glbarrettfinger.h

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// ***************************************************************************
//                           glbarrettfinger.h
//
//    copyright            : (C) 2004 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************

#ifndef BARRETTFINGER_H
#define BARRETTFINGER_H

#include <GL/gl.h>
#include <GL/glu.h>
#include <iostream>

#include <Wm3CollisionRecord.h>
#include <Wm3TArray.h>
#include <Wm3TriMesh.h>
#include <Wm3Node.h>

#include "glbarrettprimitive.h"
#include "glbarrettj1.h"
#include "glbarrettl1.h"
#include "glbarrettl2.h"
#include "glbarrettl3.h"


#include <robotMath.h>


using namespace Wm3;

extern  GLBarrettPrimitive::MaterialColorProperties colPropEmYellow;
extern  GLBarrettPrimitive::MaterialColorProperties colPropEmGreen;
extern  GLBarrettPrimitive::MaterialColorProperties colPropBarrettAluUnpolished;

class GLBarrettFinger : public GLBarrettPrimitive{

 public:
  GLBarrettFinger();

  virtual ~GLBarrettFinger();

  void initModell();

  void initTriMesh();
  void initGL();

  void draw(GLenum mode = GL_RENDER);

  void draw(){};

  void setJoint0(const float angle);

  void setJoint1(const float angle);

  void setJoint(const int joint, const float angle);

  float getJoint(const int joint)const;

  void setJoints(const float j0, const float j1);

  void makeParts();

  void setForce(const double force);


  void generateTriMesh();
  void updateTriMesh();

  Wm3::TArray<Wm3::TriMesh *> *getTriMeshes();

  void setScale(const double scale);
  float scale() const;

  NodePtr node();

 protected: 

  GLBarrettL1 Part0;
  GLBarrettJ1 Part1;
  GLBarrettL2 Part2;
  GLBarrettL3 Part3;

  GLfloat Joint0Angle;
  GLfloat Joint1Angle;

  GLfloat Force;

  GLuint Arrow;
  GLuint ForceArrow;
  GLuint PartList;

  static const float JOINT1STDVALUE;

  static const int NumParts;


  Wm3::TArray<Wm3::TriMesh *> *TriMeshs;
  //Wm3::TArray<Wm3::CollisionRecord*> *CollisionRecords;

  float ScaleFactor;

  NodePtr WmBarrettFingerNode;
  NodePtr Part_1Node, Part0Node, Part1Node, Part2Node;
  NodePtr Joint1Node, Joint2Node;

  bool TriMeshInitialized;
  bool GLInitialized;


};



// *****************************
// **                         **
// *****************************
inline void GLBarrettFinger::updateTriMesh()
{
  Joint1Node->Local.SetRotate(Matrix3f().FromAxisAngle(Vector3f::UNIT_Z, (float) Joint0Angle*DEGTORAD));

  Joint2Node->Local.SetRotate(Matrix3f().FromAxisAngle(Vector3f::UNIT_Z, (float) Joint1Angle*DEGTORAD));
}

// ********************************
// **                            **
// ********************************
inline NodePtr GLBarrettFinger::node()
{
  return WmBarrettFingerNode;
}


// ********************************
// **                            **
// ********************************
inline float GLBarrettFinger::scale() const
{
  return ScaleFactor;
}

// ********************************
// **                            **
// ********************************
inline void GLBarrettFinger::setJoint(const int joint, const float angle)
{
  switch(joint){
  case 0:
    Joint0Angle = angle;
    break;
  case 1:
    Joint1Angle = angle;
    break;
  default:
    std::cerr << " ** Worng Parameter for joint in BarrettFinger::setJoint" << std::endl;
  }

  updateTriMesh();
}


// ********************************
// **                            **
// ********************************
inline void GLBarrettFinger::setJoints(const float j0, const float j1)
{
  Joint0Angle = j0;
  Joint1Angle = j1;
  updateTriMesh();
}


// ********************************
// **                            **
// ********************************
inline void GLBarrettFinger::setJoint0(const float angle)
{
  Joint0Angle = angle;
  updateTriMesh();
  //std::cout << " ** Joint 0 set to " << Joint0Angle << std::endl;
}


// ********************************
// **                            **
// ********************************
inline void GLBarrettFinger::setJoint1(const float angle)
{
  Joint1Angle = angle;
  updateTriMesh();
  //std::cout << " ** Joint 1 set to " << angle << std::endl;
}


// ********************************
// **                            **
// ********************************
inline float GLBarrettFinger::getJoint(const int joint) const
{
 switch(joint){
  case 0:
    return Joint0Angle;
    break;
  case 1:
    return Joint1Angle;
    break;
  default:
    std::cerr << " ** Worng Parameter for joint in BarrettFinger::getJoint" << std::endl;
    return -10000.0f;
  }
}


// ********************************
// **                            **
// ********************************
inline void GLBarrettFinger::setForce(const double force)
{
  Force = force;
}


// ********************************
// **                            **
// ********************************
inline  Wm3::TArray<Wm3::TriMesh *> *GLBarrettFinger::getTriMeshes()
{
  return TriMeshs;
}


#endif

---

Tim Baier bhandlib v0.25

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