bvhnodeend.h

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/*
 * bvhnodeend.h
 */
 
/*
 * Copyright (C) 2009 RobotCub Consortium
 * Author: Alessandro Scalzo alessandro.scalzo@iit.it
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 * Based on:
 *
 *   Qavimator
 *   Copyright (C) 2006 by Zi Ree   *
 *   Zi Ree @ SecondLife   *
 *   Released under the terms of the GNU GPL v2.0.
 */
 
#ifndef BVHNODEEND_H
#define BVHNODEEND_H
 
#include "bvhnodedh.h"
 
class BVHNodeEND : public BVHNodeDH
{
public:
 
    BVHNodeEND(const QString& name,int n,double a,double d,double alpha,double theta0,iCubMesh* mesh=0)
        : BVHNodeDH(name,n,a,d,alpha,theta0,mesh){}
 
    virtual void drawJoint(){}
 
    virtual void draw(double* encoders,BVHNode* pSelected)
    {
        glPushMatrix();
 
        glRotated(dTheta0+encoders[nEnc],0.0,0.0,1.0);
        glTranslated(dA,0.0,dD);
 
        glColor4f(0.5,0.5,0.5,1.0);
        glLineWidth(3.0);
        glBegin(GL_LINES);
        glVertex3d(0.0,0.0,0.0);
        glVertex3d(-dA,0.0,-dD);
        glEnd();
 
        glRotated(dAlpha,1.0,0.0,0.0);
 
        if (pMesh)
        {
            glColor4f(0.9,0.8,0.7,1.0);
            pMesh->Draw();
        }
 
        drawArrows();
 
        drawJoint();
 
        glPopMatrix();
    }
};
 
#endif