[Opal-commits] opal/samples/data/blueprints ragdoll.xml,NONE,1.1
Status: Inactive
Brought to you by:
tylerstreeter
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From: tylerstreeter <tyl...@us...> - 2005-04-15 08:50:52
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Update of /cvsroot/opal/opal/samples/data/blueprints In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10352/samples/data/blueprints Added Files: ragdoll.xml Log Message: changed Simulator::instantiateBlueprint to apply scaling (of Shape dimensions and Solid transforms) before applying the additional Blueprint transform; made the playpen sample app cool --- NEW FILE: ragdoll.xml --- <?xml version="1.0" ?> <OpalBlueprint> <Solid> <Name value="head"/> <Offset> <Transform type="translate" x="0.0" y="1.02" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.065" length="0.02"/> </Shape> </Solid> <Joint> <Name value="neck"/> <Type value="hinge"/> <References solid0="upper torso" solid1="head"/> <Anchor x="0.0" y="0.95" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-45.0"/> <LimitHigh value="45.0"/> </Axis> </Joint> <Solid> <Name value="upper torso"/> <Offset> <Transform type="translate" x="0.0" y="0.9" z="0.0"/> <Transform type="rotate" angle="90.0" x="0.0" y="1.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.045" length="0.25"/> </Shape> </Solid> <Joint> <Name value="left shoulder"/> <Type value="universal"/> <BreakMode value="threshold"/> <BreakThresh value="5000.0"/> <References solid0="upper left arm" solid1="upper torso"/> <Anchor x="0.16" y="0.9" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-160.0"/> <LimitHigh value="80.0"/> </Axis> <Axis> <AxisNum value="1"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-45.0"/> <LimitHigh value="170.0"/> </Axis> </Joint> <Solid> <Name value="upper left arm"/> <Offset> <Transform type="translate" x="0.16" y="0.8" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.03" length="0.2"/> </Shape> </Solid> <Joint> <Name value="left elbow"/> <Type value="hinge"/> <References solid0="lower left arm" solid1="upper left arm"/> <Anchor x="0.16" y="0.7" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-120.0"/> <LimitHigh value="0.0"/> </Axis> </Joint> <Solid> <Name value="lower left arm"/> <Offset> <Transform type="translate" x="0.16" y="0.6" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.027" length="0.2"/> </Shape> </Solid> <Joint> <Name value="left wrist"/> <Type value="hinge"/> <References solid0="left hand" solid1="lower left arm"/> <Anchor x="0.16" y="0.5" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-85.0"/> <LimitHigh value="85.0"/> </Axis> </Joint> <Solid> <Name value="left hand"/> <Offset> <Transform type="translate" x="0.16" y="0.45" z="0.0"/> </Offset> <Shape type="box"> <Dimensions x="0.02" y="0.09" z="0.06"/> </Shape> </Solid> <Joint> <Name value="right shoulder"/> <Type value="universal"/> <BreakMode value="threshold"/> <BreakThresh value="5000.0"/> <References solid0="upper right arm" solid1="upper torso"/> <Anchor x="-0.16" y="0.9" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-160.0"/> <LimitHigh value="80.0"/> </Axis> <Axis> <AxisNum value="1"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-170.0"/> <LimitHigh value="45.0"/> </Axis> </Joint> <Solid> <Name value="upper right arm"/> <Offset> <Transform type="translate" x="-0.16" y="0.8" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.03" length="0.2"/> </Shape> </Solid> <Joint> <Name value="right elbow"/> <Type value="hinge"/> <References solid0="lower right arm" solid1="upper right arm"/> <Anchor x="-0.16" y="0.7" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-120.0"/> <LimitHigh value="0.0"/> </Axis> </Joint> <Solid> <Name value="lower right arm"/> <Offset> <Transform type="translate" x="-0.16" y="0.6" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.027" length="0.2"/> </Shape> </Solid> <Joint> <Name value="right wrist"/> <Type value="hinge"/> <References solid0="right hand" solid1="lower right arm"/> <Anchor x="-0.16" y="0.5" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-85.0"/> <LimitHigh value="85.0"/> </Axis> </Joint> <Solid> <Name value="right hand"/> <Offset> <Transform type="translate" x="-0.16" y="0.45" z="0.0"/> </Offset> <Shape type="box"> <Dimensions x="0.02" y="0.09" z="0.06"/> </Shape> </Solid> <Joint> <Name value="chest joint"/> <Type value="universal"/> <References solid0="lower torso" solid1="upper torso"/> <Anchor x="0.0" y="0.86" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-15.0"/> <LimitHigh value="15.0"/> </Axis> <Axis> <AxisNum value="1"/> <Direction x="0.0" y="1.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-15.0"/> <LimitHigh value="15.0"/> </Axis> </Joint> <Solid> <Name value="lower torso"/> <Offset> <Transform type="translate" x="0.0" y="0.75" z="0.0"/> </Offset> <Shape type="box"> <Dimensions x="0.18" y="0.27" z="0.04"/> </Shape> </Solid> <Joint> <Name value="waist joint"/> <Type value="hinge"/> <References solid0="pelvis" solid1="lower torso"/> <Anchor x="0.0" y="0.58" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="0.0" y="1.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-20.0"/> <LimitHigh value="20.0"/> </Axis> </Joint> <Solid> <Name value="pelvis"/> <Offset> <Transform type="translate" x="0.0" y="0.58" z="0.0"/> <Transform type="rotate" angle="90.0" x="0.0" y="1.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.05" length="0.15"/> </Shape> </Solid> <Joint> <Name value="left hip"/> <Type value="universal"/> <BreakMode value="threshold"/> <BreakThresh value="10000.0"/> <References solid0="upper left leg" solid1="pelvis"/> <Anchor x="0.08" y="0.58" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-135.0"/> <LimitHigh value="45.0"/> </Axis> <Axis> <AxisNum value="1"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-30.0"/> <LimitHigh value="30.0"/> </Axis> </Joint> <Solid> <Name value="upper left leg"/> <Offset> <Transform type="translate" x="0.08" y="0.43" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.04" length="0.26"/> </Shape> </Solid> <Joint> <Name value="right hip"/> <Type value="universal"/> <BreakMode value="threshold"/> <BreakThresh value="10000.0"/> <References solid0="upper right leg" solid1="pelvis"/> <Anchor x="-0.08" y="0.58" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-135.0"/> <LimitHigh value="45.0"/> </Axis> <Axis> <AxisNum value="1"/> <Direction x="0.0" y="0.0" z="1.0"/> <LimitsEnabled value="true"/> <LimitLow value="-30.0"/> <LimitHigh value="30.0"/> </Axis> </Joint> <Solid> <Name value="upper right leg"/> <Offset> <Transform type="translate" x="-0.08" y="0.43" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.04" length="0.26"/> </Shape> </Solid> <Joint> <Name value="left knee"/> <Type value="hinge"/> <References solid0="lower left leg" solid1="upper left leg"/> <Anchor x="0.08" y="0.3" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="0.0"/> <LimitHigh value="165.0"/> </Axis> </Joint> <Solid> <Name value="lower left leg"/> <Offset> <Transform type="translate" x="0.08" y="0.17" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.03" length="0.26"/> </Shape> </Solid> <Joint> <Name value="right knee"/> <Type value="hinge"/> <References solid0="lower right leg" solid1="upper right leg"/> <Anchor x="-0.08" y="0.3" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="0.0"/> <LimitHigh value="165.0"/> </Axis> </Joint> <Solid> <Name value="lower right leg"/> <Offset> <Transform type="translate" x="-0.08" y="0.17" z="0.0"/> <Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/> </Offset> <Shape type="capsule"> <Dimensions radius="0.03" length="0.26"/> </Shape> </Solid> <Joint> <Name value="left ankle"/> <Type value="hinge"/> <References solid0="left foot" solid1="lower left leg"/> <Anchor x="0.08" y="0.04" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-45.0"/> <LimitHigh value="60.0"/> </Axis> </Joint> <Solid> <Name value="left foot"/> <Offset> <Transform type="translate" x="0.08" y="0.02" z="0.045"/> </Offset> <Shape type="box"> <Dimensions x="0.075" y="0.04" z="0.15"/> </Shape> </Solid> <Joint> <Name value="right ankle"/> <Type value="hinge"/> <References solid0="right foot" solid1="lower right leg"/> <Anchor x="-0.08" y="0.04" z="0.0"/> <Axis> <AxisNum value="0"/> <Direction x="1.0" y="0.0" z="0.0"/> <LimitsEnabled value="true"/> <LimitLow value="-45.0"/> <LimitHigh value="60.0"/> </Axis> </Joint> <Solid> <Name value="right foot"/> <Offset> <Transform type="translate" x="-0.08" y="0.02" z="0.045"/> </Offset> <Shape type="box"> <Dimensions x="0.075" y="0.04" z="0.15"/> </Shape> </Solid> </OpalBlueprint> |