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rotTG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); fingTG.addChild(rotTG); /* forward to middle of finger - radius of finger. This will mean that the finger will be drawn with one end embedded in the forearm. */ t3d.set( new Vector3f(0, (fingerLen/2 - fingerRadius), 0)); TransformGroup midTG = new TransformGroup(t3d); rotTG.addChild(midTG); // make finger limb Cylinder finger = new Cylinder(fingerRadius, fingerLen, Primitive.GENERATE_NORMALS | Primitive.GENERATE_TEXTURE_COORDS, grabberApp); midTG.addChild(finger); } // end of makeFinger()

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The Grabbers object passes rotation commands to the Grabber instances. Each command is sent to the relevant grabber and includes the joint name (X_JOINT, Y_JOINT, Z_JOINT, or FING_JOINT) and the rotation direction (POS or NEG). Grabber s rotate() method converts the direction to an angle (in both degrees and radians), tests if the request is within the rotation limits of the joint, and then carries it out: // globals // joint rotation amount private final static int ROTATE_DEG = 2; // degrees private final static double ROTATE_AMT = Math.toRadians(ROTATE_DEG); // rotation joint names public static final int public static final int public static final int public static final int (used by Grabbers) X_JOINT = 0; Y_JOINT = 1; Z_JOINT = 2; FING_JOINT = 3;





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def render(self): if self.display_list is None: # Create a display list self.display_list = glGenLists(1) glNewList(self.display_list, GL_COMPILE) # Draw the cubes for cube in self.cubes: cube.render() # End the display list glEndList() else: # Render the display list glCallList(self.display_list)

// rotation directions (used by Grabbers) public static final int POS = 0; public static final int NEG = 1; // rotation joints current angle (in degrees) int xCurrAngle, yCurrAngle, zCurrAngle, fingCurrAngle;

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public boolean rotate(int rotType, int dir) { int degAngle; // angle in degrees double angle; // angle in radians // test if the rotation is possible if (dir == POS) { degAngle = ROTATE_DEG; if (!withinRange(rotType, degAngle)) return false; // do nothing angle = ROTATE_AMT; }

def run(): pygame.init() screen = pygame.display.set_mode(SCREEN_SIZE, HWSURFACE|OPENGL|DOUBLEBUF) resize(*SCREEN_SIZE) init() clock = pygame.time.Clock() # This object renders the 'map' map = Map() # Camera transform matrix camera_matrix = Matrix44() camera_matrix.translate = (10.0, .6, 10.0) # Initialize speeds and directions rotation_direction = Vector3() rotation_speed = radians(90.0) movement_direction = Vector3() movement_speed = 5.0

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else { // dir == NEG degAngle = -ROTATE_DEG; if (!withinRange(rotType, degAngle)) return false; // do nothing angle = -ROTATE_AMT; } // carry out the rotation; store the new joint angle if (rotType == X_JOINT) { // left/right movement doRotate(jointXTG, X_JOINT, angle); xCurrAngle += degAngle; } else if (rotType == Y_JOINT) { // up/down movement doRotate(jointYTG, Y_JOINT, angle); yCurrAngle += degAngle; } else if (rotType == Z_JOINT) { // spinning around forearm doRotate(jointZTG, Z_JOINT, angle); zCurrAngle += degAngle; } else if (rotType == FING_JOINT) { // up/down of fingers doRotate(topFingTG, Y_JOINT, angle); //up (or down) of top finger doRotate(botFingTG, Y_JOINT, -angle);//down (up) of bottom finger fingCurrAngle += degAngle; } else { System.out.println("Did not recognise rotation type: "+ rotType); return false; } return true; // end of rotate()

Control templates, with which power users or developers can create templates of controls in frequently used layouts or combinations Integration with Outlook for offline folder capabilities The design checker, which is used to validate your form designs The multi-select list box, which is now a standard control in the toolbox Ability to publish a form directly to an installable MSI file Data connection libraries in Microsoft Office 2007 Server Built-in ability to publish to PDF or Microsoft s new XPS format The Trust Center, for managing trusted forms Additional form events Offline caching of lookup data InfoPath forms hosted in the designer when working in Visual Studio We ll look deeper into these capabilities in the next chapter.

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