1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass coe-sofa-object
:super cascaded-link
:slots (sensors
))
(defmethod coe-sofa-object
(:init
(&rest args &key (name "coe-sofa") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0
)
(send-super* :init :name name args)
;; definition of link
;; definition of :coe-sofa-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 56.2917 750.0 335.0) (float-vector 65.0 750.0 302.5) (float-vector 56.2917 750.0 270.0) (float-vector 32.5 750.0 246.208) (float-vector 4.263256e-14 750.0 237.5) (float-vector -32.5 750.0 246.208) (float-vector -56.2917 750.0 270.0) (float-vector -65.0 750.0 302.5) (float-vector -56.2917 750.0 335.0) (float-vector -32.5 750.0 358.792) (float-vector -1.278977e-13 750.0 367.5) (float-vector 32.5 750.0 358.792)))
(instance face :init :vertices (list (float-vector 65.0 -750.0 302.5) (float-vector 56.2917 -750.0 335.0) (float-vector 32.5 -750.0 358.792) (float-vector -1.278977e-13 -750.0 367.5) (float-vector -32.5 -750.0 358.792) (float-vector -56.2917 -750.0 335.0) (float-vector -65.0 -750.0 302.5) (float-vector -56.2917 -750.0 270.0) (float-vector -32.5 -750.0 246.208) (float-vector 4.263256e-14 -750.0 237.5) (float-vector 32.5 -750.0 246.208) (float-vector 56.2917 -750.0 270.0)))
(instance face :init :vertices (list (float-vector 56.2917 750.0 335.0) (float-vector 56.2917 -750.0 335.0) (float-vector 65.0 -750.0 302.5) (float-vector 65.0 750.0 302.5)))
(instance face :init :vertices (list (float-vector 32.5 750.0 358.792) (float-vector 32.5 -750.0 358.792) (float-vector 56.2917 -750.0 335.0) (float-vector 56.2917 750.0 335.0)))
(instance face :init :vertices (list (float-vector -1.278977e-13 750.0 367.5) (float-vector -1.278977e-13 -750.0 367.5) (float-vector 32.5 -750.0 358.792) (float-vector 32.5 750.0 358.792)))
(instance face :init :vertices (list (float-vector -32.5 750.0 358.792) (float-vector -32.5 -750.0 358.792) (float-vector -1.278977e-13 -750.0 367.5) (float-vector -1.278977e-13 750.0 367.5)))
(instance face :init :vertices (list (float-vector -56.2917 750.0 335.0) (float-vector -56.2917 -750.0 335.0) (float-vector -32.5 -750.0 358.792) (float-vector -32.5 750.0 358.792)))
(instance face :init :vertices (list (float-vector -65.0 750.0 302.5) (float-vector -65.0 -750.0 302.5) (float-vector -56.2917 -750.0 335.0) (float-vector -56.2917 750.0 335.0)))
(instance face :init :vertices (list (float-vector -56.2917 750.0 270.0) (float-vector -56.2917 -750.0 270.0) (float-vector -65.0 -750.0 302.5) (float-vector -65.0 750.0 302.5)))
(instance face :init :vertices (list (float-vector -32.5 750.0 246.208) (float-vector -32.5 -750.0 246.208) (float-vector -56.2917 -750.0 270.0) (float-vector -56.2917 750.0 270.0)))
(instance face :init :vertices (list (float-vector 4.263256e-14 750.0 237.5) (float-vector 4.263256e-14 -750.0 237.5) (float-vector -32.5 -750.0 246.208) (float-vector -32.5 750.0 246.208)))
(instance face :init :vertices (list (float-vector 32.5 750.0 246.208) (float-vector 32.5 -750.0 246.208) (float-vector 4.263256e-14 -750.0 237.5) (float-vector 4.263256e-14 750.0 237.5)))
(instance face :init :vertices (list (float-vector 56.2917 750.0 270.0) (float-vector 56.2917 -750.0 270.0) (float-vector 32.5 -750.0 246.208) (float-vector 32.5 750.0 246.208)))
(instance face :init :vertices (list (float-vector 65.0 750.0 302.5) (float-vector 65.0 -750.0 302.5) (float-vector 56.2917 -750.0 270.0) (float-vector 56.2917 750.0 270.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 445.0 750.0 -122.5) (float-vector 65.0 750.0 -122.5) (float-vector 65.0 -750.0 -122.5) (float-vector 445.0 -750.0 -122.5)))
(instance face :init :vertices (list (float-vector 65.0 750.0 -302.5) (float-vector 445.0 750.0 -302.5) (float-vector 445.0 -750.0 -302.5) (float-vector 65.0 -750.0 -302.5)))
(instance face :init :vertices (list (float-vector 445.0 750.0 -122.5) (float-vector 445.0 750.0 -302.5) (float-vector 65.0 750.0 -302.5) (float-vector 65.0 750.0 -122.5)))
(instance face :init :vertices (list (float-vector 445.0 -750.0 -122.5) (float-vector 445.0 -750.0 -302.5) (float-vector 445.0 750.0 -302.5) (float-vector 445.0 750.0 -122.5)))
(instance face :init :vertices (list (float-vector 65.0 -750.0 -122.5) (float-vector 65.0 -750.0 -302.5) (float-vector 445.0 -750.0 -302.5) (float-vector 445.0 -750.0 -122.5)))
(instance face :init :vertices (list (float-vector 65.0 750.0 -122.5) (float-vector 65.0 750.0 -302.5) (float-vector 65.0 -750.0 -302.5) (float-vector 65.0 -750.0 -122.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 522.942 750.0 -167.5) (float-vector 535.0 750.0 -212.5) (float-vector 522.942 750.0 -257.5) (float-vector 490.0 750.0 -290.442) (float-vector 445.0 750.0 -302.5) (float-vector 400.0 750.0 -290.442) (float-vector 367.058 750.0 -257.5) (float-vector 355.0 750.0 -212.5) (float-vector 367.058 750.0 -167.5) (float-vector 400.0 750.0 -134.558) (float-vector 445.0 750.0 -122.5) (float-vector 490.0 750.0 -134.558)))
(instance face :init :vertices (list (float-vector 535.0 -750.0 -212.5) (float-vector 522.942 -750.0 -167.5) (float-vector 490.0 -750.0 -134.558) (float-vector 445.0 -750.0 -122.5) (float-vector 400.0 -750.0 -134.558) (float-vector 367.058 -750.0 -167.5) (float-vector 355.0 -750.0 -212.5) (float-vector 367.058 -750.0 -257.5) (float-vector 400.0 -750.0 -290.442) (float-vector 445.0 -750.0 -302.5) (float-vector 490.0 -750.0 -290.442) (float-vector 522.942 -750.0 -257.5)))
(instance face :init :vertices (list (float-vector 522.942 750.0 -167.5) (float-vector 522.942 -750.0 -167.5) (float-vector 535.0 -750.0 -212.5) (float-vector 535.0 750.0 -212.5)))
(instance face :init :vertices (list (float-vector 490.0 750.0 -134.558) (float-vector 490.0 -750.0 -134.558) (float-vector 522.942 -750.0 -167.5) (float-vector 522.942 750.0 -167.5)))
(instance face :init :vertices (list (float-vector 445.0 750.0 -122.5) (float-vector 445.0 -750.0 -122.5) (float-vector 490.0 -750.0 -134.558) (float-vector 490.0 750.0 -134.558)))
(instance face :init :vertices (list (float-vector 400.0 750.0 -134.558) (float-vector 400.0 -750.0 -134.558) (float-vector 445.0 -750.0 -122.5) (float-vector 445.0 750.0 -122.5)))
(instance face :init :vertices (list (float-vector 367.058 750.0 -167.5) (float-vector 367.058 -750.0 -167.5) (float-vector 400.0 -750.0 -134.558) (float-vector 400.0 750.0 -134.558)))
(instance face :init :vertices (list (float-vector 355.0 750.0 -212.5) (float-vector 355.0 -750.0 -212.5) (float-vector 367.058 -750.0 -167.5) (float-vector 367.058 750.0 -167.5)))
(instance face :init :vertices (list (float-vector 367.058 750.0 -257.5) (float-vector 367.058 -750.0 -257.5) (float-vector 355.0 -750.0 -212.5) (float-vector 355.0 750.0 -212.5)))
(instance face :init :vertices (list (float-vector 400.0 750.0 -290.442) (float-vector 400.0 -750.0 -290.442) (float-vector 367.058 -750.0 -257.5) (float-vector 367.058 750.0 -257.5)))
(instance face :init :vertices (list (float-vector 445.0 750.0 -302.5) (float-vector 445.0 -750.0 -302.5) (float-vector 400.0 -750.0 -290.442) (float-vector 400.0 750.0 -290.442)))
(instance face :init :vertices (list (float-vector 490.0 750.0 -290.442) (float-vector 490.0 -750.0 -290.442) (float-vector 445.0 -750.0 -302.5) (float-vector 445.0 750.0 -302.5)))
(instance face :init :vertices (list (float-vector 522.942 750.0 -257.5) (float-vector 522.942 -750.0 -257.5) (float-vector 490.0 -750.0 -290.442) (float-vector 490.0 750.0 -290.442)))
(instance face :init :vertices (list (float-vector 535.0 750.0 -212.5) (float-vector 535.0 -750.0 -212.5) (float-vector 522.942 -750.0 -257.5) (float-vector 522.942 750.0 -257.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 445.0 750.0 57.5) (float-vector 65.0 750.0 57.5) (float-vector 65.0 -750.0 57.5) (float-vector 445.0 -750.0 57.5)))
(instance face :init :vertices (list (float-vector 65.0 750.0 -122.5) (float-vector 445.0 750.0 -122.5) (float-vector 445.0 -750.0 -122.5) (float-vector 65.0 -750.0 -122.5)))
(instance face :init :vertices (list (float-vector 445.0 750.0 57.5) (float-vector 445.0 750.0 -122.5) (float-vector 65.0 750.0 -122.5) (float-vector 65.0 750.0 57.5)))
(instance face :init :vertices (list (float-vector 445.0 -750.0 57.5) (float-vector 445.0 -750.0 -122.5) (float-vector 445.0 750.0 -122.5) (float-vector 445.0 750.0 57.5)))
(instance face :init :vertices (list (float-vector 65.0 -750.0 57.5) (float-vector 65.0 -750.0 -122.5) (float-vector 445.0 -750.0 -122.5) (float-vector 445.0 -750.0 57.5)))
(instance face :init :vertices (list (float-vector 65.0 750.0 57.5) (float-vector 65.0 750.0 -122.5) (float-vector 65.0 -750.0 -122.5) (float-vector 65.0 -750.0 57.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 522.942 750.0 12.5) (float-vector 535.0 750.0 -32.5) (float-vector 522.942 750.0 -77.5) (float-vector 490.0 750.0 -110.442) (float-vector 445.0 750.0 -122.5) (float-vector 400.0 750.0 -110.442) (float-vector 367.058 750.0 -77.5) (float-vector 355.0 750.0 -32.5) (float-vector 367.058 750.0 12.5) (float-vector 400.0 750.0 45.4423) (float-vector 445.0 750.0 57.5) (float-vector 490.0 750.0 45.4423)))
(instance face :init :vertices (list (float-vector 535.0 -750.0 -32.5) (float-vector 522.942 -750.0 12.5) (float-vector 490.0 -750.0 45.4423) (float-vector 445.0 -750.0 57.5) (float-vector 400.0 -750.0 45.4423) (float-vector 367.058 -750.0 12.5) (float-vector 355.0 -750.0 -32.5) (float-vector 367.058 -750.0 -77.5) (float-vector 400.0 -750.0 -110.442) (float-vector 445.0 -750.0 -122.5) (float-vector 490.0 -750.0 -110.442) (float-vector 522.942 -750.0 -77.5)))
(instance face :init :vertices (list (float-vector 522.942 750.0 12.5) (float-vector 522.942 -750.0 12.5) (float-vector 535.0 -750.0 -32.5) (float-vector 535.0 750.0 -32.5)))
(instance face :init :vertices (list (float-vector 490.0 750.0 45.4423) (float-vector 490.0 -750.0 45.4423) (float-vector 522.942 -750.0 12.5) (float-vector 522.942 750.0 12.5)))
(instance face :init :vertices (list (float-vector 445.0 750.0 57.5) (float-vector 445.0 -750.0 57.5) (float-vector 490.0 -750.0 45.4423) (float-vector 490.0 750.0 45.4423)))
(instance face :init :vertices (list (float-vector 400.0 750.0 45.4423) (float-vector 400.0 -750.0 45.4423) (float-vector 445.0 -750.0 57.5) (float-vector 445.0 750.0 57.5)))
(instance face :init :vertices (list (float-vector 367.058 750.0 12.5) (float-vector 367.058 -750.0 12.5) (float-vector 400.0 -750.0 45.4423) (float-vector 400.0 750.0 45.4423)))
(instance face :init :vertices (list (float-vector 355.0 750.0 -32.5) (float-vector 355.0 -750.0 -32.5) (float-vector 367.058 -750.0 12.5) (float-vector 367.058 750.0 12.5)))
(instance face :init :vertices (list (float-vector 367.058 750.0 -77.5) (float-vector 367.058 -750.0 -77.5) (float-vector 355.0 -750.0 -32.5) (float-vector 355.0 750.0 -32.5)))
(instance face :init :vertices (list (float-vector 400.0 750.0 -110.442) (float-vector 400.0 -750.0 -110.442) (float-vector 367.058 -750.0 -77.5) (float-vector 367.058 750.0 -77.5)))
(instance face :init :vertices (list (float-vector 445.0 750.0 -122.5) (float-vector 445.0 -750.0 -122.5) (float-vector 400.0 -750.0 -110.442) (float-vector 400.0 750.0 -110.442)))
(instance face :init :vertices (list (float-vector 490.0 750.0 -110.442) (float-vector 490.0 -750.0 -110.442) (float-vector 445.0 -750.0 -122.5) (float-vector 445.0 750.0 -122.5)))
(instance face :init :vertices (list (float-vector 522.942 750.0 -77.5) (float-vector 522.942 -750.0 -77.5) (float-vector 490.0 -750.0 -110.442) (float-vector 490.0 750.0 -110.442)))
(instance face :init :vertices (list (float-vector 535.0 750.0 -32.5) (float-vector 535.0 -750.0 -32.5) (float-vector 522.942 -750.0 -77.5) (float-vector 522.942 750.0 -77.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -0.514428 -716.25 -302.5) (float-vector 2.5 -705.0 -302.5) (float-vector -0.514428 -693.75 -302.5) (float-vector -8.75 -685.514 -302.5) (float-vector -20.0 -682.5 -302.5) (float-vector -31.25 -685.514 -302.5) (float-vector -39.4856 -693.75 -302.5) (float-vector -42.5 -705.0 -302.5) (float-vector -39.4856 -716.25 -302.5) (float-vector -31.25 -724.486 -302.5) (float-vector -20.0 -727.5 -302.5) (float-vector -8.75 -724.486 -302.5)))
(instance face :init :vertices (list (float-vector 2.5 -705.0 -327.5) (float-vector -0.514428 -716.25 -327.5) (float-vector -8.75 -724.486 -327.5) (float-vector -20.0 -727.5 -327.5) (float-vector -31.25 -724.486 -327.5) (float-vector -39.4856 -716.25 -327.5) (float-vector -42.5 -705.0 -327.5) (float-vector -39.4856 -693.75 -327.5) (float-vector -31.25 -685.514 -327.5) (float-vector -20.0 -682.5 -327.5) (float-vector -8.75 -685.514 -327.5) (float-vector -0.514428 -693.75 -327.5)))
(instance face :init :vertices (list (float-vector -0.514428 -716.25 -302.5) (float-vector -0.514428 -716.25 -327.5) (float-vector 2.5 -705.0 -327.5) (float-vector 2.5 -705.0 -302.5)))
(instance face :init :vertices (list (float-vector -8.75 -724.486 -302.5) (float-vector -8.75 -724.486 -327.5) (float-vector -0.514428 -716.25 -327.5) (float-vector -0.514428 -716.25 -302.5)))
(instance face :init :vertices (list (float-vector -20.0 -727.5 -302.5) (float-vector -20.0 -727.5 -327.5) (float-vector -8.75 -724.486 -327.5) (float-vector -8.75 -724.486 -302.5)))
(instance face :init :vertices (list (float-vector -31.25 -724.486 -302.5) (float-vector -31.25 -724.486 -327.5) (float-vector -20.0 -727.5 -327.5) (float-vector -20.0 -727.5 -302.5)))
(instance face :init :vertices (list (float-vector -39.4856 -716.25 -302.5) (float-vector -39.4856 -716.25 -327.5) (float-vector -31.25 -724.486 -327.5) (float-vector -31.25 -724.486 -302.5)))
(instance face :init :vertices (list (float-vector -42.5 -705.0 -302.5) (float-vector -42.5 -705.0 -327.5) (float-vector -39.4856 -716.25 -327.5) (float-vector -39.4856 -716.25 -302.5)))
(instance face :init :vertices (list (float-vector -39.4856 -693.75 -302.5) (float-vector -39.4856 -693.75 -327.5) (float-vector -42.5 -705.0 -327.5) (float-vector -42.5 -705.0 -302.5)))
(instance face :init :vertices (list (float-vector -31.25 -685.514 -302.5) (float-vector -31.25 -685.514 -327.5) (float-vector -39.4856 -693.75 -327.5) (float-vector -39.4856 -693.75 -302.5)))
(instance face :init :vertices (list (float-vector -20.0 -682.5 -302.5) (float-vector -20.0 -682.5 -327.5) (float-vector -31.25 -685.514 -327.5) (float-vector -31.25 -685.514 -302.5)))
(instance face :init :vertices (list (float-vector -8.75 -685.514 -302.5) (float-vector -8.75 -685.514 -327.5) (float-vector -20.0 -682.5 -327.5) (float-vector -20.0 -682.5 -302.5)))
(instance face :init :vertices (list (float-vector -0.514428 -693.75 -302.5) (float-vector -0.514428 -693.75 -327.5) (float-vector -8.75 -685.514 -327.5) (float-vector -8.75 -685.514 -302.5)))
(instance face :init :vertices (list (float-vector 2.5 -705.0 -302.5) (float-vector 2.5 -705.0 -327.5) (float-vector -0.514428 -693.75 -327.5) (float-vector -0.514428 -693.75 -302.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 419.486 -716.25 -302.5) (float-vector 422.5 -705.0 -302.5) (float-vector 419.486 -693.75 -302.5) (float-vector 411.25 -685.514 -302.5) (float-vector 400.0 -682.5 -302.5) (float-vector 388.75 -685.514 -302.5) (float-vector 380.514 -693.75 -302.5) (float-vector 377.5 -705.0 -302.5) (float-vector 380.514 -716.25 -302.5) (float-vector 388.75 -724.486 -302.5) (float-vector 400.0 -727.5 -302.5) (float-vector 411.25 -724.486 -302.5)))
(instance face :init :vertices (list (float-vector 422.5 -705.0 -327.5) (float-vector 419.486 -716.25 -327.5) (float-vector 411.25 -724.486 -327.5) (float-vector 400.0 -727.5 -327.5) (float-vector 388.75 -724.486 -327.5) (float-vector 380.514 -716.25 -327.5) (float-vector 377.5 -705.0 -327.5) (float-vector 380.514 -693.75 -327.5) (float-vector 388.75 -685.514 -327.5) (float-vector 400.0 -682.5 -327.5) (float-vector 411.25 -685.514 -327.5) (float-vector 419.486 -693.75 -327.5)))
(instance face :init :vertices (list (float-vector 419.486 -716.25 -302.5) (float-vector 419.486 -716.25 -327.5) (float-vector 422.5 -705.0 -327.5) (float-vector 422.5 -705.0 -302.5)))
(instance face :init :vertices (list (float-vector 411.25 -724.486 -302.5) (float-vector 411.25 -724.486 -327.5) (float-vector 419.486 -716.25 -327.5) (float-vector 419.486 -716.25 -302.5)))
(instance face :init :vertices (list (float-vector 400.0 -727.5 -302.5) (float-vector 400.0 -727.5 -327.5) (float-vector 411.25 -724.486 -327.5) (float-vector 411.25 -724.486 -302.5)))
(instance face :init :vertices (list (float-vector 388.75 -724.486 -302.5) (float-vector 388.75 -724.486 -327.5) (float-vector 400.0 -727.5 -327.5) (float-vector 400.0 -727.5 -302.5)))
(instance face :init :vertices (list (float-vector 380.514 -716.25 -302.5) (float-vector 380.514 -716.25 -327.5) (float-vector 388.75 -724.486 -327.5) (float-vector 388.75 -724.486 -302.5)))
(instance face :init :vertices (list (float-vector 377.5 -705.0 -302.5) (float-vector 377.5 -705.0 -327.5) (float-vector 380.514 -716.25 -327.5) (float-vector 380.514 -716.25 -302.5)))
(instance face :init :vertices (list (float-vector 380.514 -693.75 -302.5) (float-vector 380.514 -693.75 -327.5) (float-vector 377.5 -705.0 -327.5) (float-vector 377.5 -705.0 -302.5)))
(instance face :init :vertices (list (float-vector 388.75 -685.514 -302.5) (float-vector 388.75 -685.514 -327.5) (float-vector 380.514 -693.75 -327.5) (float-vector 380.514 -693.75 -302.5)))
(instance face :init :vertices (list (float-vector 400.0 -682.5 -302.5) (float-vector 400.0 -682.5 -327.5) (float-vector 388.75 -685.514 -327.5) (float-vector 388.75 -685.514 -302.5)))
(instance face :init :vertices (list (float-vector 411.25 -685.514 -302.5) (float-vector 411.25 -685.514 -327.5) (float-vector 400.0 -682.5 -327.5) (float-vector 400.0 -682.5 -302.5)))
(instance face :init :vertices (list (float-vector 419.486 -693.75 -302.5) (float-vector 419.486 -693.75 -327.5) (float-vector 411.25 -685.514 -327.5) (float-vector 411.25 -685.514 -302.5)))
(instance face :init :vertices (list (float-vector 422.5 -705.0 -302.5) (float-vector 422.5 -705.0 -327.5) (float-vector 419.486 -693.75 -327.5) (float-vector 419.486 -693.75 -302.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -0.514428 693.75 -302.5) (float-vector 2.5 705.0 -302.5) (float-vector -0.514428 716.25 -302.5) (float-vector -8.75 724.486 -302.5) (float-vector -20.0 727.5 -302.5) (float-vector -31.25 724.486 -302.5) (float-vector -39.4856 716.25 -302.5) (float-vector -42.5 705.0 -302.5) (float-vector -39.4856 693.75 -302.5) (float-vector -31.25 685.514 -302.5) (float-vector -20.0 682.5 -302.5) (float-vector -8.75 685.514 -302.5)))
(instance face :init :vertices (list (float-vector 2.5 705.0 -327.5) (float-vector -0.514428 693.75 -327.5) (float-vector -8.75 685.514 -327.5) (float-vector -20.0 682.5 -327.5) (float-vector -31.25 685.514 -327.5) (float-vector -39.4856 693.75 -327.5) (float-vector -42.5 705.0 -327.5) (float-vector -39.4856 716.25 -327.5) (float-vector -31.25 724.486 -327.5) (float-vector -20.0 727.5 -327.5) (float-vector -8.75 724.486 -327.5) (float-vector -0.514428 716.25 -327.5)))
(instance face :init :vertices (list (float-vector -0.514428 693.75 -302.5) (float-vector -0.514428 693.75 -327.5) (float-vector 2.5 705.0 -327.5) (float-vector 2.5 705.0 -302.5)))
(instance face :init :vertices (list (float-vector -8.75 685.514 -302.5) (float-vector -8.75 685.514 -327.5) (float-vector -0.514428 693.75 -327.5) (float-vector -0.514428 693.75 -302.5)))
(instance face :init :vertices (list (float-vector -20.0 682.5 -302.5) (float-vector -20.0 682.5 -327.5) (float-vector -8.75 685.514 -327.5) (float-vector -8.75 685.514 -302.5)))
(instance face :init :vertices (list (float-vector -31.25 685.514 -302.5) (float-vector -31.25 685.514 -327.5) (float-vector -20.0 682.5 -327.5) (float-vector -20.0 682.5 -302.5)))
(instance face :init :vertices (list (float-vector -39.4856 693.75 -302.5) (float-vector -39.4856 693.75 -327.5) (float-vector -31.25 685.514 -327.5) (float-vector -31.25 685.514 -302.5)))
(instance face :init :vertices (list (float-vector -42.5 705.0 -302.5) (float-vector -42.5 705.0 -327.5) (float-vector -39.4856 693.75 -327.5) (float-vector -39.4856 693.75 -302.5)))
(instance face :init :vertices (list (float-vector -39.4856 716.25 -302.5) (float-vector -39.4856 716.25 -327.5) (float-vector -42.5 705.0 -327.5) (float-vector -42.5 705.0 -302.5)))
(instance face :init :vertices (list (float-vector -31.25 724.486 -302.5) (float-vector -31.25 724.486 -327.5) (float-vector -39.4856 716.25 -327.5) (float-vector -39.4856 716.25 -302.5)))
(instance face :init :vertices (list (float-vector -20.0 727.5 -302.5) (float-vector -20.0 727.5 -327.5) (float-vector -31.25 724.486 -327.5) (float-vector -31.25 724.486 -302.5)))
(instance face :init :vertices (list (float-vector -8.75 724.486 -302.5) (float-vector -8.75 724.486 -327.5) (float-vector -20.0 727.5 -327.5) (float-vector -20.0 727.5 -302.5)))
(instance face :init :vertices (list (float-vector -0.514428 716.25 -302.5) (float-vector -0.514428 716.25 -327.5) (float-vector -8.75 724.486 -327.5) (float-vector -8.75 724.486 -302.5)))
(instance face :init :vertices (list (float-vector 2.5 705.0 -302.5) (float-vector 2.5 705.0 -327.5) (float-vector -0.514428 716.25 -327.5) (float-vector -0.514428 716.25 -302.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 419.486 693.75 -302.5) (float-vector 422.5 705.0 -302.5) (float-vector 419.486 716.25 -302.5) (float-vector 411.25 724.486 -302.5) (float-vector 400.0 727.5 -302.5) (float-vector 388.75 724.486 -302.5) (float-vector 380.514 716.25 -302.5) (float-vector 377.5 705.0 -302.5) (float-vector 380.514 693.75 -302.5) (float-vector 388.75 685.514 -302.5) (float-vector 400.0 682.5 -302.5) (float-vector 411.25 685.514 -302.5)))
(instance face :init :vertices (list (float-vector 422.5 705.0 -327.5) (float-vector 419.486 693.75 -327.5) (float-vector 411.25 685.514 -327.5) (float-vector 400.0 682.5 -327.5) (float-vector 388.75 685.514 -327.5) (float-vector 380.514 693.75 -327.5) (float-vector 377.5 705.0 -327.5) (float-vector 380.514 716.25 -327.5) (float-vector 388.75 724.486 -327.5) (float-vector 400.0 727.5 -327.5) (float-vector 411.25 724.486 -327.5) (float-vector 419.486 716.25 -327.5)))
(instance face :init :vertices (list (float-vector 419.486 693.75 -302.5) (float-vector 419.486 693.75 -327.5) (float-vector 422.5 705.0 -327.5) (float-vector 422.5 705.0 -302.5)))
(instance face :init :vertices (list (float-vector 411.25 685.514 -302.5) (float-vector 411.25 685.514 -327.5) (float-vector 419.486 693.75 -327.5) (float-vector 419.486 693.75 -302.5)))
(instance face :init :vertices (list (float-vector 400.0 682.5 -302.5) (float-vector 400.0 682.5 -327.5) (float-vector 411.25 685.514 -327.5) (float-vector 411.25 685.514 -302.5)))
(instance face :init :vertices (list (float-vector 388.75 685.514 -302.5) (float-vector 388.75 685.514 -327.5) (float-vector 400.0 682.5 -327.5) (float-vector 400.0 682.5 -302.5)))
(instance face :init :vertices (list (float-vector 380.514 693.75 -302.5) (float-vector 380.514 693.75 -327.5) (float-vector 388.75 685.514 -327.5) (float-vector 388.75 685.514 -302.5)))
(instance face :init :vertices (list (float-vector 377.5 705.0 -302.5) (float-vector 377.5 705.0 -327.5) (float-vector 380.514 693.75 -327.5) (float-vector 380.514 693.75 -302.5)))
(instance face :init :vertices (list (float-vector 380.514 716.25 -302.5) (float-vector 380.514 716.25 -327.5) (float-vector 377.5 705.0 -327.5) (float-vector 377.5 705.0 -302.5)))
(instance face :init :vertices (list (float-vector 388.75 724.486 -302.5) (float-vector 388.75 724.486 -327.5) (float-vector 380.514 716.25 -327.5) (float-vector 380.514 716.25 -302.5)))
(instance face :init :vertices (list (float-vector 400.0 727.5 -302.5) (float-vector 400.0 727.5 -327.5) (float-vector 388.75 724.486 -327.5) (float-vector 388.75 724.486 -302.5)))
(instance face :init :vertices (list (float-vector 411.25 724.486 -302.5) (float-vector 411.25 724.486 -327.5) (float-vector 400.0 727.5 -327.5) (float-vector 400.0 727.5 -302.5)))
(instance face :init :vertices (list (float-vector 419.486 716.25 -302.5) (float-vector 419.486 716.25 -327.5) (float-vector 411.25 724.486 -327.5) (float-vector 411.25 724.486 -302.5)))
(instance face :init :vertices (list (float-vector 422.5 705.0 -302.5) (float-vector 422.5 705.0 -327.5) (float-vector 419.486 716.25 -327.5) (float-vector 419.486 716.25 -302.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 65.0 750.0 302.5) (float-vector -65.0 750.0 302.5) (float-vector -65.0 -750.0 302.5) (float-vector 65.0 -750.0 302.5)))
(instance face :init :vertices (list (float-vector -65.0 750.0 -302.5) (float-vector 65.0 750.0 -302.5) (float-vector 65.0 -750.0 -302.5) (float-vector -65.0 -750.0 -302.5)))
(instance face :init :vertices (list (float-vector 65.0 750.0 302.5) (float-vector 65.0 750.0 -302.5) (float-vector -65.0 750.0 -302.5) (float-vector -65.0 750.0 302.5)))
(instance face :init :vertices (list (float-vector 65.0 -750.0 302.5) (float-vector 65.0 -750.0 -302.5) (float-vector 65.0 750.0 -302.5) (float-vector 65.0 750.0 302.5)))
(instance face :init :vertices (list (float-vector -65.0 -750.0 302.5) (float-vector -65.0 -750.0 -302.5) (float-vector 65.0 -750.0 -302.5) (float-vector 65.0 -750.0 302.5)))
(instance face :init :vertices (list (float-vector -65.0 750.0 302.5) (float-vector -65.0 750.0 -302.5) (float-vector -65.0 -750.0 -302.5) (float-vector -65.0 -750.0 302.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :orange)
(send (elt bc 1) :set-color :gray32)
(send (elt bc 2) :set-color :gray32)
(send (elt bc 3) :set-color :orange)
(send (elt bc 4) :set-color :orange)
(send (elt bc 5) :set-color :black)
(send (elt bc 6) :set-color :black)
(send (elt bc 7) :set-color :black)
(send (elt bc 8) :set-color :black)
(send (elt bc 9) :set-color :orange)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :coe-sofa-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; init-ending
(setq links (list blink0))
(setq joint-list (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun coe-sofa (&rest args) (instance* coe-sofa-object :init args))
;; (format *error-output* "(instance coe-sofa-object :init) for generating model~%")
|
