initialize.java

来自「一个由c转成java的3D robot 仿真平台」· Java 代码 · 共 549 行 · 第 1/2 页

                 new Edges(28,36),
                 new Edges(29,37),
                 new Edges(30,38),  /*50*/
                 new Edges(31,39),
                 new Edges(32,40),
                 new Edges(33,41),
                 new Edges(34,42),
                 new Edges(35,43),
                 new Edges(44,45),     /* Link 1 */  /*56*/
                 new Edges(45,46),
                 new Edges(46,47),
                 new Edges(47,44),
                 new Edges(44,48),
                 new Edges(45,49),
                 new Edges(46,50),  
                 new Edges(47,51),
                 new Edges(48,49),
                 new Edges(49,50),
                 new Edges(50,51),
                 new Edges(51,48),
                 new Edges(48,54),
                 new Edges(54,55),
                 new Edges(55,51),
                 new Edges(55,56),
                 new Edges(54,57),
                 new Edges(52,56),
                 new Edges(53,57),
                 new Edges(56,57),
                 new Edges(52,53),
                 new Edges(59,60),
                 new Edges(60,63),
                 new Edges(63,62),
                 new Edges(62,61),
                 new Edges(61,60),
                 new Edges(49,63),
                 new Edges(50,62),
                 new Edges(58,61),
                 new Edges(58,59),
                 new Edges(64,65),  /* Axis 2 */
                 new Edges(66,67),  /* Link 2 */
                 new Edges(66,69),
                 new Edges(66,70),
                 new Edges(70,73),
                 new Edges(70,71),
                 new Edges(71,72),
                 new Edges(71,67),
                 new Edges(67,68),
                 new Edges(68,69),
                 new Edges(68,72),
                 new Edges(72,73),
                 new Edges(74,77),
                 new Edges(74,75),
                 new Edges(75,76),
                 new Edges(76,77),
                 new Edges(77,81),
                 new Edges(81,80),
                 new Edges(80,79),
                 new Edges(79,78),
                 new Edges(78,81),
                 new Edges(74,78),
                 new Edges(75,79),
                 new Edges(76,80),
                 new Edges(79,84),
                 new Edges(84,85),
                 new Edges(85,86),
                 new Edges(86,87),
                 new Edges(87,84),
                 new Edges(83,85),
                 new Edges(83,82),
                 new Edges(82,86),
                 new Edges(78,87),
                 new Edges(88,89),
                 new Edges(88,92),
                 new Edges(92,91),
                 new Edges(92,93),
                 new Edges(93,89),
                 new Edges(93,90),
                 new Edges(90,80),
                 new Edges(90,91),
                 new Edges(81,91),
                 new Edges(94,95),  /* Axis 3 */
                 new Edges(96,97),  /* Link 3 */
                 new Edges(97,98),
                 new Edges(98,99),
                 new Edges(99,96),
                 new Edges(96,102),
                 new Edges(102,101),
                 new Edges(101,100),
                 new Edges(100,103),
                 new Edges(103,102),
                 new Edges(103,97),
                 new Edges(100,98),
                 new Edges(101,99),
                 new Edges(104,105),
                 new Edges(105,106),
                 new Edges(106,107),
                 new Edges(107,104),
                 new Edges(104,110),
                 new Edges(110,111),
                 new Edges(111,108),
                 new Edges(108,109),
                 new Edges(109,110),
                 new Edges(111,105),
                 new Edges(106,108),
                 new Edges(109,107),
                 new Edges(112,113),  /*Axis 4 */
                 new Edges(114,115),  /*Axis 5 */
                 new Edges(116,117),  /* link 5 */
                 new Edges(117,118),
                 new Edges(118,119),
                 new Edges(119,120),
                 new Edges(120,121),
                 new Edges(121,122),
                 new Edges(122,123),
                 new Edges(123,116),
                 new Edges(116,124),
                 new Edges(124,125),
                 new Edges(125,126),
                 new Edges(126,127),
                 new Edges(127,128),
                 new Edges(128,129),
                 new Edges(129,130),
                 new Edges(130,131),
                 new Edges(131,124),
                 new Edges(116,124),
                 new Edges(117,125),
                 new Edges(118,126),
                 new Edges(119,127),
                 new Edges(120,128),
                 new Edges(121,129),
                 new Edges(122,130),
                 new Edges(123,131),
                 new Edges(132,133),  /* Axis 6 */
                 new Edges(134,135),  /* Hand */
                 new Edges(135,136),
                 new Edges(136,137),
                 new Edges(137,134),
                 new Edges(134,139),
                 new Edges(139,140),
                 new Edges(140,141),
                 new Edges(141,138),
                 new Edges(138,139),
                 new Edges(140,135),
                 new Edges(141,136),
                 new Edges(138,137),
                 new Edges(142,143),
                 new Edges(143,144),
                 new Edges(144,145),
                 new Edges(145,142),
                 new Edges(142,146),
                 new Edges(146,145),
                 new Edges(146,147),
                 new Edges(147,144),
                 new Edges(147,143),
                 new Edges(150,151),
                 new Edges(151,148),
                 new Edges(148,149),
                 new Edges(149,150),
                 new Edges(150,153),
                 new Edges(153,149),
                 new Edges(153,152),
                 new Edges(152,148),
                 new Edges(152,151) }; 
	   
	   rob.el = helpel;

	   Areas[] helpal = { new Areas(0, 8, 11, 3),
 			      new Areas( 12 , 20 , 21 , 13 ), /* base */
                              new Areas( 13 , 21 , 22 , 14 ),
                              new Areas( 14 , 22 , 23 , 15 ),
                              new Areas( 15 , 23 , 24 , 16 ),
                              new Areas( 16 , 24 , 25 , 17 ),
                              new Areas( 17 , 25 , 26 , 18 ),
                              new Areas( 18 , 26 , 27 , 19 ),
                              new Areas( 19 , 27 , 20 , 12 ),
                              new Areas( 20 , 27 , 26 , 25 ),
                              new Areas( 25 , 24 , 21 , 20 ),   /* 10 */
                              new Areas( 21 , 24 , 23 , 22 ),
                              new Areas( 28 , 36 , 37 , 29 ), /* turn area */
                              new Areas( 29 , 37 , 38 , 30 ),
                              new Areas( 30 , 38 , 39 , 31 ),
                              new Areas( 31 , 39 , 40 , 32 ),
                              new Areas( 32 , 40 , 41 , 33 ),
                              new Areas( 33 , 41 , 42 , 34 ),
                              new Areas( 34 , 42 , 43 , 35 ),
                              new Areas( 35 , 43 , 36 , 28 ),
                              new Areas( 36 , 43 , 42 , 41 ),    /* 20 */
                              new Areas( 36 , 41 , 40 , 37 ),
                              new Areas( 37 , 40 , 39 , 38 ),
                              new Areas( 44 , 47 , 51 , 48 ), /* Link 1 */
                              new Areas( 47 , 46 , 50 , 51 ),
                              new Areas( 45 , 49 , 50 , 46 ),
                              new Areas( 44 , 48 , 49 , 45 ),
                              new Areas( 48 , 51 , 50 , 49 ),
                              new Areas( 48 , 51 , 55 , 54 ),// Holder 1 Link 1
                              new Areas( 51 , 52 , 56 , 55 ),
                              new Areas( 52 , 53 , 57 , 56 ),   /* 30 */
                              new Areas( 53 , 48 , 54 , 57 ),
                              new Areas( 54 , 55 , 56 , 57 ),
                              new Areas( 59 , 58 , 61 , 60 ), //Holder 2 Link1
                              new Areas( 58 , 50 , 62 , 61 ),
                              new Areas( 49 , 63 , 62 , 50 ),
                              new Areas( 49 , 59 , 60 , 63 ),
                              new Areas( 60 , 61 , 62 , 63 ),
                              new Areas( 66 , 67 , 71 , 70 ), //Holder 1 Link 2
                              new Areas( 70 , 71 , 72 , 73 ),
                              new Areas( 68 , 69 , 73 , 72 ), /* 40 */
                              new Areas( 66 , 69 , 68 , 67 ),
                              new Areas( 69 , 66 , 70 , 73 ),
                              new Areas( 74 , 78 , 79 , 75 ), /* Link 2 */
                              new Areas( 75 , 79 , 80 , 76 ),
                              new Areas( 77 , 76 , 80 , 81 ),
                              new Areas( 74 , 77 , 81 , 78 ),
                              new Areas( 77 , 74 , 75 , 76 ),
                              new Areas( 78 , 81 , 80 , 79 ),
                              new Areas( 78 , 87 , 84 , 79 ), //Holder 2 Link 2
                              new Areas( 78 , 82 , 86 , 87 ), /* 50 */
                              new Areas( 82 , 83 , 85 , 86 ),
                              new Areas( 83 , 79 , 84 , 85 ),
                              new Areas( 84 , 87 , 86 , 85 ),
                              new Areas( 89 , 88 , 92 , 93 ), //Holder 3 Link 2
                              new Areas( 88 , 81 , 91 , 92 ),
                              new Areas( 81 , 80 , 90 , 91 ),
                              new Areas( 80 , 89 , 93 , 90 ),
                              new Areas( 93 , 92 , 91 , 90 ),
                              new Areas(102 ,101 , 99 , 96 ), //Holder 1 Link 3
                              new Areas(101 ,100 , 98 , 99 ), /* 60 */
                              new Areas(103 , 97 , 98 ,100 ),
                              new Areas(103 ,102 , 96 , 97 ),
                              new Areas( 96 , 99 , 98 , 97 ),
                              new Areas(110 ,109 ,107 ,104 ), /* Link 3 */
                              new Areas(109 ,108 ,106 ,107 ),
                              new Areas(111 ,105 ,106 ,108 ),
                              new Areas(111 ,110 ,104 ,105 ),
                              new Areas(104 ,107 ,106 ,105 ),
                              new Areas(110 ,111 ,108 ,109 ),
                              new Areas(116 ,123 ,122 ,121 ), //link */ /* 70
                              new Areas(116 ,121 ,120 ,117 ),
                              new Areas(117 ,120 ,119 ,118 ),
                              new Areas(116 ,117 ,125 ,124 ),
                              new Areas(117 ,118 ,126 ,125 ),
                              new Areas(118 ,119 ,127 ,126 ),
                              new Areas(119 ,120 ,128 ,127 ),
                              new Areas(120 ,121 ,129 ,128 ),
                              new Areas(121 ,122 ,130 ,129 ),
                              new Areas(122 ,123 ,131 ,130 ),
                              new Areas(123 ,116 ,124 ,131 ), /* 80 */
                              new Areas(124 ,129 ,130 ,131 ),
                              new Areas(124 ,125 ,128 ,129 ),
                              new Areas(125 ,126 ,127 ,128 ),
                              new Areas(139 ,138 ,137 ,134 ),//Hand base area
                              new Areas(138 ,141 ,136 ,137 ),
                              new Areas(140 ,135 ,136 ,141 ),
                              new Areas(140 ,139 ,134 ,135 ),
                              new Areas(134 ,137 ,136 ,135 ),
                              new Areas(139 ,140 ,141 ,138 ),
                              new Areas(146 ,145 ,142 ,146 ),//Handtaker 1 90
                              new Areas(146 ,147 ,144 ,145 ),
                              new Areas(142 ,145 ,144 ,143 ),
                              new Areas(143 ,144 ,147 ,147 ),
                              new Areas(147 ,146 ,142 ,143 ),
                              new Areas(153 ,149 ,150 ,153 ),/*Handtaker 2 */
                              new Areas(153 ,152 ,148 ,149 ),
                              new Areas(151 ,148 ,152 ,152 ),
                              new Areas(152 ,153 ,150 ,151 ),
                              new Areas(150 ,149 ,148 ,151 ) }; 

	   rob.al = helpal;

	}
}