File: ball-object.l

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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass ball-object
  :super cascaded-link
  :slots (sensors
         handle0
         ))
(defmethod ball-object
  (:init
   (&rest args &key (name "ball") (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 :ball-bodyset2
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 56.4254 64.6578 51.3375) (float-vector 60.1501 70.7107 37.1748) (float-vector 46.843 75.7935 45.399)))
         (instance face :init :vertices (list (float-vector 46.843 75.7935 45.399) (float-vector 42.5325 68.8191 58.7785) (float-vector 56.4254 64.6578 51.3375)))
         (instance face :init :vertices (list (float-vector 60.1501 70.7107 37.1748) (float-vector 50.0 80.9017 30.9017) (float-vector 46.843 75.7935 45.399)))
         (instance face :init :vertices (list (float-vector 56.4254 64.6578 51.3375) (float-vector 68.8191 58.7785 42.5325) (float-vector 60.1501 70.7107 37.1748)))
         (instance face :init :vertices (list (float-vector 51.3375 56.4254 64.6578) (float-vector 37.1748 60.1501 70.7107) (float-vector 45.399 46.843 75.7935)))
         (instance face :init :vertices (list (float-vector 45.399 46.843 75.7935) (float-vector 58.7785 42.5325 68.8191) (float-vector 51.3375 56.4254 64.6578)))
         (instance face :init :vertices (list (float-vector 37.1748 60.1501 70.7107) (float-vector 30.9017 50.0 80.9017) (float-vector 45.399 46.843 75.7935)))
         (instance face :init :vertices (list (float-vector 51.3375 56.4254 64.6578) (float-vector 42.5325 68.8191 58.7785) (float-vector 37.1748 60.1501 70.7107)))
         (instance face :init :vertices (list (float-vector 64.6578 51.3375 56.4254) (float-vector 70.7107 37.1748 60.1501) (float-vector 75.7935 45.399 46.843)))
         (instance face :init :vertices (list (float-vector 75.7935 45.399 46.843) (float-vector 68.8191 58.7785 42.5325) (float-vector 64.6578 51.3375 56.4254)))
         (instance face :init :vertices (list (float-vector 70.7107 37.1748 60.1501) (float-vector 80.9017 30.9017 50.0) (float-vector 75.7935 45.399 46.843)))
         (instance face :init :vertices (list (float-vector 64.6578 51.3375 56.4254) (float-vector 58.7785 42.5325 68.8191) (float-vector 70.7107 37.1748 60.1501)))
         (instance face :init :vertices (list (float-vector 64.6578 51.3375 56.4254) (float-vector 56.4254 64.6578 51.3375) (float-vector 51.3375 56.4254 64.6578)))
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         (instance face :init :vertices (list (float-vector 56.4254 64.6578 51.3375) (float-vector 42.5325 68.8191 58.7785) (float-vector 51.3375 56.4254 64.6578)))
         (instance face :init :vertices (list (float-vector 64.6578 51.3375 56.4254) (float-vector 68.8191 58.7785 42.5325) (float-vector 56.4254 64.6578 51.3375)))
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         (instance face :init :vertices (list (float-vector 79.2649 57.1252 21.3023) (float-vector 86.2668 43.3889 25.9892) (float-vector 86.4929 48.4442 13.12)))
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         (instance face :init :vertices (list (float-vector 48.4442 13.12 -86.4929) (float-vector 52.5731 0.0 -85.0651) (float-vector 40.3355 0.0 -91.5043)))
         (instance face :init :vertices (list (float-vector 35.8229 13.1655 -92.4305) (float-vector 43.3889 25.9892 -86.2668) (float-vector 48.4442 13.12 -86.4929)))
         (instance face :init :vertices (list (float-vector 22.0117 13.2792 -96.6393) (float-vector 13.7952 0.0 -99.0439) (float-vector 8.22425 13.3071 -98.7688)))
         (instance face :init :vertices (list (float-vector 8.22425 13.3071 -98.7688) (float-vector 16.246 26.2866 -95.1057) (float-vector 22.0117 13.2792 -96.6393)))
         (instance face :init :vertices (list (float-vector 13.7952 0.0 -99.0439) (float-vector 0.0 0.0 -100.0) (float-vector 8.22425 13.3071 -98.7688)))
         (instance face :init :vertices (list (float-vector 22.0117 13.2792 -96.6393) (float-vector 27.3267 0.0 -96.1938) (float-vector 13.7952 0.0 -99.0439)))
         (instance face :init :vertices (list (float-vector 22.0117 13.2792 -96.6393) (float-vector 30.1259 26.4083 -91.6244) (float-vector 35.8229 13.1655 -92.4305)))
         (instance face :init :vertices (list (float-vector 35.8229 13.1655 -92.4305) (float-vector 27.3267 0.0 -96.1938) (float-vector 22.0117 13.2792 -96.6393)))
         (instance face :init :vertices (list (float-vector 30.1259 26.4083 -91.6244) (float-vector 43.3889 25.9892 -86.2668) (float-vector 35.8229 13.1655 -92.4305)))
         (instance face :init :vertices (list (float-vector 22.0117 13.2792 -96.6393) (float-vector 16.246 26.2866 -95.1057) (float-vector 30.1259 26.4083 -91.6244)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :red)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :ball-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


     ;; definition of :handle
     (setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
     (send blink0 :assoc handle0)

     ;; 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  handle0) args))
  (:handle-handle0 (&rest args) (forward-message-to handle0 args))
  (:attention (&rest args) (forward-message-to-all (list ) args))
  (:button (&rest args) (forward-message-to-all (list ) args))
  )

(defun ball (&rest args) (instance* ball-object :init args))
;; (format *error-output* "(instance ball-object :init) for generating model~%")