnlyTarget( void ) {
Assembly *target = new Assembly();
Sphere *sphere = new Sphere( room_radius - 100.0 );
target->AddComponent( sphere );
target->SetColor( Translucid( CYAN ) );
// I put back the sphere so that we don't get a flattened disk in an oblique view.
// I changed the color to CYAN to provide a better background to the yellow-red hand.
//Disk *disk = new Disk( room_radius - 80.0, 0.0 );//Tagliabue (disk instead of sphere otherwise it hides
//disk->SetPosition(0.0 , 0.0 , 5.0);//Tagliabue (moved slightly in front of the sky otherwhise interferences)
//target->AddComponent( disk );//Tagliabue
//target->SetColor( Translucid( ORANGE ) );//Tagliabue (translucid is to avoid to see too clearly the pixels)
return target;
}
Assembly *GraspGLObjects::CreateProjectiles( int fingers ) {
Assembly *assembly = new Assembly();
double finger_spacing = finger_ball_radius * 2;
for ( int trg = - fingers; trg <= fingers ; trg++ ){
Sphere *sphere = new Sphere( finger_ball_radius*1.0 );
// Create a color that varies as a function of the ball's position.
if ( fingers == 0 ) sphere->SetColor( 200.0f/255.0f, 0.0f, 0.0f, 1.0f );
else sphere->SetColor( 200.0f/255.0f, (75.0f + float(trg) * 75.0f / 2.0f ) / 255.0f , 0.0f, 1.0f );
// Space the balls vertically.
sphere->SetPosition( 0.0, finger_spacing * trg, 0.0 );
assembly->AddComponent( sphere );
}
return assembly;
}
MarkerStructureGLObject *GraspGLObjects::CreateHmdMarkerStructure ( char *model_file ) {
MarkerStructureGLObject *structure = new MarkerStructureGLObject( model_file );
Slab *bar;
Assembly *frame = new Assembly();
bar = new Slab( STRUCTURE_BAR_RADIUS, 100.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, 0.0, 0.0 );
frame->AddComponent( bar );
bar = new Slab( 210.0, STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, 0.0, 0.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, 160.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 110.0, 0.0, 40.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, 160.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( -110.0, 0.0, 40.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS, 40 );
bar->SetPosition( -110.0, 0.0, 20.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS, 40 );
bar->SetPosition( 110.0, 0.0, 20.0 );
frame->AddComponent( bar );
frame->SetPosition( 0.0, 0.0, -10.0 );
structure->AddComponent( frame );
structure->SetColor( Translucid( GRAY ) );
// structure->SetOrientation( 0.0, 0.0, 90.0 );
return( structure );
}
