00001 package edu.tum.cs.ias.knowrob.vis.items;
00002
00003 import javax.vecmath.Matrix4d;
00004 import javax.vecmath.Vector3d;
00005
00006 import processing.core.PConstants;
00007 import edu.tum.cs.ias.knowrob.vis.Canvas;
00008
00009 import javax.vecmath.Vector3f;
00010
00011 public class Fork extends Item {
00012
00013
00014 public Fork(float m00, float m01, float m02, float m03,
00015 float m10, float m11, float m12, float m13,
00016 float m20, float m21, float m22, float m23,
00017 float m30, float m31, float m32, float m33,
00018 float xdim,float ydim,float zdim) {
00019
00020 super(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33, xdim, ydim, zdim);
00021 }
00022
00023 public Fork(Matrix4d pose, Vector3d dim){
00024 super(pose, dim);
00025 }
00026
00027 @Override
00028 public void drawIt(Canvas c) {
00029
00030 c.pushMatrix();
00031
00032 c.scale(0.01f);
00033
00034 (new ConePrimitive(new Vector3f(-7.8f, 0f, -1.04f), new Vector3f(1.69f, 0f, -1.04f), 1.04f)).draw(c);
00035
00036 c.beginShape(PConstants.QUAD_STRIP);
00037 c.vertex(1.3f,1.04f,-0.39f); c.vertex(1.3f,1.04f,0.39f);
00038 c.vertex(2.6f,1.04f,-0.39f); c.vertex(2.6f,1.04f,0.39f);
00039 c.vertex(2.6f,2.34f,-0.39f); c.vertex(2.6f,2.34f,0.39f);
00040 c.vertex(9.1f,2.34f,-0.39f); c.vertex(9.1f,2.34f,0.39f);
00041 c.vertex(9.1f,1.56f,-0.39f); c.vertex(9.1f,1.56f,0.39f);
00042 c.vertex(3.9f,1.56f,-0.39f); c.vertex(3.9f,1.56f,0.39f);
00043 c.vertex(3.9f,0.52f,-0.39f); c.vertex(3.9f,0.52f,0.39f);
00044 c.vertex(9.1f,0.52f,-0.39f); c.vertex(9.1f,0.52f,0.39f);
00045 c.vertex(9.1f,-0.52f,-0.39f); c.vertex(9.1f,-0.52f,0.39f);
00046 c.vertex(3.9f,-0.52f,-0.39f); c.vertex(3.9f,-0.52f,0.39f);
00047 c.vertex(3.9f,-1.56f,-0.39f); c.vertex(3.9f,-1.56f,0.39f);
00048 c.vertex(9.1f,-1.56f,-0.39f); c.vertex(9.1f,-1.56f,0.39f);
00049 c.vertex(9.1f,-2.34f,-0.39f); c.vertex(9.1f,-2.34f,0.39f);
00050 c.vertex(2.6f,-2.34f,-0.39f); c.vertex(2.6f,-2.34f,0.39f);
00051 c.vertex(2.6f,-1.04f,-0.39f); c.vertex(2.6f,-1.04f,0.39f);
00052 c.vertex(1.3f,-1.04f,-0.39f); c.vertex(1.3f,-1.04f,0.39f);
00053 c.endShape(PConstants.CLOSE);
00054
00055 c.beginShape();
00056 c.vertex(1.3f,1.04f,-0.39f);
00057 c.vertex(2.6f,1.04f,-0.39f);
00058 c.vertex(2.6f,2.34f,-0.39f);
00059 c.vertex(9.1f,2.34f,-0.39f);
00060 c.vertex(9.1f,1.56f,-0.39f);
00061 c.vertex(3.9f,1.56f,-0.39f);
00062 c.vertex(3.9f,0.52f,-0.39f);
00063 c.vertex(9.1f,0.52f,-0.39f);
00064 c.vertex(9.1f,-0.52f,-0.39f);
00065 c.vertex(3.9f,-0.52f,-0.39f);
00066 c.vertex(3.9f,-1.56f,-0.39f);
00067 c.vertex(9.1f,-1.56f,-0.39f);
00068 c.vertex(9.1f,-2.34f,-0.39f);
00069 c.vertex(2.6f,-2.34f,-0.39f);
00070 c.vertex(2.6f,-1.04f,-0.39f);
00071 c.vertex(1.3f,-1.04f,-0.39f);
00072 c.endShape(PConstants.CLOSE);
00073
00074 c.beginShape();
00075 c.vertex(1.3f,1.04f,0.39f);
00076 c.vertex(2.6f,1.04f,0.39f);
00077 c.vertex(2.6f,2.34f,0.39f);
00078 c.vertex(9.1f,2.34f,0.39f);
00079 c.vertex(9.1f,1.56f,0.39f);
00080 c.vertex(3.9f,1.56f,0.39f);
00081 c.vertex(3.9f,0.52f,0.39f);
00082 c.vertex(9.1f,0.52f,0.39f);
00083 c.vertex(9.1f,-0.52f,0.39f);
00084 c.vertex(3.9f,-0.52f,0.39f);
00085 c.vertex(3.9f,-1.56f,0.39f);
00086 c.vertex(9.1f,-1.56f,0.39f);
00087 c.vertex(9.1f,-2.34f,0.39f);
00088 c.vertex(2.6f,-2.34f,0.39f);
00089 c.vertex(2.6f,-1.04f,0.39f);
00090 c.vertex(1.3f,-1.04f,0.39f);
00091 c.endShape(PConstants.CLOSE);
00092
00093 c.popMatrix();
00094
00095 }
00096
00097
00098 }
