practiceCADfor6dofGOOBERCad.groovy

import com.neuronrobotics.bowlerstudio.creature.ICadGenerator
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics
import com.neuronrobotics.sdk.addons.kinematics.MobileBase

import eu.mihosoft.vrl.v3d.CSG
import eu.mihosoft.vrl.v3d.Cube

// code here

return new ICadGenerator(){

	@Override
	public ArrayList<CSG> generateCad(DHParameterKinematics arg0, int arg1) {
		// TODO Auto-generated method stub
		ArrayList<CSG> back =[]
		back.add(new Cube(1).toCSG())
		for(CSG c:back)
			c.setManipulator(arg0.getLinkObjectManipulator(arg1))
		return back;
	}

	@Override
	public ArrayList<CSG> generateBody(MobileBase arg0) {
		// TODO Auto-generated method stub
		ArrayList<CSG> back =[]
		back.add(new Cube(1).toCSG())
		for(CSG c:back)
			c.setManipulator(arg0.getRootListener())
		for(DHParameterKinematics kin:arg0.getAllDHChains()) {
			CSG limbRoot =new Cube(1).toCSG()
			limbRoot.setManipulator(kin.getRootListener())
			back.add(limbRoot)

		}
		return back;
	}
	
	
}