def buildJoint3(previousJoint):
height = 7.5
radius = 4.45633
joint = osg.Geode()
xTransform = osg.MatrixTransform()
previousJoint.addChild(xTransform)
xRot = osg.Matrix.rotate(-osg.PI_2, 1.0, 0.0, 0.0)
xTransform.setMatrix(xRot)
zCheat = osg.MatrixTransform()
zTransCheat = osg.Matrix.translate(0.0,0.0,-height)
zCheat.setMatrix(zTransCheat)
xTransform.addChild(zCheat)
shape = osg.ShapeDrawable(osg.Capsule(osg.Vec3(0.0,0.0,height/2),radius,height),hints)
joint.addDrawable(shape)
zCheat.addChild(joint)
zTransform = osg.MatrixTransform()
zCheat.addChild(zTransform)
zRot = osg.Matrix.rotate((float)jointAngle3, 0.0, 0.0, 1.0)
zTrans = osg.Matrix.translate(0,0,0)
zTransform.setMatrix(zTrans*zRot)
if showAxis :
createAxis(zTransform)
return zTransform
def createShapes():
geode = osg.Geode()
# ---------------------------------------
# Set up a StateSet to texture the objects
# ---------------------------------------
stateset = osg.StateSet()
image = osgDB.readImageFile( "Images/lz.rgb" )
if image :
texture = osg.Texture2D()
texture.setImage(image)
texture.setFilter(osg.Texture.MIN_FILTER, osg.Texture.LINEAR)
stateset.setTextureAttributeAndModes(0,texture, osg.StateAttribute.ON)
stateset.setMode(GL_LIGHTING, osg.StateAttribute.ON)
geode.setStateSet( stateset )
radius = 0.8
height = 1.0
hints = osg.TessellationHints()
hints.setDetailRatio(0.5)
geode.addDrawable(osg.ShapeDrawable(osg.Sphere(osg.Vec3(0.0,0.0,0.0),radius),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Box(osg.Vec3(2.0,0.0,0.0),2*radius),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Cone(osg.Vec3(4.0,0.0,0.0),radius,height),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Cylinder(osg.Vec3(6.0,0.0,0.0),radius,height),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Capsule(osg.Vec3(8.0,0.0,0.0),radius,height),hints))
grid = osg.HeightField()
grid.allocate(38,39)
grid.setXInterval(0.28)
grid.setYInterval(0.28)
for(unsigned int r=0r<39++r)
for(unsigned int c=0c<38++c)
grid.setHeight(c,r,vertex[r+c*39][2])
def buildTube2(previousJoint):
if showAxis :
createAxis(previousJoint)
height = 17.6
radius = 4.45633
xTransform = osg.MatrixTransform()
previousJoint.addChild(xTransform)
xRot = osg.Matrix.rotate(osg.PI_2, 1.0,0.0,0.0)
xTransform.setMatrix(xRot)
tube3 = osg.Geode()
xTransform.addChild(tube3)
tube3.addDrawable(osg.ShapeDrawable(osg.Capsule(osg.Vec3(0.0,0.0,height/2),radius,height),hints))
zTransform = osg.MatrixTransform()
xTransform.addChild(zTransform)
zTrans = osg.Matrix.translate(0,0,height)
zTransform.setMatrix(zTrans)
return zTransform
def buildJoint2(previousJoint):
if showAxis :
createAxis(previousJoint)
height = 17.6
radius = 4.45633
xTransform = osg.MatrixTransform()
previousJoint.addChild(xTransform)
xRot = osg.Matrix.rotate(osg.PI_2, 1.0, 0.0, 0.0)
xTransform.setMatrix(xRot)
joint = osg.Geode()
joint.addDrawable(osg.ShapeDrawable(osg.Capsule(osg.Vec3(0.0,0.0,height/2),radius,height),hints))
xTransform.addChild(joint)
zTransform = osg.MatrixTransform()
zTrans = osg.Matrix.translate( 0.0, 0.0, height)
zRot = osg.Matrix.rotate(osg.PI_2+jointAngle2, 0.0,0.0,1.0)
zTransform.setMatrix(zTrans*zRot)
xTransform.addChild(zTransform)
return zTransform
def buildJoint4(previousJoint):
height = 17.5
radius = 2.86479
tube4 = osg.Geode()
tube4.addDrawable(osg.ShapeDrawable(osg.Capsule(osg.Vec3(0.0,0.0,height/2),radius,height),hints))
xTransform = osg.MatrixTransform()
#if showAxis :
#
#createAxis(xTransform)
#
previousJoint.addChild(xTransform)
xTransform.addChild(tube4)
xRot = osg.Matrix.rotate(osg.PI_2, 1,0,0)
xTransform.setMatrix(xRot)
height = 7.5
zTrans = osg.Matrix.translate(0,0,17.5)
zRot = osg.Matrix.rotate(jointAngle4-osg.PI_2, 0,0,1)
zTransform = osg.MatrixTransform()
zTransform.setMatrix(zTrans*zRot)
xTransform.addChild(zTransform)
return zTransform