/*
* 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: 1.2 $
* $Source: /cvsroot/simbad/src/simbad/sim/GripperActuator.java,v $
*/
package simbad.sim;
import javax.media.j3d.Appearance;
import javax.media.j3d.Material;
import javax.media.j3d.Node;
import javax.vecmath.Color3f;
import com.sun.j3d.utils.geometry.Sphere;
/**
*experimental.
*/
public class GripperActuator extends ActuatorDevice {
GripperActuator(float radius ) {
create3D(radius);
}
void create3D(float radius) {
super.create3D(true);
// body
if (radius > 0) {
Color3f color = new Color3f(0.8f, 0.8f, 0.0f);
Appearance appear = new Appearance();
appear
.setMaterial(new Material(color, black, color, white,
100.0f));
Node node = new Sphere(radius, appear);
node.setCollidable(false);
node.setPickable(false);
addChild(node);
}
}
}