glbhand.h

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

#ifndef GLBHAND_H
#define GLBHAND_H


#include "glbarrettbase.h"
#include "glbarrettfinger.h"

using namespace Wm3;

class GLBHand{

 public:
  GLBHand();

  ~GLBHand();

  void initModell();

  void initTriMesh();

  void initGL();

  void draw(GLenum mode = GL_RENDER);

  void setSpread(const float &spread);

  float spread() const;

  void setForce(const int &finger, const double &force);

  void setJoints(double *jointValues);


  GLBarrettFinger F1;
  GLBarrettFinger F2;
  GLBarrettFinger F3;

  GLBarrettBase Base;

  bool initialized() const;
  bool triMeshInitialized() const;
  bool glInitialized() const;



  void generateTriMesh();
  void updateTriMesh();

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

  NodePtr node();
  void setScale(const float scale);
  float scale() const;

 protected:

  void makeBaseList();

 

  GLint BaseList;

  float SpreadAngle;

  bool ModelInitialized;
  bool TriMeshInitialized;
  bool GLInitialized;

  float ScaleFactor;
  //Wm3::TArray<Wm3::TriMesh *> *TriMeshs;
  
  Wm3::TArray<Wm3::TriMesh*> *PartsMeshF1;
  Wm3::TArray<Wm3::TriMesh*> *PartsMeshF2;
  Wm3::TArray<Wm3::TriMesh*> *PartsMeshF3;


  NodePtr BarrettHandNode;
  
  NodePtr BarrettHandF1Node;
  NodePtr BarrettHandF1NodeHelper;
  
  NodePtr BarrettHandF2Node;
  NodePtr BarrettHandF2NodeHelper;
  
  NodePtr BarrettHandF3Node;
  
  NodePtr BarrettHandBaseNode;
};


// ****************************
// **                        **
// ****************************
inline NodePtr GLBHand::node()
{
  return BarrettHandNode;
}


// ****************************
// **                        **
// ****************************
inline void GLBHand::updateTriMesh()
{
  F1.updateTriMesh();
  F2.updateTriMesh();
  F3.updateTriMesh();

  BarrettHandF1NodeHelper->Local.SetRotate(Matrix3f().FromAxisAngle(Vector3f::UNIT_Y, (float) (180.0-SpreadAngle)*DEGTORAD));

  BarrettHandF2NodeHelper->Local.SetRotate(Matrix3f().FromAxisAngle(Vector3f::UNIT_Y, (float) (180.0+SpreadAngle)*DEGTORAD));
}


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


// ****************************
// **                        **
// ****************************
inline float GLBHand::spread() const
{
  return SpreadAngle;
}

// ****************************
// **                        **
// ****************************
inline void GLBHand::setSpread(const GLfloat &spread)
{
  SpreadAngle = spread;
  BarrettHandF1NodeHelper->Local.SetRotate(Matrix3f().FromAxisAngle(Vector3f::UNIT_Y, (float) (180.0-SpreadAngle)*DEGTORAD));

  BarrettHandF2NodeHelper->Local.SetRotate(Matrix3f().FromAxisAngle(Vector3f::UNIT_Y, (float) (180.0+SpreadAngle)*DEGTORAD));
}

// ****************************
// **                        **
// ****************************
inline bool GLBHand::initialized() const
{
  return ModelInitialized;
}
  
// ****************************
// **                        **
// ****************************
inline bool GLBHand::triMeshInitialized() const
{
  return TriMeshInitialized;
}
  

// ****************************
// **                        **
// ****************************
inline bool GLBHand::glInitialized() const
{
  return GLInitialized;
}


// ****************************
// **                        **
// ****************************
inline void GLBHand::setForce(const int &finger, const double &force)
 {
   switch(finger){
    case 1:
     F1.setForce(force);
     break;
   case 2:
     F2.setForce(force);
     break;
   case 3:
     F3.setForce(force);
     break;
     default:
      //do nothing
      break;
   }

   // updateGL();
 }


// ****************************
// **                        **
// ****************************
inline void GLBHand::setJoints(double *jointValues)
{
  F1.setJoints((GLfloat)jointValues[0], (GLfloat)jointValues[1]);
  F2.setJoints((GLfloat)jointValues[2], (GLfloat)jointValues[3]);
  F3.setJoints((GLfloat)jointValues[4], (GLfloat)jointValues[5]);
  SpreadAngle = (GLfloat) jointValues[7];
  updateTriMesh();
}

#endif //GLBARRETTHAND_H

---

Tim Baier bhandlib v0.25

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