/*
* Simbad - Robot Simulator
* Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
-----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/08/07 12:24:57 $
* $Revision: 1.3 $
* $Source: /cvsroot/simbad/src/simbad/sim/BallAgent.java,v $
*/
package org.myrobotlab.mapper.sim;
import javax.media.j3d.Appearance;
import javax.media.j3d.BoundingSphere;
import javax.media.j3d.Bounds;
import javax.media.j3d.Node;
import javax.vecmath.Color3f;
import javax.vecmath.Point3d;
import javax.vecmath.Vector3d;
import com.sun.j3d.utils.geometry.Primitive;
import com.sun.j3d.utils.geometry.Sphere;
/**
* @author louis
*
* TODO To change the template for this generated type comment go to
* Window - Preferences - Java - Code Style - Code Templates
*/
public class BallAgent extends SimpleAgent {
Color3f color;
/**
* @param pos
* @param name
*/
public BallAgent(Vector3d pos, String name, Color3f color, float radius, float mass) {
super(pos, name);
this.radius = radius;
this.height = 2 * radius;
this.mass = mass;
staticFrictionCoefficient = 0.1f;
this.color = color;
}
public BallAgent(Vector3d pos, String name, float radius) {
this(pos, name, new Color3f(1f, 0.2f, 0.05f), radius, 0.25f);
}
/** Create 3D geometry. */
@Override
protected void create3D() {
Appearance appear = new Appearance();
material.setDiffuseColor(color);
material.setSpecularColor(black);
appear.setMaterial(material);
int flags = Primitive.GEOMETRY_NOT_SHARED | Primitive.ENABLE_GEOMETRY_PICKING | Primitive.GENERATE_NORMALS;
body = new Sphere(radius, flags, appear);
// we must be able to change the pick flag of the agent
body.setCapability(Node.ALLOW_PICKABLE_READ);
body.setCapability(Node.ALLOW_PICKABLE_WRITE);
body.setPickable(true);
body.setCollidable(true);
addChild(body);
// Add bounds for interactions
Bounds bounds = new BoundingSphere(new Point3d(0, 0, 0), radius);
setBounds(bounds);
}
}