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Control Panel for a Humanoid
Although the classes do not yet read in the limits of the joint, it is tempting to simplify the movement of some of the joints to reflect reality. For example, the elbow moves a half circle in one direction and not at all in the perpendicular direction. The twist of the forearm can be implemented at the wrist joint. This allows the use of a limited 1DOF control to be used for the elbow or the knee. This is done using the DualJoint1D class which can be seen as a special case of the DualJoint3D class. It consists of two 1DOF sliders and it is set to return values spanning 1 unit instead of the usual 2 units(-1 to +1).
A java applet to control 8 joints in a humanoid is shown above. The joints controlled are the left and right hip, knee, shoulder and elbow. I have put together a crude humanoid to demonstrate this applet. I am handcoding the VRML behind the humanoid and it shows - the humanoid consists almost completely of cylinders and spheres - call it Sphecyloid. At present, Sphecyloid implements 8 of the total 79 joints listed in the H-Anim proposal - 11 if you count the 'non-joint' joints viz. HumanoidRoot, sacroiliac and pelvis. I intend to extend the humanoid as I go along.
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