StageTools - Documentation (StageManager/Samples/arm)

Hierarchical Objects in StageManager:

The following script creates a robot arm using OOGL's hierarchical objects and StageManager's Geometry command. The arm is then manipulated using the Script command to transform several components of the arm at once. The Geomview files that are used to create the compound object were generated using the CenterStage file Arm.cs.

Note the use of -appearance and -transform flags to modify the positions and styles of the objects. Also, note the use of the Until and Cue commands to synchronize the actions between the various scripts.

The files needed for the compound object are: Arm1.oogl, Arm2.oogl, Claw.oogl, and dodec.off (which is part of the standard object library for Geomview).

Arm.sm

   Geometry build Arm {
     {Major < Arm1.oogl}
     {Minor {
       { < Arm2.oogl}
       { < dodec.off -transform {Scale .09}
	     -appearance { material {
		  *ambient 1 1 0
		  *diffuse 1 1 0
	     }}
       }
       {Claw {
	 { < Claw.oogl}
	 { < Claw.oogl
	     -transform {Scale {1 -1 1}} }
       } -transform {Translate {0 0 1.5}} }
     } -transform {Translate {0 0 2}} }
   } -appearance {*shading smooth}

   Transform {Translate {-.7 -.7 0}}
   Transform {Scale .4}
   Transform {YZ -$pi/2}
   Transform {XY $pi/2}

   Script for Arm {
     Pause 3
     Until Done Sequence {YZ $pi/3}
   }

   Script for Arm/Minor {
     Until Open Sequence {YZ $pi/3}
     Until Done Sequence {YZ -$pi/4}
   }

   Script group Claw \
     Arm/Minor/Claw/1 Arm/Minor/Claw/2

   Script for Claw {
     Sequence {YZ $pi/6} 8
     Cue Open +4
     Sequence {XY $pi} 8 Arm/Minor/Claw
     Sequence {YZ -$pi/6} 8
     Cue Done
   }

   Pause 3
   Script action
   Pause 3
   Delete World
   Pause 5

	Sample StageManager Files
	Objects in 4-Space

StageTools Documentation (StageManager/Samples/arm)
Created: 03 Jun 1996 --- Last modified: Nov 23, 1999 5:49:49 PM
Comments to: dpvc@union.edu