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| --- ws_hiraoka_before/src/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hironxjsk.l 2023-04-12 17:52:52.758058802 +0900 | |
| +++ ws_hiraoka_after/src/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hironxjsk.l 2023-04-13 20:49:44.844332787 +0900 | |
| @@ -1,9 +1,9 @@ | |
| ;; | |
| ;; DO NOT EDIT THIS FILE | |
| ;; | |
| -;; this file is automatically generated from /home/pazeshun/ros/ws_hiraoka/src/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hironxjsk.l on (Linux pazeshun-ThinkPad-T460s-1804 5.4.0-146-generic x86_64) at 2023-04-12 17:52:52 JST | |
| +;; this file is automatically generated from /home/pazeshun/ros/ws_hiraoka_after/src/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hironxjsk.l on (Linux pazeshun-ThinkPad-T460s-1804 5.4.0-146-generic x86_64) at 2023-04-13 20:49:44 JST | |
| ;; | |
| -;; /home/pazeshun/ros/ws_hiraoka/build/hrpsys_ros_bridge_tutorials $ ;; | |
| +;; /home/pazeshun/ros/ws_hiraoka_after/build/hrpsys_ros_bridge_tutorials $ ;; | |
| ;; | |
| ;; copy euscollada-robot class definition from euscollada/src/euscollada-robot.l | |
| @@ -262,7 +262,7 @@ | |
| )) | |
| ) | |
| ;; | |
| -;; end of copy from /home/pazeshun/ros/ws_hiraoka/src/jsk_model_tools/euscollada/src/euscollada-robot.l | |
| +;; end of copy from /home/pazeshun/ros/ws_hiraoka_after/src/jsk_model_tools/euscollada/src/euscollada-robot.l | |
| ;; | |
| (defun HIRONXJSK () (setq *HIRONXJSK* (instance HIRONXJSK-robot :init))) | |
| @@ -274,6 +274,8 @@ | |
| BASE_BOTTOM_JOINT_fixed_jt BASE_TOP_JOINT_fixed_jt CHEST_JOINT0_jt HEAD_JOINT0_jt HEAD_JOINT1_jt LARM_JOINT0_jt LARM_JOINT1_jt LARM_JOINT2_jt LARM_JOINT3_jt LARM_JOINT4_jt LARM_JOINT5_jt LHAND_JOINT0_jt LHAND_JOINT1_jt LHAND_JOINT2_jt LHAND_JOINT3_jt RARM_JOINT0_jt RARM_JOINT1_jt RARM_JOINT2_jt RARM_JOINT3_jt RARM_JOINT4_jt RARM_JOINT5_jt RHAND_JOINT0_jt RHAND_JOINT1_jt RHAND_JOINT2_jt RHAND_JOINT3_jt | |
| ;; sensor names | |
| lhsensor-sensor-coords CAMERA_HAND_L-sensor-coords rhsensor-sensor-coords CAMERA_HAND_R-sensor-coords HEAD_CAMERA_RGB-sensor-coords HEAD_CAMERA_DEPTH-sensor-coords HEAD_CAMERA-sensor-coords | |
| + ;; non-default limb names | |
| + | |
| ) | |
| ) | |
| (defmethod HIRONXJSK-robot | |
| @@ -282,59 +284,32 @@ | |
| (let () | |
| (send-super* :init :name "HIRONXJSK" args) | |
| - ;; link: CHEST_JOINT0_Link_lk | |
| - (let ((geom-lst (list | |
| - (send self :_make_instance_CHEST_JOINT0_Link_geom0)))) | |
| - (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq CHEST_JOINT0_Link_lk | |
| - (instance bodyset-link | |
| - :init (make-cascoords) | |
| - :bodies geom-lst | |
| - :name "CHEST_JOINT0_Link")) | |
| - ;; inertial parameter for CHEST_JOINT0_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector -4.9337799999999996e+00 -9.7682000000000002e-01 3.4405202000000003e+02) | |
| - :rot (quaternion2matrix (float-vector 1.7370798549625835e-03 9.9998442123170461e-01 -3.4715562121370976e-03 4.0110029838395450e-03))) | |
| - )) | |
| - (send CHEST_JOINT0_Link_lk :weight 6207.610) | |
| - (setq (CHEST_JOINT0_Link_lk . inertia-tensor) | |
| - (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 6.3959999805948220e+07 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 3.1082698150046822e+07 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.0110002044004984e+07)) | |
| - ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (CHEST_JOINT0_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| - ) | |
| - ;; global coordinates for CHEST_JOINT0_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) | |
| - )) | |
| - (send CHEST_JOINT0_Link_lk :transform world-cds)) | |
| - ) | |
| - | |
| - ;; link: BASE_BOTTOM_lk | |
| + ;; link: WAIST_lk | |
| (let ((geom-lst (list | |
| - (send self :_make_instance_BASE_BOTTOM_geom0)))) | |
| + (send self :_make_instance_WAIST_geom0)))) | |
| (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq BASE_BOTTOM_lk | |
| + (setq WAIST_lk | |
| (instance bodyset-link | |
| :init (make-cascoords) | |
| :bodies geom-lst | |
| - :name "BASE_BOTTOM")) | |
| - ;; inertial parameter for BASE_BOTTOM_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.5500000000000000e+02)) | |
| + :name "WAIST")) | |
| + ;; inertial parameter for WAIST_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector -3.8808999999999999e-01 1.6600000000000000e-03 1.6466016999999999e+02) | |
| + :rot (quaternion2matrix (float-vector -4.1712979950841250e-01 -5.7048422386244801e-01 -4.1760137256844276e-01 5.7110382095997625e-01))) | |
| )) | |
| - (send BASE_BOTTOM_lk :weight 75000.000) | |
| - (setq (BASE_BOTTOM_lk . inertia-tensor) | |
| + (send WAIST_lk :weight 3110.810) | |
| + (setq (WAIST_lk . inertia-tensor) | |
| (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 2.0000000000000000e+10 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 2.0000000000000000e+10 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.0000000000000000e+10)) | |
| + (float-vector 4.3823431856777994e+06 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 3.4729997796384789e+07 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4749999017937399e+07)) | |
| ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (BASE_BOTTOM_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + (setq (WAIST_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| ) | |
| - ;; global coordinates for BASE_BOTTOM_lk | |
| + ;; global coordinates for WAIST_lk | |
| (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) | |
| )) | |
| - (send BASE_BOTTOM_lk :transform world-cds)) | |
| + (send WAIST_lk :transform world-cds)) | |
| ) | |
| ;; link: BASE_TOP_lk | |
| @@ -364,60 +339,59 @@ | |
| (send BASE_TOP_lk :transform world-cds)) | |
| ) | |
| - ;; link: WAIST_lk | |
| + ;; link: CHEST_JOINT0_Link_lk | |
| (let ((geom-lst (list | |
| - (send self :_make_instance_WAIST_geom0)))) | |
| + (send self :_make_instance_CHEST_JOINT0_Link_geom0)))) | |
| (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq WAIST_lk | |
| + (setq CHEST_JOINT0_Link_lk | |
| (instance bodyset-link | |
| :init (make-cascoords) | |
| :bodies geom-lst | |
| - :name "WAIST")) | |
| - ;; inertial parameter for WAIST_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector -3.8808999999999999e-01 1.6600000000000000e-03 1.6466016999999999e+02) | |
| - :rot (quaternion2matrix (float-vector -4.1712979950841250e-01 -5.7048422386244801e-01 -4.1760137256844276e-01 5.7110382095997625e-01))) | |
| + :name "CHEST_JOINT0_Link")) | |
| + ;; inertial parameter for CHEST_JOINT0_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector -4.9337799999999996e+00 -9.7682000000000002e-01 3.4405202000000003e+02) | |
| + :rot (quaternion2matrix (float-vector 1.7370798549625835e-03 9.9998442123170461e-01 -3.4715562121370976e-03 4.0110029838395450e-03))) | |
| )) | |
| - (send WAIST_lk :weight 3110.810) | |
| - (setq (WAIST_lk . inertia-tensor) | |
| + (send CHEST_JOINT0_Link_lk :weight 6207.610) | |
| + (setq (CHEST_JOINT0_Link_lk . inertia-tensor) | |
| (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 4.3823431856777994e+06 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 3.4729997796384789e+07 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 3.4749999017937399e+07)) | |
| + (float-vector 6.3959999805948220e+07 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 3.1082698150046822e+07 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.0110002044004984e+07)) | |
| ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (WAIST_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + (setq (CHEST_JOINT0_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| ) | |
| - ;; global coordinates for WAIST_lk | |
| + ;; global coordinates for CHEST_JOINT0_Link_lk | |
| (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) | |
| )) | |
| - (send WAIST_lk :transform world-cds)) | |
| + (send CHEST_JOINT0_Link_lk :transform world-cds)) | |
| ) | |
| - ;; link: HEAD_JOINT0_Link_lk | |
| + ;; link: BASE_BOTTOM_lk | |
| (let ((geom-lst (list | |
| - (send self :_make_instance_HEAD_JOINT0_Link_geom0)))) | |
| + (send self :_make_instance_BASE_BOTTOM_geom0)))) | |
| (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq HEAD_JOINT0_Link_lk | |
| + (setq BASE_BOTTOM_lk | |
| (instance bodyset-link | |
| :init (make-cascoords) | |
| :bodies geom-lst | |
| - :name "HEAD_JOINT0_Link")) | |
| - ;; inertial parameter for HEAD_JOINT0_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector -2.2919999999999999e-02 5.4784800000000002e+00 -7.8401599999999849e+00) | |
| - :rot (quaternion2matrix (float-vector -1.6919244815107675e-03 -1.8617516934824818e-03 7.5290222552455077e-01 -6.5812757887233331e-01))) | |
| + :name "BASE_BOTTOM")) | |
| + ;; inertial parameter for BASE_BOTTOM_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.5500000000000000e+02)) | |
| )) | |
| - (send HEAD_JOINT0_Link_lk :weight 317.929) | |
| - (setq (HEAD_JOINT0_Link_lk . inertia-tensor) | |
| + (send BASE_BOTTOM_lk :weight 75000.000) | |
| + (setq (BASE_BOTTOM_lk . inertia-tensor) | |
| (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 2.7682166673572228e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 2.1101190290320749e+05 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.2861643036107000e+05)) | |
| + (float-vector 2.0000000000000000e+10 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 2.0000000000000000e+10 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.0000000000000000e+10)) | |
| ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (HEAD_JOINT0_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + (setq (BASE_BOTTOM_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| ) | |
| - ;; global coordinates for HEAD_JOINT0_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6950000000000000e+02)) | |
| + ;; global coordinates for BASE_BOTTOM_lk | |
| + (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) | |
| )) | |
| - (send HEAD_JOINT0_Link_lk :transform world-cds)) | |
| + (send BASE_BOTTOM_lk :transform world-cds)) | |
| ) | |
| ;; link: RARM_JOINT3_Link_lk | |
| @@ -449,6 +423,34 @@ | |
| (send RARM_JOINT3_Link_lk :transform world-cds)) | |
| ) | |
| + ;; link: HEAD_JOINT1_Link_lk | |
| + (let ((geom-lst (list | |
| + (send self :_make_instance_HEAD_JOINT1_Link_geom0)))) | |
| + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| + (setq HEAD_JOINT1_Link_lk | |
| + (instance bodyset-link | |
| + :init (make-cascoords) | |
| + :bodies geom-lst | |
| + :name "HEAD_JOINT1_Link")) | |
| + ;; inertial parameter for HEAD_JOINT1_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector 5.0200000000000002e-03 -1.6677679999999999e+01 1.6315329999999960e+01) | |
| + :rot (quaternion2matrix (float-vector 9.8818574885909882e-01 1.5326010995104386e-01 -3.9692682214864162e-04 -3.2695362649285954e-04))) | |
| + )) | |
| + (send HEAD_JOINT1_Link_lk :weight 80.859) | |
| + (setq (HEAD_JOINT1_Link_lk . inertia-tensor) | |
| + (m* (m* (send tmp-cds :worldrot) (matrix | |
| + (float-vector 8.0700023035449907e+04 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 2.6191293812801909e+04 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.0428683151748148e+04)) | |
| + ) (transpose (send tmp-cds :worldrot)))) | |
| + (setq (HEAD_JOINT1_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + ) | |
| + ;; global coordinates for HEAD_JOINT1_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6950000000000000e+02)) | |
| + )) | |
| + (send HEAD_JOINT1_Link_lk :transform world-cds)) | |
| + ) | |
| + | |
| ;; link: RARM_JOINT1_Link_lk | |
| (let ((geom-lst (list | |
| (send self :_make_instance_RARM_JOINT1_Link_geom0)))) | |
| @@ -536,34 +538,6 @@ | |
| (send LARM_JOINT1_Link_lk :transform world-cds)) | |
| ) | |
| - ;; link: HEAD_JOINT1_Link_lk | |
| - (let ((geom-lst (list | |
| - (send self :_make_instance_HEAD_JOINT1_Link_geom0)))) | |
| - (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq HEAD_JOINT1_Link_lk | |
| - (instance bodyset-link | |
| - :init (make-cascoords) | |
| - :bodies geom-lst | |
| - :name "HEAD_JOINT1_Link")) | |
| - ;; inertial parameter for HEAD_JOINT1_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector 5.0200000000000002e-03 -1.6677679999999999e+01 1.6315329999999960e+01) | |
| - :rot (quaternion2matrix (float-vector 9.8818574885909882e-01 1.5326010995104386e-01 -3.9692682214864162e-04 -3.2695362649285954e-04))) | |
| - )) | |
| - (send HEAD_JOINT1_Link_lk :weight 80.859) | |
| - (setq (HEAD_JOINT1_Link_lk . inertia-tensor) | |
| - (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 8.0700023035449907e+04 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 2.6191293812801909e+04 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.0428683151748148e+04)) | |
| - ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (HEAD_JOINT1_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| - ) | |
| - ;; global coordinates for HEAD_JOINT1_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6950000000000000e+02)) | |
| - )) | |
| - (send HEAD_JOINT1_Link_lk :transform world-cds)) | |
| - ) | |
| - | |
| ;; link: RARM_JOINT0_Link_lk | |
| (let ((geom-lst (list | |
| (send self :_make_instance_RARM_JOINT0_Link_geom0)))) | |
| @@ -593,6 +567,34 @@ | |
| (send RARM_JOINT0_Link_lk :transform world-cds)) | |
| ) | |
| + ;; link: HEAD_JOINT0_Link_lk | |
| + (let ((geom-lst (list | |
| + (send self :_make_instance_HEAD_JOINT0_Link_geom0)))) | |
| + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| + (setq HEAD_JOINT0_Link_lk | |
| + (instance bodyset-link | |
| + :init (make-cascoords) | |
| + :bodies geom-lst | |
| + :name "HEAD_JOINT0_Link")) | |
| + ;; inertial parameter for HEAD_JOINT0_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector -2.2919999999999999e-02 5.4784800000000002e+00 -7.8401599999999849e+00) | |
| + :rot (quaternion2matrix (float-vector -1.6919244815107675e-03 -1.8617516934824818e-03 7.5290222552455077e-01 -6.5812757887233331e-01))) | |
| + )) | |
| + (send HEAD_JOINT0_Link_lk :weight 317.929) | |
| + (setq (HEAD_JOINT0_Link_lk . inertia-tensor) | |
| + (m* (m* (send tmp-cds :worldrot) (matrix | |
| + (float-vector 2.7682166673572228e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 2.1101190290320749e+05 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.2861643036107000e+05)) | |
| + ) (transpose (send tmp-cds :worldrot)))) | |
| + (setq (HEAD_JOINT0_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + ) | |
| + ;; global coordinates for HEAD_JOINT0_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6950000000000000e+02)) | |
| + )) | |
| + (send HEAD_JOINT0_Link_lk :transform world-cds)) | |
| + ) | |
| + | |
| ;; link: LARM_JOINT0_Link_lk | |
| (let ((geom-lst (list | |
| (send self :_make_instance_LARM_JOINT0_Link_geom0)))) | |
| @@ -678,63 +680,6 @@ | |
| (send LHAND_JOINT3_Link_lk :transform world-cds)) | |
| ) | |
| - ;; link: LHAND_JOINT1_Link_lk | |
| - (let ((geom-lst (list | |
| - (send self :_make_instance_LHAND_JOINT1_Link_geom0)))) | |
| - (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq LHAND_JOINT1_Link_lk | |
| - (instance bodyset-link | |
| - :init (make-cascoords) | |
| - :bodies geom-lst | |
| - :name "LHAND_JOINT1_Link")) | |
| - ;; inertial parameter for LHAND_JOINT1_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 2.7755575615628914e-14 2.7755575615628914e-14)) | |
| - )) | |
| - (send LHAND_JOINT1_Link_lk :weight 10.000) | |
| - (setq (LHAND_JOINT1_Link_lk . inertia-tensor) | |
| - (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 1.0000000000000000e+05 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) | |
| - ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (LHAND_JOINT1_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| - ) | |
| - ;; global coordinates for LHAND_JOINT1_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector -2.0080000000000004e+02 5.6066671905405350e+01 -2.0115816540088255e+02) | |
| - :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| - )) | |
| - (send LHAND_JOINT1_Link_lk :transform world-cds)) | |
| - ) | |
| - | |
| - ;; link: LARM_JOINT5_Link_lk | |
| - (let ((geom-lst (list | |
| - (send self :_make_instance_LARM_JOINT5_Link_geom0)))) | |
| - (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq LARM_JOINT5_Link_lk | |
| - (instance bodyset-link | |
| - :init (make-cascoords) | |
| - :bodies geom-lst | |
| - :name "LARM_JOINT5_Link")) | |
| - ;; inertial parameter for LARM_JOINT5_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector -4.8475970000000004e+01 -3.1999999999809958e-03 -3.8898750000000007e+01) | |
| - :rot (quaternion2matrix (float-vector 5.5808520646245352e-01 5.5718835891136520e-01 -4.3517277664157589e-01 4.3440383227071283e-01))) | |
| - )) | |
| - (send LARM_JOINT5_Link_lk :weight 1051.560) | |
| - (setq (LARM_JOINT5_Link_lk . inertia-tensor) | |
| - (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 2.5106970169670787e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 2.0475301579713102e+06 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.0939201403319857e+06)) | |
| - ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (LARM_JOINT5_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| - ) | |
| - ;; global coordinates for LARM_JOINT5_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector -1.2900000000000003e+02 8.7942227485145793e+01 -2.0969918152795302e+02) | |
| - :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| - )) | |
| - (send LARM_JOINT5_Link_lk :transform world-cds)) | |
| - ) | |
| - | |
| ;; link: RARM_JOINT4_Link_lk | |
| (let ((geom-lst (list | |
| (send self :_make_instance_RARM_JOINT4_Link_geom0)))) | |
| @@ -793,33 +738,91 @@ | |
| (send RARM_JOINT5_Link_lk :transform world-cds)) | |
| ) | |
| - ;; link: LARM_JOINT3_Link_lk | |
| + ;; link: LARM_JOINT4_Link_lk | |
| (let ((geom-lst (list | |
| - (send self :_make_instance_LARM_JOINT3_Link_geom0)))) | |
| + (send self :_make_instance_LARM_JOINT4_Link_geom0)))) | |
| (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq LARM_JOINT3_Link_lk | |
| + (setq LARM_JOINT4_Link_lk | |
| (instance bodyset-link | |
| :init (make-cascoords) | |
| :bodies geom-lst | |
| - :name "LARM_JOINT3_Link")) | |
| - ;; inertial parameter for LARM_JOINT3_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector -1.7880000000001367e-02 -3.9581199999999814e+00 -2.0273049999999998e+02) | |
| - :rot (quaternion2matrix (float-vector -4.9236276363753978e-01 5.0706211917533961e-01 5.1004367220012625e-01 4.9022685435339847e-01))) | |
| + :name "LARM_JOINT4_Link")) | |
| + ;; inertial parameter for LARM_JOINT4_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector 2.4313099999999990e+00 3.7973300000000156e+00 -5.7703589999999984e+01) | |
| + :rot (quaternion2matrix (float-vector -4.7858970510526366e-01 5.1045866169136367e-01 5.5794308619791400e-01 4.4618758547887233e-01))) | |
| )) | |
| - (send LARM_JOINT3_Link_lk :weight 457.418) | |
| - (setq (LARM_JOINT3_Link_lk . inertia-tensor) | |
| + (send LARM_JOINT4_Link_lk :weight 418.434) | |
| + (setq (LARM_JOINT4_Link_lk . inertia-tensor) | |
| (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 1.3442827737432611e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 6.9205054768830142e+05 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 6.8969117493737303e+05)) | |
| + (float-vector 1.3212949055130262e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 5.2037049675306480e+05 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1339001269563229e+05)) | |
| ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (LARM_JOINT3_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + (setq (LARM_JOINT4_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| ) | |
| - ;; global coordinates for LARM_JOINT3_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector -3.0000000000000004e+01 1.7205829540326422e+02 1.0422674463615739e+02) | |
| + ;; global coordinates for LARM_JOINT4_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector -3.0000000000000004e+01 1.1123590783170168e+02 -1.2276584812866089e+02) | |
| :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| )) | |
| - (send LARM_JOINT3_Link_lk :transform world-cds)) | |
| + (send LARM_JOINT4_Link_lk :transform world-cds)) | |
| + ) | |
| + | |
| + ;; link: LARM_JOINT5_Link_lk | |
| + (let ((geom-lst (list | |
| + (send self :_make_instance_LARM_JOINT5_Link_geom0)))) | |
| + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| + (setq LARM_JOINT5_Link_lk | |
| + (instance bodyset-link | |
| + :init (make-cascoords) | |
| + :bodies geom-lst | |
| + :name "LARM_JOINT5_Link")) | |
| + ;; inertial parameter for LARM_JOINT5_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector -4.8475970000000004e+01 -3.1999999999809958e-03 -3.8898750000000007e+01) | |
| + :rot (quaternion2matrix (float-vector 5.5808520646245352e-01 5.5718835891136520e-01 -4.3517277664157589e-01 4.3440383227071283e-01))) | |
| + )) | |
| + (send LARM_JOINT5_Link_lk :weight 1051.560) | |
| + (setq (LARM_JOINT5_Link_lk . inertia-tensor) | |
| + (m* (m* (send tmp-cds :worldrot) (matrix | |
| + (float-vector 2.5106970169670787e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 2.0475301579713102e+06 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.0939201403319857e+06)) | |
| + ) (transpose (send tmp-cds :worldrot)))) | |
| + (setq (LARM_JOINT5_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + ) | |
| + ;; global coordinates for LARM_JOINT5_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector -1.2900000000000003e+02 8.7942227485145793e+01 -2.0969918152795302e+02) | |
| + :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| + )) | |
| + (send LARM_JOINT5_Link_lk :transform world-cds)) | |
| + ) | |
| + | |
| + ;; link: LARM_JOINT2_Link_lk | |
| + (let ((geom-lst (list | |
| + (send self :_make_instance_LARM_JOINT2_Link_geom0)))) | |
| + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| + (setq LARM_JOINT2_Link_lk | |
| + (instance bodyset-link | |
| + :init (make-cascoords) | |
| + :bodies geom-lst | |
| + :name "LARM_JOINT2_Link")) | |
| + ;; inertial parameter for LARM_JOINT2_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector -2.2540000000000001e-02 1.6710700000000245e+00 -7.1511629999999997e+01) | |
| + :rot (quaternion2matrix (float-vector 5.2018274187791635e-01 4.7847381439144038e-01 -4.9003997798207516e-01 5.1022891330598452e-01))) | |
| + )) | |
| + (send LARM_JOINT2_Link_lk :weight 577.518) | |
| + (setq (LARM_JOINT2_Link_lk . inertia-tensor) | |
| + (m* (m* (send tmp-cds :worldrot) (matrix | |
| + (float-vector 1.9248928182211163e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 1.4396691726822979e+06 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.4223315454955909e+06)) | |
| + ) (transpose (send tmp-cds :worldrot)))) | |
| + (setq (LARM_JOINT2_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + ) | |
| + ;; global coordinates for LARM_JOINT2_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 1.7205829540326422e+02 1.0422674463615739e+02) | |
| + :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| + )) | |
| + (send LARM_JOINT2_Link_lk :transform world-cds)) | |
| ) | |
| ;; link: LHAND_JOINT0_Link_lk | |
| @@ -878,33 +881,33 @@ | |
| (send RHAND_JOINT0_Link_lk :transform world-cds)) | |
| ) | |
| - ;; link: LARM_JOINT4_Link_lk | |
| + ;; link: LARM_JOINT3_Link_lk | |
| (let ((geom-lst (list | |
| - (send self :_make_instance_LARM_JOINT4_Link_geom0)))) | |
| + (send self :_make_instance_LARM_JOINT3_Link_geom0)))) | |
| (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq LARM_JOINT4_Link_lk | |
| + (setq LARM_JOINT3_Link_lk | |
| (instance bodyset-link | |
| :init (make-cascoords) | |
| :bodies geom-lst | |
| - :name "LARM_JOINT4_Link")) | |
| - ;; inertial parameter for LARM_JOINT4_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector 2.4313099999999990e+00 3.7973300000000156e+00 -5.7703589999999984e+01) | |
| - :rot (quaternion2matrix (float-vector -4.7858970510526366e-01 5.1045866169136367e-01 5.5794308619791400e-01 4.4618758547887233e-01))) | |
| + :name "LARM_JOINT3_Link")) | |
| + ;; inertial parameter for LARM_JOINT3_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector -1.7880000000001367e-02 -3.9581199999999814e+00 -2.0273049999999998e+02) | |
| + :rot (quaternion2matrix (float-vector -4.9236276363753978e-01 5.0706211917533961e-01 5.1004367220012625e-01 4.9022685435339847e-01))) | |
| )) | |
| - (send LARM_JOINT4_Link_lk :weight 418.434) | |
| - (setq (LARM_JOINT4_Link_lk . inertia-tensor) | |
| + (send LARM_JOINT3_Link_lk :weight 457.418) | |
| + (setq (LARM_JOINT3_Link_lk . inertia-tensor) | |
| (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 1.3212949055130262e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 5.2037049675306480e+05 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1339001269563229e+05)) | |
| + (float-vector 1.3442827737432611e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 6.9205054768830142e+05 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 6.8969117493737303e+05)) | |
| ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (LARM_JOINT4_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + (setq (LARM_JOINT3_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| ) | |
| - ;; global coordinates for LARM_JOINT4_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector -3.0000000000000004e+01 1.1123590783170168e+02 -1.2276584812866089e+02) | |
| + ;; global coordinates for LARM_JOINT3_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector -3.0000000000000004e+01 1.7205829540326422e+02 1.0422674463615739e+02) | |
| :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| )) | |
| - (send LARM_JOINT4_Link_lk :transform world-cds)) | |
| + (send LARM_JOINT3_Link_lk :transform world-cds)) | |
| ) | |
| ;; link: RHAND_JOINT1_Link_lk | |
| @@ -991,33 +994,32 @@ | |
| (send RHAND_JOINT3_Link_lk :transform world-cds)) | |
| ) | |
| - ;; link: LARM_JOINT2_Link_lk | |
| + ;; link: LHAND_JOINT1_Link_lk | |
| (let ((geom-lst (list | |
| - (send self :_make_instance_LARM_JOINT2_Link_geom0)))) | |
| + (send self :_make_instance_LHAND_JOINT1_Link_geom0)))) | |
| (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) | |
| - (setq LARM_JOINT2_Link_lk | |
| + (setq LHAND_JOINT1_Link_lk | |
| (instance bodyset-link | |
| :init (make-cascoords) | |
| :bodies geom-lst | |
| - :name "LARM_JOINT2_Link")) | |
| - ;; inertial parameter for LARM_JOINT2_Link_lk | |
| - (let ((tmp-cds (make-coords :pos (float-vector -2.2540000000000001e-02 1.6710700000000245e+00 -7.1511629999999997e+01) | |
| - :rot (quaternion2matrix (float-vector 5.2018274187791635e-01 4.7847381439144038e-01 -4.9003997798207516e-01 5.1022891330598452e-01))) | |
| + :name "LHAND_JOINT1_Link")) | |
| + ;; inertial parameter for LHAND_JOINT1_Link_lk | |
| + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 2.7755575615628914e-14 2.7755575615628914e-14)) | |
| )) | |
| - (send LARM_JOINT2_Link_lk :weight 577.518) | |
| - (setq (LARM_JOINT2_Link_lk . inertia-tensor) | |
| + (send LHAND_JOINT1_Link_lk :weight 10.000) | |
| + (setq (LHAND_JOINT1_Link_lk . inertia-tensor) | |
| (m* (m* (send tmp-cds :worldrot) (matrix | |
| - (float-vector 1.9248928182211163e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 1.4396691726822979e+06 0.0000000000000000e+00) | |
| - (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.4223315454955909e+06)) | |
| + (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 1.0000000000000000e+05 0.0000000000000000e+00) | |
| + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) | |
| ) (transpose (send tmp-cds :worldrot)))) | |
| - (setq (LARM_JOINT2_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| + (setq (LHAND_JOINT1_Link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) | |
| ) | |
| - ;; global coordinates for LARM_JOINT2_Link_lk | |
| - (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 1.7205829540326422e+02 1.0422674463615739e+02) | |
| + ;; global coordinates for LHAND_JOINT1_Link_lk | |
| + (let ((world-cds (make-coords :pos (float-vector -2.0080000000000004e+02 5.6066671905405350e+01 -2.0115816540088255e+02) | |
| :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 -1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))) | |
| )) | |
| - (send LARM_JOINT2_Link_lk :transform world-cds)) | |
| + (send LHAND_JOINT1_Link_lk :transform world-cds)) | |
| ) | |
| (send BASE_TOP_lk :assoc BASE_BOTTOM_lk) | |
| @@ -1431,13 +1433,13 @@ | |
| ;; pre-defined pose methods | |
| - (:off-pose (&optional (limbs '(:rarm :larm :torso :head))) | |
| - "Predefined pose named off-pose." | |
| + (:reset-manip-pose (&optional (limbs '(:rarm :larm :torso :head))) | |
| + "Predefined pose named reset-manip-pose." | |
| (unless (listp limbs) (setq limbs (list limbs))) | |
| (dolist (limb limbs) | |
| (case limb | |
| - (:rarm (send self limb :angle-vector (float-vector 0.000000 -140.000000 -158.000000 0.000000 0.000000 0.000000))) | |
| - (:larm (send self limb :angle-vector (float-vector 0.000000 -140.000000 -158.000000 0.000000 0.000000 0.000000))) | |
| + (:rarm (send self limb :angle-vector (float-vector -0.600000 0.000000 -100.000000 15.200000 9.400000 3.200000))) | |
| + (:larm (send self limb :angle-vector (float-vector 0.600000 0.000000 -100.000000 -15.200000 9.400000 -3.200000))) | |
| (:torso (send self limb :angle-vector (float-vector 0.000000))) | |
| (:head (send self limb :angle-vector (float-vector 0.000000 0.000000))) | |
| (t (format t "Unknown limb is passed: ~a~%" limb)))) | |
| @@ -1453,13 +1455,13 @@ | |
| (:head (send self limb :angle-vector (float-vector 0.000000 30.000000))) | |
| (t (format t "Unknown limb is passed: ~a~%" limb)))) | |
| (send self :angle-vector)) | |
| - (:reset-manip-pose (&optional (limbs '(:rarm :larm :torso :head))) | |
| - "Predefined pose named reset-manip-pose." | |
| + (:off-pose (&optional (limbs '(:rarm :larm :torso :head))) | |
| + "Predefined pose named off-pose." | |
| (unless (listp limbs) (setq limbs (list limbs))) | |
| (dolist (limb limbs) | |
| (case limb | |
| - (:rarm (send self limb :angle-vector (float-vector -0.600000 0.000000 -100.000000 15.200000 9.400000 3.200000))) | |
| - (:larm (send self limb :angle-vector (float-vector 0.600000 0.000000 -100.000000 -15.200000 9.400000 -3.200000))) | |
| + (:rarm (send self limb :angle-vector (float-vector 0.000000 -140.000000 -158.000000 0.000000 0.000000 0.000000))) | |
| + (:larm (send self limb :angle-vector (float-vector 0.000000 -140.000000 -158.000000 0.000000 0.000000 0.000000))) | |
| (:torso (send self limb :angle-vector (float-vector 0.000000))) | |
| (:head (send self limb :angle-vector (float-vector 0.000000 0.000000))) | |
| (t (format t "Unknown limb is passed: ~a~%" limb)))) | |
| @@ -1581,7 +1583,160 @@ | |
| (:HEAD_CAMERA_DEPTH (&rest args) (forward-message-to HEAD_CAMERA_DEPTH-sensor-coords args)) | |
| (:HEAD_CAMERA (&rest args) (forward-message-to HEAD_CAMERA-sensor-coords args)) | |
| + ;; non-default limbs | |
| + | |
| ;; geometries | |
| + (:_make_instance_WAIST_geom0 () | |
| + (let (geom glv qhull | |
| + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| + (setq glv | |
| + (instance gl::glvertices :init | |
| + (list ;; mesh list | |
| + (list ;; mesh description | |
| + (list :type :triangles) | |
| + (list :material (list | |
| + (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| + (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
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-4.9671001434326172e+01 2.0191999816894531e+02 1.3055999755859375e+01 5.0850997924804688e+01 1.5341999816894531e+02 1.3055999755859375e+01 5.0850997924804688e+01 2.0191999816894531e+02 1.7000000000000000e+01 4.9672000885009766e+01 2.0191999816894531e+02 1.7000000000000000e+01 4.9672000885009766e+01 1.5341999816894531e+02 )) mat))) | |
| + (list ;; mesh description | |
| + (list :type :triangles) | |
| + (list :material (list | |
| + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) | |
| + (list :diffuse (float-vector 1.000000 1.000000 1.000000 1.000000)))) | |
| + (list :indices #i( 0 1 2 0 2 3 1 0 4 4 0 8 8 0 3 8 3 9 2 9 3 14 2 1 2 14 23 2 23 24 2 24 25 14 1 7 1 6 7 1 5 6 1 4 5 10 11 12 10 12 13 19 11 10 13 19 10 19 22 11 19 20 21 19 21 22 20 19 15 13 15 19 15 13 12 15 12 16 15 16 17 15 17 18 20 15 18)) | |
| + (list :vertices (let ((mat (make-matrix 26 3))) (fvector-replace (array-entity mat) #f(-1.7000000000000000e+01 6.0500000000000000e+01 2.0191999816894531e+02 1.7000000000000000e+01 6.0500000000000000e+01 2.0191999816894531e+02 1.7000000000000000e+01 6.0500000000000000e+01 1.5341999816894531e+02 -1.7000000000000000e+01 6.0500000000000000e+01 1.5341999816894531e+02 -1.3055999755859375e+01 5.0850997924804688e+01 2.0191999816894531e+02 0.0000000000000000e+00 5.2500000000000000e+01 2.0191999816894531e+02 1.3055999755859375e+01 5.0850997924804688e+01 2.0191999816894531e+02 1.7000000000000000e+01 4.9672000885009766e+01 2.0191999816894531e+02 -1.7000000000000000e+01 4.9671001434326172e+01 2.0191999816894531e+02 -1.7000000000000000e+01 4.9672000885009766e+01 1.5341999816894531e+02 -1.7000000000000000e+01 -6.0500000000000000e+01 2.0191999816894531e+02 -1.7000000000000000e+01 -4.9671001434326172e+01 2.0191999816894531e+02 -1.7000000000000000e+01 -4.9671001434326172e+01 1.5341999816894531e+02 -1.7000000000000000e+01 -6.0500000000000000e+01 1.5341999816894531e+02 1.7000000000000000e+01 4.9672000885009766e+01 1.5341999816894531e+02 1.7000000000000000e+01 -6.0500000000000000e+01 1.5341999816894531e+02 -6.5799999237060547e+00 -5.2085998535156250e+01 1.5341999816894531e+02 6.5799999237060547e+00 -5.2085998535156250e+01 1.5341999816894531e+02 1.7000000000000000e+01 -4.9671001434326172e+01 1.5341999816894531e+02 1.7000000000000000e+01 -6.0500000000000000e+01 2.0191999816894531e+02 1.7000000000000000e+01 -4.9671001434326172e+01 2.0191999816894531e+02 6.5799999237060547e+00 -5.2085998535156250e+01 2.0191999816894531e+02 -6.5799999237060547e+00 -5.2085998535156250e+01 2.0191999816894531e+02 1.3055999755859375e+01 5.0850997924804688e+01 1.5341999816894531e+02 0.0000000000000000e+00 5.2500000000000000e+01 1.5341999816894531e+02 -1.3057000160217285e+01 5.0850997924804688e+01 1.5341999816894531e+02 )) mat))) | |
| + ) | |
| + )) | |
| + (send glv :transform local-cds) | |
| + (send glv :calc-normals) | |
| + (setq qhull | |
| + ;; qhull 1242 -> 20 faces | |
| + (instance faceset :init :faces (list | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02) (float-vector 4.3487999588251114e+01 4.1338000446557999e+01 3.9977999222173821e-03) (float-vector 5.0919000059366226e+01 3.1738001853227615e+01 3.9977999222173821e-03) (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.0919000059366226e+01 3.1738001853227615e+01 3.9977999222173821e-03) (float-vector 5.9307999908924103e+01 9.0849995613098145e+00 3.9977999222173821e-03) (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.9307999908924103e+01 9.0849995613098145e+00 3.9977999222173821e-03) (float-vector 5.9923000633716583e+01 -3.0390000902116299e+00 3.9977999222173821e-03) (float-vector 6.2893003225326538e+01 -3.6629999522119761e+00 2.2961999475955963e+02) (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector 1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector 1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector -1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -3.4276001155376434e+01 4.9245998263359070e+01 3.9977999222173821e-03) (float-vector -1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector -1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector -4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector -5.6265000253915787e+01 2.0837999880313873e+01 3.9977999222173821e-03) (float-vector -3.4276001155376434e+01 4.9245998263359070e+01 3.9977999222173821e-03) (float-vector -4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -2.3191999644041061e+01 -5.8575998991727829e+01 2.2562000155448914e+02) (float-vector -3.4618999809026718e+01 -5.2636001259088516e+01 2.2961999475955963e+02) (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -4.5823998749256134e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector -3.4618999809026718e+01 -5.2636001259088516e+01 2.2961999475955963e+02) (float-vector -2.3191999644041061e+01 -5.8575998991727829e+01 2.2562000155448914e+02) (float-vector -2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector -4.7446999698877335e+01 -3.6726001650094986e+01 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02) (float-vector 1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector 1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector 4.3487999588251114e+01 4.1338000446557999e+01 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -5.9307999908924103e+01 9.0859998017549515e+00 3.9977999222173821e-03) (float-vector -5.6265000253915787e+01 2.0837999880313873e+01 3.9977999222173821e-03) (float-vector -5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector -6.3000001013278961e+01 1.2516999658984673e-06 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02) (float-vector -6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector -2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector -2.3191999644041061e+01 -5.8575998991727829e+01 2.2562000155448914e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02) (float-vector 2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector -6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector 6.2893003225326538e+01 -3.6629999522119761e+00 2.2961999475955963e+02) (float-vector 5.4559998214244843e+01 -3.1500000506639481e+01 2.2961999475955963e+02) (float-vector 4.5825000852346420e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02) (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02) (float-vector -3.4618999809026718e+01 -5.2636001259088516e+01 2.2961999475955963e+02) (float-vector -4.5823998749256134e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector -6.0352999716997147e+01 -1.8069000914692879e+01 2.2961999475955963e+02) (float-vector -6.3000001013278961e+01 1.2516999658984673e-06 2.2961999475955963e+02) (float-vector -5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector -4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02) (float-vector -1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector 1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector 4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -6.0352999716997147e+01 -1.8069000914692879e+01 2.2961999475955963e+02) (float-vector -4.5823998749256134e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector -4.7446999698877335e+01 -3.6726001650094986e+01 3.9977999222173821e-03) (float-vector -5.8084998279809952e+01 -1.5038999728858471e+01 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -6.3000001013278961e+01 1.2516999658984673e-06 2.2961999475955963e+02) (float-vector -6.0352999716997147e+01 -1.8069000914692879e+01 2.2961999475955963e+02) (float-vector -5.8084998279809952e+01 -1.5038999728858471e+01 3.9977999222173821e-03) (float-vector -5.9307999908924103e+01 9.0859998017549515e+00 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.4559998214244843e+01 -3.1500000506639481e+01 2.2961999475955963e+02) (float-vector 6.2893003225326538e+01 -3.6629999522119761e+00 2.2961999475955963e+02) (float-vector 5.9923000633716583e+01 -3.0390000902116299e+00 3.9977999222173821e-03) (float-vector 5.3867999464273453e+01 -2.6424000039696693e+01 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector -6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector 6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector 2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector 3.9081998169422150e+01 -4.5526001602411270e+01 3.9977999222173821e-03) (float-vector 5.3867999464273453e+01 -2.6424000039696693e+01 3.9977999222173821e-03) (float-vector 5.9923000633716583e+01 -3.0390000902116299e+00 3.9977999222173821e-03) (float-vector 5.9307999908924103e+01 9.0849995613098145e+00 3.9977999222173821e-03) (float-vector 5.0919000059366226e+01 3.1738001853227615e+01 3.9977999222173821e-03) (float-vector 4.3487999588251114e+01 4.1338000446557999e+01 3.9977999222173821e-03) (float-vector 1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector -1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector -3.4276001155376434e+01 4.9245998263359070e+01 3.9977999222173821e-03) (float-vector -5.6265000253915787e+01 2.0837999880313873e+01 3.9977999222173821e-03) (float-vector -5.9307999908924103e+01 9.0859998017549515e+00 3.9977999222173821e-03) (float-vector -5.8084998279809952e+01 -1.5038999728858471e+01 3.9977999222173821e-03) (float-vector -4.7446999698877335e+01 -3.6726001650094986e+01 3.9977999222173821e-03))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 3.9081998169422150e+01 -4.5526001602411270e+01 3.9977999222173821e-03) (float-vector 2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02) (float-vector 4.5825000852346420e+01 -4.3232999742031097e+01 2.2961999475955963e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 3.9081998169422150e+01 -4.5526001602411270e+01 3.9977999222173821e-03) (float-vector 4.5825000852346420e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector 5.4559998214244843e+01 -3.1500000506639481e+01 2.2961999475955963e+02) (float-vector 5.3867999464273453e+01 -2.6424000039696693e+01 3.9977999222173821e-03))))) | |
| + )) | |
| + ) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_WAIST_Xw4GjV.dae")) | |
| + (when glv | |
| + (setq (geom . gl::aglvertices) glv) | |
| + (send geom :assoc glv)) | |
| + geom)) | |
| + (:_make_instance_BASE_TOP_geom0 () | |
| + (let (geom glv qhull | |
| + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| + (setq glv | |
| + (instance gl::glvertices :init | |
| + (list ;; mesh list | |
| + (list ;; mesh description | |
| + (list :type :triangles) | |
| + (list :material (list | |
| + (list :ambient (float-vector 0.100000 0.100000 0.100000 1.000000)) | |
| + (list :diffuse (float-vector 0.200000 0.200000 0.200000 1.000000)))) | |
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-2.9053598022460938e+02 1.1800000000000000e+02 -1.2190999984741211e+01 -2.8751501464843750e+02 1.1800000000000000e+02 -1.3935400009155273e+01 -3.3820999145507812e+02 1.1800000000000000e+02 -9.8373298645019531e+00 -2.5332998657226562e+02 1.1400000000000000e+02 -4.2354698181152344e+01 -2.7878601074218750e+02 1.1400000000000000e+02 -6.7810501098632812e+01 -3.4314599609375000e+02 1.1400000000000000e+02 -2.6111299514770508e+01 -3.4177801513671875e+02 1.1400000000000000e+02 -2.7778200149536133e+01 -3.4158798217773438e+02 1.1400000000000000e+02 -2.6513698577880859e+01 -3.4011099243164062e+02 1.1400000000000000e+02 -2.9146200180053711e+01 -3.4012100219726562e+02 1.1400000000000000e+02 -2.7907800674438477e+01 -3.4416299438476562e+02 1.1400000000000000e+02 -2.4209499359130859e+01 -3.4274301147460938e+02 1.1400000000000000e+02 -2.4853000640869141e+01 -3.3820999145507812e+02 1.1400000000000000e+02 -3.0162698745727539e+01 -3.3840399169921875e+02 1.1400000000000000e+02 -2.8977998733520508e+01 -3.4478900146484375e+02 1.1400000000000000e+02 -2.2145999908447266e+01 -3.4354098510742188e+02 1.1400000000000000e+02 -2.2993600845336914e+01 -3.3614599609375000e+02 1.1400000000000000e+02 -3.0788600921630859e+01 -3.3650698852539062e+02 1.1400000000000000e+02 -2.9680799484252930e+01 -3.4500000000000000e+02 1.1400000000000000e+02 -2.0000000000000000e+01 -3.4394900512695312e+02 1.1400000000000000e+02 -2.1011701583862305e+01 -3.3400000000000000e+02 1.1400000000000000e+02 -3.1000000000000000e+01 -3.3450698852539062e+02 1.1400000000000000e+02 -2.9987199783325195e+01 -3.4394900512695312e+02 1.1400000000000000e+02 -1.8988300323486328e+01 -3.4478900146484375e+02 1.1400000000000000e+02 -1.7854000091552734e+01 -3.3248599243164062e+02 1.1400000000000000e+02 -2.9884698867797852e+01 -3.4354098510742188e+02 1.1400000000000000e+02 -1.7006399154663086e+01 -3.4416299438476562e+02 1.1400000000000000e+02 -1.5790499687194824e+01 -3.3052700805664062e+02 1.1400000000000000e+02 -2.9377500534057617e+01 -3.4274301147460938e+02 1.1400000000000000e+02 -1.5146999359130859e+01 -3.4314599609375000e+02 1.1400000000000000e+02 -1.3888699531555176e+01 -3.4158798217773438e+02 1.1400000000000000e+02 -1.3486299514770508e+01 -3.4177801513671875e+02 1.1400000000000000e+02 -1.2221799850463867e+01 -3.4012100219726562e+02 1.1400000000000000e+02 -1.2092200279235840e+01 -3.4011099243164062e+02 1.1400000000000000e+02 -1.0853799819946289e+01 -3.1900000000000000e+02 1.1400000000000000e+02 -3.1000000000000000e+01 -3.2870999145507812e+02 1.1400000000000000e+02 -2.8486400604248047e+01 -3.2710998535156250e+02 1.1400000000000000e+02 -2.7247900009155273e+01 -3.2579202270507812e+02 1.1400000000000000e+02 -2.5712699890136719e+01 -3.3840399169921875e+02 1.1400000000000000e+02 -1.1021999359130859e+01 -3.2480999755859375e+02 1.1400000000000000e+02 -2.3943599700927734e+01 -3.3820999145507812e+02 1.1400000000000000e+02 -9.8373298645019531e+00 -3.3650698852539062e+02 1.1400000000000000e+02 -1.0319200515747070e+01 -3.1610101318359375e+02 1.1400000000000000e+02 -3.1211198806762695e+01 -3.2420501708984375e+02 1.1400000000000000e+02 -2.2012998580932617e+01 -3.3614599609375000e+02 1.1400000000000000e+02 -9.2113599777221680e+00 -3.3450698852539062e+02 1.1400000000000000e+02 -1.0012800216674805e+01 -3.1326400756835938e+02 1.1400000000000000e+02 -3.1840202331542969e+01 -3.2400000000000000e+02 1.1400000000000000e+02 -2.0000000000000000e+01 -3.3400000000000000e+02 1.1400000000000000e+02 -9.0000000000000000e+00 -3.3248599243164062e+02 1.1400000000000000e+02 -1.0115300178527832e+01 -3.3052700805664062e+02 1.1400000000000000e+02 -1.0622500419616699e+01 -3.1054800415039062e+02 1.1400000000000000e+02 -3.2873897552490234e+01 -3.0400000000000000e+02 1.1400000000000000e+02 -9.0000000000000000e+00 -3.2420501708984375e+02 1.1400000000000000e+02 -1.7986999511718750e+01 -3.2480999755859375e+02 1.1400000000000000e+02 -1.6056400299072266e+01 -3.2579202270507812e+02 1.1400000000000000e+02 -1.4287300109863281e+01 -3.2710998535156250e+02 1.1400000000000000e+02 -1.2752099990844727e+01 -3.2870999145507812e+02 1.1400000000000000e+02 -1.1513600349426270e+01 -3.0801000976562500e+02 1.1400000000000000e+02 -3.4290298461914062e+01 -3.0051699829101562e+02 1.1400000000000000e+02 -9.2028503417968750e+00 -2.9708200073242188e+02 1.1400000000000000e+02 -9.8086500167846680e+00 -3.0570401000976562e+02 1.1400000000000000e+02 -3.6059497833251953e+01 -2.9373898315429688e+02 1.1400000000000000e+02 -1.0809200286865234e+01 -2.9053598022460938e+02 1.1400000000000000e+02 -1.2190999984741211e+01 -2.8751501464843750e+02 1.1400000000000000e+02 -1.3935400009155273e+01 -2.8471600341796875e+02 1.1400000000000000e+02 -1.6018699645996094e+01 -2.9601098632812500e+02 1.1400000000000000e+02 -4.1384498596191406e+01 -3.0367898559570312e+02 1.1400000000000000e+02 -3.8144302368164062e+01 )) mat))) | |
| + ) | |
| + )) | |
| + (send glv :transform local-cds) | |
| + (send glv :calc-normals) | |
| + (setq qhull | |
| + ;; qhull 1302 -> 10 faces | |
| + (instance faceset :init :faces (list | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -3.4177801012992859e+02 -1.1599999666213989e+02 -1.2221800163388252e+01) (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -3.4177801012992859e+02 -1.1599999666213989e+02 -1.2221800163388252e+01) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -3.3820998668670654e+02 1.1800000071525574e+02 -9.8373303189873695e+00))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -3.3820998668670654e+02 1.1800000071525574e+02 -9.8373303189873695e+00) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 0.0000000000000000e+00))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -3.4177801012992859e+02 -1.1599999666213989e+02 -1.2221800163388252e+01) (float-vector -3.3820998668670654e+02 1.1800000071525574e+02 -9.8373303189873695e+00) (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00))))) | |
| + )) | |
| + ) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_BASE_TOP_RzDjha.dae")) | |
| + (when glv | |
| + (setq (geom . gl::aglvertices) glv) | |
| + (send geom :assoc glv)) | |
| + geom)) | |
| (:_make_instance_CHEST_JOINT0_Link_geom0 () | |
| (let (geom glv qhull | |
| (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| @@ -1877,7 +2032,7 @@ | |
| (nreverse (list (float-vector 8.3608001470565796e+01 2.7179000899195671e+01 4.8657500743865967e+02) (float-vector 7.7800996601581573e+01 6.2127999961376190e+01 5.2106100320816040e+02) (float-vector 7.7800996601581573e+01 7.8636996448040009e+01 4.9230900406837463e+02) (float-vector 7.7800996601581573e+01 7.5124002993106842e+01 4.5199999213218689e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_CHEST_JOINT0_Link_nDKbYR.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_CHEST_JOINT0_Link_UIzoV0.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -1955,69 +2110,134 @@ | |
| (nreverse (list (float-vector -4.1800001263618469e+02 2.3800000548362732e+02 -8.0000001192092896e+02) (float-vector -4.1480898857116699e+02 2.5146400928497314e+02 -8.0000001192092896e+02) (float-vector -4.1456401348114014e+02 2.5194200873374939e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 2.3800000548362732e+02 -3.0000001192092896e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_BASE_BOTTOM_EZLLGC.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_BASE_BOTTOM_nI7Keg.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_BASE_TOP_geom0 () | |
| + (:_make_instance_RARM_JOINT3_Link_geom0 () | |
| (let (geom glv qhull | |
| - (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| + (local-cds (make-coords :pos (float-vector -3.0000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| (setq glv | |
| (instance gl::glvertices :init | |
| (list ;; mesh list | |
| (list ;; mesh description | |
| (list :type :triangles) | |
| (list :material (list | |
| - (list :ambient (float-vector 0.100000 0.100000 0.100000 1.000000)) | |
| - (list :diffuse (float-vector 0.200000 0.200000 0.200000 1.000000)))) | |
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| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 1302 -> 10 faces | |
| + ;; qhull 2337 -> 27 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.4177801012992859e+02 -1.1599999666213989e+02 -1.2221800163388252e+01) (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02))))) | |
| + (nreverse (list (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (nreverse (list (float-vector 5.3610000759363174e+00 -2.6242999359965324e+01 -1.3999499380588531e+02) (float-vector 3.0004000291228294e+01 -3.5999998450279236e+01 -1.3999499380588531e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.4177801012992859e+02 -1.1599999666213989e+02 -1.2221800163388252e+01) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -3.3820998668670654e+02 1.1800000071525574e+02 -9.8373303189873695e+00))))) | |
| + (nreverse (list (float-vector 1.6752000898122787e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 8.8440002873539925e+00 2.9124999418854713e+01 -1.3999499380588531e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (nreverse (list (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02) (float-vector -2.5690000038594007e+00 1.5328000299632549e+01 -1.3999499380588531e+02) (float-vector -5.9949997812509537e+00 7.6293895645562770e-06 -1.3999499380588531e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02))))) | |
| + (nreverse (list (float-vector 8.8440002873539925e+00 2.9124999418854713e+01 -1.3999499380588531e+02) (float-vector -2.5690000038594007e+00 1.5328000299632549e+01 -1.3999499380588531e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1800001263618469e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (nreverse (list (float-vector 5.7743001729249954e+01 2.2947000339627266e+01 -1.3999499380588531e+02) (float-vector 4.3257001787424088e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -3.3820998668670654e+02 1.1800000071525574e+02 -9.8373303189873695e+00) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02))))) | |
| + (nreverse (list (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02) (float-vector 5.3610000759363174e+00 -2.6242999359965324e+01 -1.3999499380588531e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 -3.0000001192092896e+02) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -2.1500000357627869e+02) (float-vector -4.1800001263618469e+02 1.2700000405311584e+02 -3.0000001192092896e+02))))) | |
| + (nreverse (list (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector 1.1800000071525574e+02 -1.2700000405311584e+02 0.0000000000000000e+00))))) | |
| + (nreverse (list (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02) (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.4177801012992859e+02 -1.1599999666213989e+02 -1.2221800163388252e+01) (float-vector -3.3820998668670654e+02 1.1800000071525574e+02 -9.8373303189873695e+00) (float-vector -1.9699999690055847e+02 1.2700000405311584e+02 0.0000000000000000e+00) (float-vector -1.9699999690055847e+02 -1.2700000405311584e+02 0.0000000000000000e+00))))) | |
| + (nreverse (list (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02) (float-vector -5.9949997812509537e+00 7.6293895645562770e-06 -1.3999499380588531e+02) (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 1.4599000103771687e+01 3.6499999463558197e+01 -2.5148999691009521e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02) (float-vector 2.5412999093532562e+01 3.6499999463558197e+01 -2.5709301233291626e+02) (float-vector 1.4599000103771687e+01 3.6499999463558197e+01 -2.5148999691009521e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.7743001729249954e+01 2.2947000339627266e+01 -1.3999499380588531e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02) (float-vector 6.5366998314857483e+01 6.7460099235177040e+00 -1.3999499380588531e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 6.5366998314857483e+01 6.7460099235177040e+00 -1.3999499380588531e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02) (float-vector 4.6994000673294067e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 6.5932996571063995e+01 -2.2609899751842022e+00 -1.3999499380588531e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02) (float-vector -5.9949997812509537e+00 7.6293895645562770e-06 -1.3999499380588531e+02) (float-vector -2.5690000038594007e+00 1.5328000299632549e+01 -1.3999499380588531e+02) (float-vector 8.8440002873539925e+00 2.9124999418854713e+01 -1.3999499380588531e+02) (float-vector 1.6752000898122787e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 4.3257001787424088e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 5.7743001729249954e+01 2.2947000339627266e+01 -1.3999499380588531e+02) (float-vector 6.5366998314857483e+01 6.7460099235177040e+00 -1.3999499380588531e+02) (float-vector 6.5932996571063995e+01 -2.2609899751842022e+00 -1.3999499380588531e+02) (float-vector 6.0400001704692841e+01 -1.9290000200271606e+01 -1.3999499380588531e+02) (float-vector 3.8956999778747559e+01 -3.4869000315666199e+01 -1.3999499380588531e+02) (float-vector 3.0004000291228294e+01 -3.5999998450279236e+01 -1.3999499380588531e+02) (float-vector 5.3610000759363174e+00 -2.6242999359965324e+01 -1.3999499380588531e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 6.0400001704692841e+01 -1.9290000200271606e+01 -1.3999499380588531e+02) (float-vector 6.5932996571063995e+01 -2.2609899751842022e+00 -1.3999499380588531e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 3.0004000291228294e+01 -3.5999998450279236e+01 -1.3999499380588531e+02) (float-vector 3.8956999778747559e+01 -3.4869000315666199e+01 -1.3999499380588531e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 3.8956999778747559e+01 -3.4869000315666199e+01 -1.3999499380588531e+02) (float-vector 6.0400001704692841e+01 -1.9290000200271606e+01 -1.3999499380588531e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 3.7562999874353409e+01 3.6499999463558197e+01 -2.5626200437545776e+02) (float-vector 4.3393000960350037e+01 1.7999999225139618e+01 -2.5396201014518738e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4599000103771687e+01 3.6499999463558197e+01 -2.5148999691009521e+02) (float-vector 2.5412999093532562e+01 3.6499999463558197e+01 -2.5709301233291626e+02) (float-vector 3.7562999874353409e+01 3.6499999463558197e+01 -2.5626200437545776e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02) (float-vector 4.3257001787424088e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 1.6752000898122787e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 4.6994000673294067e+01 -2.3000000044703484e+01 -2.4733799695968628e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 4.3393000960350037e+01 1.7999999225139618e+01 -2.5396201014518738e+02) (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 4.6994000673294067e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 4.3393000960350037e+01 1.7999999225139618e+01 -2.5396201014518738e+02) (float-vector 3.7562999874353409e+01 3.6499999463558197e+01 -2.5626200437545776e+02) (float-vector 2.5412999093532562e+01 3.6499999463558197e+01 -2.5709301233291626e+02) (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_BASE_TOP_7KmgQX.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT3_Link_I5dOlj.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_WAIST_geom0 () | |
| + (:_make_instance_HEAD_JOINT1_Link_geom0 () | |
| (let (geom glv qhull | |
| (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| (setq glv | |
| @@ -2028,347 +2248,272 @@ | |
| (list :material (list | |
| (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
| - (list :indices #i( 0 1 2 0 2 3 0 3 4 0 4 5 0 5 6 0 6 7 0 7 8 0 8 9 0 9 10 0 10 11 0 11 12 0 12 13 0 13 14 0 14 15 0 15 16 0 16 17 0 17 18 0 18 19 0 19 20 0 20 21 0 21 22 0 22 23 0 23 24 0 24 25 0 25 26 0 26 27 0 27 28 0 28 29 0 29 30 30 32 0 0 32 31 0 31 1 27 35 28 28 35 34 28 34 29 29 34 33 29 33 30 30 33 32 31 32 33 31 33 34 31 34 35 31 35 36 27 36 35 31 36 37 26 37 36 26 36 27 31 37 38 25 38 37 25 37 26 31 38 39 24 39 38 24 38 25 31 39 40 23 39 24 23 40 39 31 40 41 22 41 40 22 40 23 31 41 42 21 42 41 21 41 22 31 42 43 20 43 42 20 42 21 31 43 44 19 44 43 19 43 20 31 44 45 18 45 44 18 44 19 31 45 46 17 46 45 17 45 18 31 46 47 16 47 46 16 46 17 31 47 48 15 48 47 15 47 16 31 48 49 14 49 48 14 48 15 31 49 50 13 50 49 13 49 14 31 50 51 12 51 50 12 50 13 31 51 52 11 52 51 11 51 12 31 52 53 10 53 52 10 52 11 31 53 54 9 54 53 9 53 10 31 54 55 8 55 54 8 54 9 31 55 56 7 56 55 7 55 8 31 56 57 6 57 56 6 56 7 31 57 58 5 58 57 5 57 6 31 58 59 31 59 60 31 60 61 1 31 61 4 59 58 4 58 5 3 60 59 3 59 4 2 61 60 2 60 3 1 61 2 62 63 64 211 155 63 63 155 186 186 64 63 143 214 64 143 64 186 185 186 187 186 155 158 186 158 187 186 185 143 184 183 185 185 187 184 143 185 142 142 185 183 148 183 184 187 190 184 184 190 191 184 191 148 148 182 183 142 183 182 145 147 148 145 148 149 147 182 148 148 191 149 149 191 192 142 182 147 145 146 147 141 142 147 146 141 147 140 146 145 140 145 139 139 145 215 141 146 140 140 76 141 141 76 74 141 74 142 139 77 140 140 77 76 138 79 139 139 79 77 139 215 138 138 215 216 137 82 138 138 82 79 138 216 210 138 210 137 81 79 82 81 82 83 83 82 84 137 84 82 80 79 81 78 79 80 78 77 79 75 77 78 73 74 75 75 74 76 75 76 77 71 72 73 73 72 74 142 74 72 71 70 72 142 72 143 143 72 70 69 70 71 69 68 70 143 70 144 144 70 68 213 214 143 213 143 144 144 68 120 120 212 144 144 212 213 67 66 68 67 68 69 120 68 66 66 118 120 120 118 121 121 226 120 120 226 212 65 66 67 65 118 66 117 116 118 117 118 119 119 118 65 121 118 116 121 116 122 226 121 227 227 121 122 115 114 116 115 116 117 122 116 114 122 114 123 123 159 122 227 122 228 228 122 159 113 112 114 113 114 115 123 114 112 123 112 124 124 161 123 123 161 159 111 110 112 111 112 113 124 112 110 124 110 125 125 163 124 124 163 161 159 161 162 163 162 161 163 164 162 163 165 166 163 166 164 125 165 163 125 110 108 125 108 126 126 165 125 165 167 168 165 168 166 126 167 165 168 203 166 166 203 204 166 204 164 167 170 168 170 202 168 168 202 203 167 169 170 169 172 170 172 201 170 170 201 202 169 171 172 129 171 169 129 169 128 128 169 167 171 174 172 174 200 172 172 200 201 171 173 174 130 173 171 130 171 129 128 103 129 129 103 101 129 101 130 130 101 99 130 99 131 131 173 130 100 99 101 100 101 102 102 101 103 102 103 104 104 103 105 128 105 103 104 105 106 104 106 107 106 105 127 127 105 128 128 167 127 108 106 127 108 127 126 127 167 126 107 106 108 107 108 109 109 108 110 109 110 111 98 99 100 96 97 98 98 97 99 131 99 97 96 95 97 131 97 132 132 97 95 94 95 96 94 92 95 132 95 92 132 92 133 133 219 132 132 219 222 222 131 132 91 90 92 91 92 93 93 92 94 133 92 90 133 90 134 219 133 220 220 133 134 89 88 90 89 90 91 134 90 88 134 88 135 135 179 134 220 134 221 221 134 179 87 86 88 87 88 89 135 88 86 85 86 87 85 84 86 135 86 136 136 86 84 83 84 85 136 84 137 153 151 136 136 151 135 137 153 136 137 210 209 137 209 154 137 154 153 152 151 153 152 153 154 150 151 152 150 181 151 135 151 181 193 195 152 152 195 150 152 154 209 152 209 193 210 193 209 193 194 195 150 195 196 150 196 180 180 196 197 177 179 180 177 180 178 150 180 179 180 197 178 178 197 198 177 178 175 178 176 175 178 198 176 217 177 218 218 177 175 217 179 177 173 175 176 223 218 175 223 175 173 173 176 174 176 198 199 176 199 174 223 173 131 223 131 224 224 131 222 174 199 200 150 179 181 135 181 179 221 179 217 164 204 205 164 205 162 162 205 206 159 162 160 162 206 160 160 206 207 156 159 160 156 160 157 160 207 157 228 159 225 225 159 156 155 156 157 225 156 211 211 156 155 155 157 158 157 207 208 157 208 158 158 188 187 158 208 188 187 188 189 187 189 190)) | |
| - (list :vertices (let ((mat (make-matrix 229 3))) (fvector-replace (array-entity mat) #f(5.9923000335693359e+01 -3.0390000343322754e+00 3.9977999404072762e-03 5.8084999084472656e+01 -1.5038999557495117e+01 3.9977999404072762e-03 5.3868000030517578e+01 -2.6423999786376953e+01 3.9977999404072762e-03 4.7446002960205078e+01 -3.6727001190185547e+01 3.9977999404072762e-03 3.9081996917724609e+01 -4.5526000976562500e+01 3.9977999404072762e-03 2.9118000030517578e+01 -5.2460998535156250e+01 3.9977999404072762e-03 1.7961999893188477e+01 -5.7248996734619141e+01 3.9977999404072762e-03 6.0700001716613770e+00 -5.9691997528076172e+01 3.9977999404072762e-03 -6.0700001716613770e+00 -5.9691997528076172e+01 3.9977999404072762e-03 -1.7961999893188477e+01 -5.7248001098632812e+01 3.9977999404072762e-03 -2.9118000030517578e+01 -5.2460998535156250e+01 3.9977999404072762e-03 -3.9081996917724609e+01 -4.5524997711181641e+01 3.9977999404072762e-03 -4.7446998596191406e+01 -3.6726001739501953e+01 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-9.8243400573730469e+01 -6.4122001647949219e+01 1.2005500030517578e+02 -9.8243896484375000e+01 6.4122001647949219e+01 1.2194499969482422e+02 -9.8457801818847656e+01 6.4173896789550781e+01 1.2039800262451172e+02 -9.8501800537109375e+01 -6.4190299987792969e+01 1.2120500183105469e+02 )) mat))) | |
| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 1242 -> 20 faces | |
| + ;; qhull 5199 -> 80 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02) (float-vector 4.3487999588251114e+01 4.1338000446557999e+01 3.9977999222173821e-03) (float-vector 5.0919000059366226e+01 3.1738001853227615e+01 3.9977999222173821e-03) (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 1.7319999635219574e+01 2.9500000178813934e+01 -9.9999997764825821e+00) (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.0919000059366226e+01 3.1738001853227615e+01 3.9977999222173821e-03) (float-vector 5.9307999908924103e+01 9.0849995613098145e+00 3.9977999222173821e-03) (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 9.9989995360374451e+00 2.4000000208616257e+01 -1.7320999875664711e+01) (float-vector 1.7319999635219574e+01 2.9500000178813934e+01 -9.9999997764825821e+00) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01) (float-vector 1.6419600695371628e+01 9.6252396702766418e+01 8.0000802874565125e+01) (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.9307999908924103e+01 9.0849995613098145e+00 3.9977999222173821e-03) (float-vector 5.9923000633716583e+01 -3.0390000902116299e+00 3.9977999222173821e-03) (float-vector 6.2893003225326538e+01 -3.6629999522119761e+00 2.2961999475955963e+02) (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 7.1925997734069824e+01 -9.4999996945261955e+00 1.1406899988651276e+02) (float-vector 6.2560997903347015e+01 -2.1213499829173088e+01 8.4999598562717438e+01) (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01) (float-vector 6.8291902542114258e+01 -4.4521000236272812e+01 1.1390399932861328e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector 1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector 1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector -1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01) (float-vector 7.1590498089790344e+01 2.2540999576449394e+01 1.1599999666213989e+02) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.4276001155376434e+01 4.9245998263359070e+01 3.9977999222173821e-03) (float-vector -1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector -1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector -4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 7.1590498089790344e+01 2.2540999576449394e+01 1.1599999666213989e+02) (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01) (float-vector 6.2560997903347015e+01 -2.1213499829173088e+01 8.4999598562717438e+01) (float-vector 7.1925997734069824e+01 -9.4999996945261955e+00 1.1406899988651276e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector -5.6265000253915787e+01 2.0837999880313873e+01 3.9977999222173821e-03) (float-vector -3.4276001155376434e+01 4.9245998263359070e+01 3.9977999222173821e-03) (float-vector -4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 1.9983500242233276e+01 -1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 3.9804000407457352e+00 -1.0907199978828430e+02 1.2561200559139252e+02) (float-vector 2.3113699629902840e+01 -1.0541199892759323e+02 1.2611599266529083e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.3191999644041061e+01 -5.8575998991727829e+01 2.2562000155448914e+02) (float-vector -3.4618999809026718e+01 -5.2636001259088516e+01 2.2961999475955963e+02) (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector -1.6060300171375275e+02 2.8993699699640274e+01 9.3338400125503540e+01) (float-vector -1.5529499948024750e+02 2.1810000762343407e+01 7.9999998211860657e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.5823998749256134e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector -3.4618999809026718e+01 -5.2636001259088516e+01 2.2961999475955963e+02) (float-vector -2.3191999644041061e+01 -5.8575998991727829e+01 2.2562000155448914e+02) (float-vector -2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector -4.7446999698877335e+01 -3.6726001650094986e+01 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02) (float-vector 1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector 1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector 4.3487999588251114e+01 4.1338000446557999e+01 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01) (float-vector -1.1279200017452240e+02 7.4669398367404938e+01 7.9999998211860657e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -5.9307999908924103e+01 9.0859998017549515e+00 3.9977999222173821e-03) (float-vector -5.6265000253915787e+01 2.0837999880313873e+01 3.9977999222173821e-03) (float-vector -5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector -6.3000001013278961e+01 1.2516999658984673e-06 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector -1.5868900716304779e+02 -3.6440998315811157e+01 9.3247897922992706e+01) (float-vector -1.5253299474716187e+02 -4.2270001024007797e+01 8.4003798663616180e+01) (float-vector -1.5490700304508209e+02 -2.6748999953269958e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02) (float-vector -6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector -2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector -2.3191999644041061e+01 -5.8575998991727829e+01 2.2562000155448914e+02))))) | |
| + (nreverse (list (float-vector -1.4078700542449951e+02 -6.4185000956058502e+01 9.5035500824451447e+01) (float-vector -1.2811100482940674e+02 -7.0912696421146393e+01 8.7783202528953552e+01) (float-vector -1.3431699573993683e+02 -6.1583101749420166e+01 7.9999998211860657e+01) (float-vector -1.5253299474716187e+02 -4.2270001024007797e+01 8.4003798663616180e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02) (float-vector 2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01) (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -1.1279200017452240e+02 7.4669398367404938e+01 7.9999998211860657e+01) (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector -6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector -1.1279200017452240e+02 7.4669398367404938e+01 7.9999998211860657e+01) (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -1.2424500286579132e+02 7.5599499046802521e+01 9.3286000192165375e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector 6.2893003225326538e+01 -3.6629999522119761e+00 2.2961999475955963e+02) (float-vector 5.4559998214244843e+01 -3.1500000506639481e+01 2.2961999475955963e+02) (float-vector 4.5825000852346420e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02) (float-vector -7.3139998130500317e+00 -6.2573999166488647e+01 2.2961999475955963e+02) (float-vector -3.4618999809026718e+01 -5.2636001259088516e+01 2.2961999475955963e+02) (float-vector -4.5823998749256134e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector -6.0352999716997147e+01 -1.8069000914692879e+01 2.2961999475955963e+02) (float-vector -6.3000001013278961e+01 1.2516999658984673e-06 2.2961999475955963e+02) (float-vector -5.7847999036312103e+01 2.4953000247478485e+01 2.2961999475955963e+02) (float-vector -4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02) (float-vector -1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector 1.4529000036418438e+01 6.1301998794078827e+01 2.2961999475955963e+02) (float-vector 4.0495999157428741e+01 4.8261001706123352e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01) (float-vector -4.2385898530483246e+01 1.0048700124025345e+02 9.5620997250080109e+01) (float-vector -6.8895302712917328e+01 1.0129900276660919e+02 1.1809799820184708e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -6.0352999716997147e+01 -1.8069000914692879e+01 2.2961999475955963e+02) (float-vector -4.5823998749256134e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector -4.7446999698877335e+01 -3.6726001650094986e+01 3.9977999222173821e-03) (float-vector -5.8084998279809952e+01 -1.5038999728858471e+01 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01) (float-vector -1.4416599273681641e+02 5.9890300035476685e+01 9.2041701078414917e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -6.3000001013278961e+01 1.2516999658984673e-06 2.2961999475955963e+02) (float-vector -6.0352999716997147e+01 -1.8069000914692879e+01 2.2961999475955963e+02) (float-vector -5.8084998279809952e+01 -1.5038999728858471e+01 3.9977999222173821e-03) (float-vector -5.9307999908924103e+01 9.0859998017549515e+00 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector -7.4639998376369476e+01 6.4565002918243408e+01 1.4000099897384644e+02) (float-vector -8.3020003512501717e+00 7.6204001903533936e+01 1.4000000059604645e+02) (float-vector 1.8772000446915627e+01 7.2111003100872040e+01 1.3999600708484650e+02) (float-vector -6.5563999116420746e+01 0.0000000000000000e+00 1.4380200207233429e+02) (float-vector -1.2968400120735168e+02 3.4464001655578613e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.4559998214244843e+01 -3.1500000506639481e+01 2.2961999475955963e+02) (float-vector 6.2893003225326538e+01 -3.6629999522119761e+00 2.2961999475955963e+02) (float-vector 5.9923000633716583e+01 -3.0390000902116299e+00 3.9977999222173821e-03) (float-vector 5.3867999464273453e+01 -2.6424000039696693e+01 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector -6.2332998961210251e+01 1.0140900313854218e+02 1.2574100494384766e+02) (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02) (float-vector -8.3020003512501717e+00 7.6204001903533936e+01 1.4000000059604645e+02) (float-vector -7.4639998376369476e+01 6.4565002918243408e+01 1.4000099897384644e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector -6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector 6.0700001195073128e+00 -5.9691999107599258e+01 3.9977999222173821e-03) (float-vector 2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector 3.9081998169422150e+01 -4.5526001602411270e+01 3.9977999222173821e-03) (float-vector 5.3867999464273453e+01 -2.6424000039696693e+01 3.9977999222173821e-03) (float-vector 5.9923000633716583e+01 -3.0390000902116299e+00 3.9977999222173821e-03) (float-vector 5.9307999908924103e+01 9.0849995613098145e+00 3.9977999222173821e-03) (float-vector 5.0919000059366226e+01 3.1738001853227615e+01 3.9977999222173821e-03) (float-vector 4.3487999588251114e+01 4.1338000446557999e+01 3.9977999222173821e-03) (float-vector 1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector -1.2078000232577324e+01 5.8772001415491104e+01 3.9977999222173821e-03) (float-vector -3.4276001155376434e+01 4.9245998263359070e+01 3.9977999222173821e-03) (float-vector -5.6265000253915787e+01 2.0837999880313873e+01 3.9977999222173821e-03) (float-vector -5.9307999908924103e+01 9.0859998017549515e+00 3.9977999222173821e-03) (float-vector -5.8084998279809952e+01 -1.5038999728858471e+01 3.9977999222173821e-03) (float-vector -4.7446999698877335e+01 -3.6726001650094986e+01 3.9977999222173821e-03))))) | |
| + (nreverse (list (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 2.3113699629902840e+01 1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.9081998169422150e+01 -4.5526001602411270e+01 3.9977999222173821e-03) (float-vector 2.9117999598383904e+01 -5.2460998296737671e+01 3.9977999222173821e-03) (float-vector 2.1547999233007431e+01 -5.9200998395681381e+01 2.2961999475955963e+02) (float-vector 4.5825000852346420e+01 -4.3232999742031097e+01 2.2961999475955963e+02))))) | |
| + (nreverse (list (float-vector 3.9893999695777893e+01 9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 2.3113699629902840e+01 1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01) (float-vector 5.6999601423740387e+01 8.9273497462272644e+01 1.0736099630594254e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.9081998169422150e+01 -4.5526001602411270e+01 3.9977999222173821e-03) (float-vector 4.5825000852346420e+01 -4.3232999742031097e+01 2.2961999475955963e+02) (float-vector 5.4559998214244843e+01 -3.1500000506639481e+01 2.2961999475955963e+02) (float-vector 5.3867999464273453e+01 -2.6424000039696693e+01 3.9977999222173821e-03))))) | |
| - )) | |
| - ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_WAIST_n3tVsd.dae")) | |
| - (when glv | |
| - (setq (geom . gl::aglvertices) glv) | |
| - (send geom :assoc glv)) | |
| - geom)) | |
| - (:_make_instance_HEAD_JOINT0_Link_geom0 () | |
| - (let (geom glv qhull | |
| - (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6950000000000000e+02)))) | |
| - (setq glv | |
| - (instance gl::glvertices :init | |
| - (list ;; mesh list | |
| - (list ;; mesh description | |
| - (list :type :triangles) | |
| - (list :material (list | |
| - (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| - (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
| - (list :indices #i( 0 1 2 46 47 0 0 47 1 2 46 0 2 1 3 23 3 1 23 1 25 25 1 47 46 45 47 47 45 25 44 45 46 2 44 46 44 43 45 27 25 45 27 45 43 24 23 25 24 25 26 26 25 27 26 27 28 28 27 29 29 27 43 42 41 43 42 43 44 29 43 41 2 42 44 40 41 42 2 40 42 40 39 41 31 29 41 31 41 39 28 29 30 30 29 31 30 31 32 32 31 33 33 31 39 38 37 39 38 39 40 39 37 33 2 38 40 36 37 38 2 36 38 36 35 37 33 37 35 32 33 34 34 33 35 2 30 32 2 32 34 2 28 30 2 26 28 2 24 26 22 23 24 2 22 24 20 21 22 22 21 23 2 20 22 21 5 23 23 5 3 20 19 21 21 19 7 7 5 21 18 19 20 2 18 20 18 17 19 19 17 9 9 7 19 6 5 7 6 7 8 8 7 9 8 9 10 10 9 11 11 9 17 16 15 17 16 17 18 17 15 11 2 16 18 14 15 16 2 14 16 14 13 15 11 15 13 10 11 12 12 11 13 2 8 10 2 10 12 2 6 8 2 3 4 2 4 6 2 12 14 2 34 36 12 13 14 34 35 36 4 5 6 4 3 5 48 49 50 50 60 48 78 49 48 60 136 48 48 136 134 48 134 132 48 132 131 48 131 133 48 133 78 133 132 134 133 134 135 135 134 136 135 136 137 137 136 138 60 138 136 78 133 135 78 135 137 131 132 133 137 138 139 78 137 139 139 138 140 60 140 138 78 139 79 79 139 164 78 79 80 87 80 79 79 164 165 79 165 87 78 80 49 87 86 80 100 49 80 100 80 101 101 80 86 50 49 51 99 51 49 99 49 100 98 99 100 98 100 101 98 101 102 101 86 102 98 102 103 102 86 84 102 84 103 98 103 104 103 84 82 103 82 104 83 82 84 83 84 85 85 84 86 85 86 87 87 165 166 87 166 167 85 87 167 85 167 186 85 186 187 85 187 188 85 188 83 83 188 189 83 189 190 83 190 191 83 191 81 81 191 192 81 82 83 92 82 81 92 81 154 81 192 193 81 193 154 92 91 82 104 82 105 105 82 91 90 89 91 90 91 92 105 91 106 106 91 89 98 104 105 98 105 106 98 106 107 106 89 107 88 89 90 93 76 89 93 89 88 107 89 76 98 107 108 107 76 108 73 75 76 73 76 77 93 94 76 77 76 94 108 76 75 108 75 109 108 109 98 73 74 75 74 97 75 109 75 97 98 109 110 109 97 110 95 96 97 95 97 74 110 97 96 112 95 74 112 74 113 113 74 73 110 96 95 110 95 111 111 95 112 98 110 111 98 111 112 112 113 98 98 113 114 113 73 114 73 77 68 73 68 70 114 73 70 98 114 115 114 70 115 68 69 70 70 69 71 70 71 72 115 70 72 98 115 116 115 72 116 72 71 61 72 61 63 116 72 63 69 152 71 71 152 153 61 71 153 69 151 152 69 150 151 69 129 150 128 129 130 68 149 129 68 129 69 94 145 128 94 128 130 94 130 146 93 145 94 94 146 77 93 144 145 88 142 93 93 142 143 93 143 144 141 142 88 88 159 141 88 158 159 90 125 88 88 125 127 88 127 158 92 156 90 90 156 157 90 157 125 125 126 127 62 171 126 62 126 172 62 170 171 61 62 63 63 62 64 61 170 62 62 172 64 64 172 173 63 64 65 65 64 66 64 173 174 64 174 175 64 175 66 116 63 117 117 63 65 65 66 67 117 65 118 118 65 67 98 116 117 98 117 118 98 118 119 118 67 119 67 66 55 67 55 57 119 67 57 98 119 120 119 57 120 55 56 57 57 56 58 57 58 59 120 57 59 98 120 121 120 59 121 59 58 60 59 60 50 121 59 50 98 121 122 121 50 122 50 51 52 122 50 52 98 122 123 122 52 123 52 51 53 52 53 54 123 52 54 98 53 51 98 51 99 98 123 124 124 53 98 123 54 124 124 54 53 58 163 60 60 163 140 56 161 58 58 161 162 58 162 163 160 161 56 55 183 56 56 183 184 56 184 185 56 185 160 66 180 55 55 180 181 55 181 182 55 182 183 66 179 180 66 178 179 66 175 176 66 176 177 66 177 178 61 169 170 61 153 168 61 168 169 92 155 156 92 154 155 77 146 147 77 147 68 68 147 148 68 148 149)) | |
| - (list :vertices (let ((mat (make-matrix 194 3))) (fvector-replace (array-entity mat) #f(2.3004999160766602e+01 -2.3600000381469727e+01 -5.6950097656250000e+02 2.3004999160766602e+01 2.3500000000000000e+01 -5.6950097656250000e+02 2.2221000671386719e+01 -2.3600000381469727e+01 -5.6354803466796875e+02 2.2221000671386719e+01 2.3500000000000000e+01 -5.6354803466796875e+02 1.9923000335693359e+01 -2.3600000381469727e+01 -5.5800097656250000e+02 1.9923000335693359e+01 2.3500000000000000e+01 -5.5800097656250000e+02 1.6267999649047852e+01 -2.3600000381469727e+01 -5.5323699951171875e+02 1.6267999649047852e+01 2.3500000000000000e+01 -5.5323699951171875e+02 1.1505000114440918e+01 -2.3600000381469727e+01 -5.4958203125000000e+02 1.1505000114440918e+01 2.3500000000000000e+01 -5.4958203125000000e+02 5.9580101966857910e+00 -2.3600000381469727e+01 -5.4728503417968750e+02 5.9580101966857910e+00 2.3500000000000000e+01 -5.4728503417968750e+02 5.0067100673913956e-03 -2.3600000381469727e+01 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| - (list :vertices (let ((mat (make-matrix 37 3))) (fvector-replace (array-entity mat) #f(-4.1095996856689453e+01 -2.8600000381469727e+01 -5.7678002929687500e+02 -3.7290000915527344e+01 -2.8600000381469727e+01 -5.7711199951171875e+02 -3.3599998474121094e+01 -2.8600000381469727e+01 -5.7612402343750000e+02 -3.0471000671386719e+01 -2.8600000381469727e+01 -5.7393298339843750e+02 -2.8279998779296875e+01 -2.8600000381469727e+01 -5.7080297851562500e+02 -2.7291000366210938e+01 -2.8600000381469727e+01 -5.6711297607421875e+02 -2.7624000549316406e+01 -2.8600000381469727e+01 -5.6330700683593750e+02 -2.9238000869750977e+01 -2.8600000381469727e+01 -5.5984497070312500e+02 -3.1939998626708984e+01 -2.8600000381469727e+01 -5.5714398193359375e+02 -3.5402000427246094e+01 -2.8600000381469727e+01 -5.5552899169921875e+02 -3.9208000183105469e+01 -2.8600000381469727e+01 -5.5519598388671875e+02 -4.2897998809814453e+01 -2.8600000381469727e+01 -5.5618499755859375e+02 -4.6027000427246094e+01 -2.8600000381469727e+01 -5.5837603759765625e+02 -4.8218002319335938e+01 -2.8600000381469727e+01 -5.6150598144531250e+02 -4.9206996917724609e+01 -2.8600000381469727e+01 -5.6519598388671875e+02 -4.8873996734619141e+01 -2.8600000381469727e+01 -5.6900103759765625e+02 -4.7260002136230469e+01 -2.8600000381469727e+01 -5.7246398925781250e+02 -4.4557998657226562e+01 -2.8600000381469727e+01 -5.7516497802734375e+02 -3.0471000671386719e+01 2.9500000000000000e+01 -5.7393200683593750e+02 -2.8279998779296875e+01 2.9500000000000000e+01 -5.7080297851562500e+02 -2.9238000869750977e+01 2.9500000000000000e+01 -5.7246295166015625e+02 -4.4557998657226562e+01 2.9500000000000000e+01 -5.7516497802734375e+02 -4.7260002136230469e+01 2.9500000000000000e+01 -5.7246398925781250e+02 -4.8873996734619141e+01 2.9500000000000000e+01 -5.6900103759765625e+02 -4.9206996917724609e+01 2.9500000000000000e+01 -5.6519500732421875e+02 -4.8218002319335938e+01 2.9500000000000000e+01 -5.6150500488281250e+02 -4.6027000427246094e+01 2.9500000000000000e+01 -5.5837603759765625e+02 -4.2897998809814453e+01 2.9500000000000000e+01 -5.5618499755859375e+02 -3.9208000183105469e+01 2.9500000000000000e+01 -5.5519598388671875e+02 -3.5402000427246094e+01 2.9500000000000000e+01 -5.5552899169921875e+02 -3.1939998626708984e+01 2.9500000000000000e+01 -5.5714294433593750e+02 -2.9238000869750977e+01 2.9500000000000000e+01 -5.5984497070312500e+02 -2.7624000549316406e+01 2.9500000000000000e+01 -5.6330700683593750e+02 -2.7291000366210938e+01 2.9500000000000000e+01 -5.6711297607421875e+02 -3.3599998474121094e+01 2.9500000000000000e+01 -5.7612402343750000e+02 -3.7290000915527344e+01 2.9500000000000000e+01 -5.7711199951171875e+02 -4.1095996856689453e+01 2.9500000000000000e+01 -5.7677899169921875e+02 )) mat))) | |
| - ) | |
| - )) | |
| - (send glv :transform local-cds) | |
| - (send glv :calc-normals) | |
| - (setq qhull | |
| - ;; qhull 1479 -> 33 faces | |
| - (instance faceset :init :faces (list | |
| + (nreverse (list (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02) (float-vector 2.3113699629902840e+01 1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 3.9893999695777893e+01 9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 1.8772000446915627e+01 7.2111003100872040e+01 1.3999600708484650e+02) (float-vector -8.3020003512501717e+00 7.6204001903533936e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2036999017000198e+01 2.3499999195337296e+01 -5.5090200901031494e+02) (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02))))) | |
| + (nreverse (list (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector -4.2385898530483246e+01 1.0048700124025345e+02 9.5620997250080109e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector -4.9206998199224472e+01 -2.8599999845027924e+01 -5.6519597768783569e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02))))) | |
| + (nreverse (list (float-vector -4.2385898530483246e+01 1.0048700124025345e+02 9.5620997250080109e+01) (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02) (float-vector -6.2332998961210251e+01 1.0140900313854218e+02 1.2574100494384766e+02) (float-vector -6.8895302712917328e+01 1.0129900276660919e+02 1.1809799820184708e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02) (float-vector -4.9206998199224472e+01 -2.8599999845027924e+01 -5.6519597768783569e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02))))) | |
| + (nreverse (list (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector 1.6419600695371628e+01 9.6252396702766418e+01 8.0000802874565125e+01) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 1.9235000014305115e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01) (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01) (float-vector 1.6419600695371628e+01 9.6252396702766418e+01 8.0000802874565125e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02) (float-vector 1.6268000006675720e+01 -2.3600000888109207e+01 -5.5323702096939087e+02) (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02))))) | |
| + (nreverse (list (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01) (float-vector -9.5853097736835480e+01 -8.1021696329116821e+01 7.9999998211860657e+01) (float-vector -4.4797599315643311e+01 -9.3632496893405914e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector -3.9768900722265244e+01 4.2954698204994202e+01 -5.7839000225067139e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01) (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01) (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.3481999747455120e+01 2.5677999481558800e+01 -5.9700101613998413e+02) (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01) (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01) (float-vector -1.5529499948024750e+02 2.1810000762343407e+01 7.9999998211860657e+01) (float-vector -1.5490700304508209e+02 -2.6748999953269958e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector 1.3481999747455120e+01 2.5677999481558800e+01 -5.9700101613998413e+02) (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02))))) | |
| + (nreverse (list (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01) (float-vector -1.5490700304508209e+02 -2.6748999953269958e+01 7.9999998211860657e+01) (float-vector -1.5253299474716187e+02 -4.2270001024007797e+01 8.4003798663616180e+01) (float-vector -1.3431699573993683e+02 -6.1583101749420166e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.9225999712944031e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector -1.3431699573993683e+02 -6.1583101749420166e+01 7.9999998211860657e+01) (float-vector -1.2811100482940674e+02 -7.0912696421146393e+01 8.7783202528953552e+01) (float-vector -1.0027900338172913e+02 -8.3697296679019928e+01 8.8775999844074249e+01) (float-vector -9.5853097736835480e+01 -8.1021696329116821e+01 7.9999998211860657e+01) (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.9225999712944031e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector -2.7110999450087547e+01 -1.0282999835908413e+01 -5.9700101613998413e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02))))) | |
| + (nreverse (list (float-vector 5.7000301778316498e+01 -8.6348302662372589e+01 1.0593599826097488e+02) (float-vector 3.9893999695777893e+01 -9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 5.2067000418901443e+01 -8.4423199295997620e+01 1.2574000656604767e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.9206998199224472e+01 -2.8599999845027924e+01 -5.6519597768783569e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02))))) | |
| + (nreverse (list (float-vector 3.9893999695777893e+01 -9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 5.7000301778316498e+01 -8.6348302662372589e+01 1.0593599826097488e+02) (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01) (float-vector 1.9983500242233276e+01 -1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 2.3113699629902840e+01 -1.0541199892759323e+02 1.2611599266529083e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 2.7119999751448631e+01 -1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector 1.9235000014305115e+01 -2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector -8.3020003512501717e+00 -7.6204001903533936e+01 1.4000000059604645e+02) (float-vector 1.8772000446915627e+01 -7.2111003100872040e+01 1.3999600708484650e+02) (float-vector 3.9893999695777893e+01 -9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 2.3113699629902840e+01 -1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 3.9804000407457352e+00 -1.0907199978828430e+02 1.2561200559139252e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02))))) | |
| + (nreverse (list (float-vector 5.2067000418901443e+01 8.4423199295997620e+01 1.2574000656604767e+02) (float-vector 5.6999601423740387e+01 8.9273497462272644e+01 1.0736099630594254e+02) (float-vector 6.3060998916625977e+01 6.3225001096725464e+01 1.2611100077629089e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02))))) | |
| + (nreverse (list (float-vector 5.6999601423740387e+01 8.9273497462272644e+01 1.0736099630594254e+02) (float-vector 5.2067000418901443e+01 8.4423199295997620e+01 1.2574000656604767e+02) (float-vector 3.9893999695777893e+01 9.6406899392604828e+01 1.2611499428749084e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02))))) | |
| + (nreverse (list (float-vector 3.9893999695777893e+01 9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 5.2067000418901443e+01 8.4423199295997620e+01 1.2574000656604767e+02) (float-vector 6.3060998916625977e+01 6.3225001096725464e+01 1.2611100077629089e+02) (float-vector 3.4306999295949936e+01 4.4734500348567963e+01 1.3999800384044647e+02) (float-vector 1.8772000446915627e+01 7.2111003100872040e+01 1.3999600708484650e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.1505000293254852e+01 2.3499999195337296e+01 -5.4958200454711914e+02) (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 1.6268000006675720e+01 -2.3600000888109207e+01 -5.5323702096939087e+02))))) | |
| + (nreverse (list (float-vector -1.4416599273681641e+02 5.9890300035476685e+01 9.2041701078414917e+01) (float-vector -1.6121999919414520e+02 4.4370498508214951e+01 1.1800099909305573e+02) (float-vector -1.6060300171375275e+02 2.8993699699640274e+01 9.3338400125503540e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 2.7119999751448631e+01 -1.0284000076353550e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector -6.2332998961210251e+01 1.0140900313854218e+02 1.2574100494384766e+02) (float-vector -1.0509599745273590e+02 8.8217496871948242e+01 1.2574100494384766e+02) (float-vector -6.8895302712917328e+01 1.0129900276660919e+02 1.1809799820184708e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -4.2036999017000198e+01 2.3499999195337296e+01 -5.5090200901031494e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02))))) | |
| + (nreverse (list (float-vector -1.3552899658679962e+02 7.3895201086997986e+01 1.2611100077629089e+02) (float-vector -1.0509599745273590e+02 8.8217496871948242e+01 1.2574100494384766e+02) (float-vector -6.2332998961210251e+01 1.0140900313854218e+02 1.2574100494384766e+02) (float-vector -7.4639998376369476e+01 6.4565002918243408e+01 1.4000099897384644e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2036999017000198e+01 2.3499999195337296e+01 -5.5090200901031494e+02) (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector 5.0069097596860956e-03 2.3499999195337296e+01 -5.4650098085403442e+02) (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02))))) | |
| + (nreverse (list (float-vector -1.0509599745273590e+02 8.8217496871948242e+01 1.2574100494384766e+02) (float-vector -1.3552899658679962e+02 7.3895201086997986e+01 1.2611100077629089e+02) (float-vector -1.2424500286579132e+02 7.5599499046802521e+01 9.3286000192165375e+01) (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -6.8895302712917328e+01 1.0129900276660919e+02 1.1809799820184708e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.7110999450087547e+01 1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector -2.7110999450087547e+01 -1.0282999835908413e+01 -5.9700101613998413e+02) (float-vector -1.9225999712944031e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02) (float-vector 1.9235000014305115e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector 2.7119999751448631e+01 -1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 1.3481999747455120e+01 2.5677999481558800e+01 -5.9700101613998413e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| + (nreverse (list (float-vector 6.3060998916625977e+01 6.3225001096725464e+01 1.2611100077629089e+02) (float-vector 7.1440100669860840e+01 2.7166299521923065e+01 1.2611100077629089e+02) (float-vector 3.4306999295949936e+01 4.4734500348567963e+01 1.3999800384044647e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.7110999450087547e+01 -1.0282999835908413e+01 -5.9700101613998413e+02) (float-vector -2.7110999450087547e+01 1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02))))) | |
| + (nreverse (list (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01) (float-vector 7.1590498089790344e+01 2.2540999576449394e+01 1.1599999666213989e+02) (float-vector 7.1440100669860840e+01 2.7166299521923065e+01 1.2611100077629089e+02) (float-vector 6.3060998916625977e+01 6.3225001096725464e+01 1.2611100077629089e+02) (float-vector 5.6999601423740387e+01 8.9273497462272644e+01 1.0736099630594254e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.7474600374698639e+01 4.3000001460313797e+01 -5.7362002134323120e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -2.7110999450087547e+01 1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector -3.9768900722265244e+01 4.2954698204994202e+01 -5.7839000225067139e+02))))) | |
| + (nreverse (list (float-vector 7.1477800607681274e+01 -1.0524000041186810e+01 1.2611100077629089e+02) (float-vector 7.1440100669860840e+01 2.7166299521923065e+01 1.2611100077629089e+02) (float-vector 7.1590498089790344e+01 2.2540999576449394e+01 1.1599999666213989e+02) (float-vector 7.1925997734069824e+01 -9.4999996945261955e+00 1.1406899988651276e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.1505000293254852e+01 2.3499999195337296e+01 -5.4958200454711914e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02))))) | |
| + (nreverse (list (float-vector 6.7693702876567841e+01 -4.7537401318550110e+01 1.2611100077629089e+02) (float-vector 5.7000301778316498e+01 -8.6348302662372589e+01 1.0593599826097488e+02) (float-vector 5.2067000418901443e+01 -8.4423199295997620e+01 1.2574000656604767e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 5.0069097596860956e-03 2.3499999195337296e+01 -5.4650098085403442e+02))))) | |
| + (nreverse (list (float-vector 6.7693702876567841e+01 -4.7537401318550110e+01 1.2611100077629089e+02) (float-vector 7.1477800607681274e+01 -1.0524000041186810e+01 1.2611100077629089e+02) (float-vector 7.1925997734069824e+01 -9.4999996945261955e+00 1.1406899988651276e+02) (float-vector 6.8291902542114258e+01 -4.4521000236272812e+01 1.1390399932861328e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.0069097596860956e-03 2.3499999195337296e+01 -5.4650098085403442e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 1.1505000293254852e+01 2.3499999195337296e+01 -5.4958200454711914e+02) (float-vector 1.6268000006675720e+01 -2.3600000888109207e+01 -5.5323702096939087e+02) (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02))))) | |
| + (nreverse (list (float-vector 5.7000301778316498e+01 -8.6348302662372589e+01 1.0593599826097488e+02) (float-vector 6.7693702876567841e+01 -4.7537401318550110e+01 1.2611100077629089e+02) (float-vector 6.8291902542114258e+01 -4.4521000236272812e+01 1.1390399932861328e+02) (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02))))) | |
| + (nreverse (list (float-vector 7.1440100669860840e+01 2.7166299521923065e+01 1.2611100077629089e+02) (float-vector 7.1477800607681274e+01 -1.0524000041186810e+01 1.2611100077629089e+02) (float-vector 6.7693702876567841e+01 -4.7537401318550110e+01 1.2611100077629089e+02) (float-vector 3.1477000564336777e+01 -5.3464200347661972e+01 1.3999800384044647e+02) (float-vector 3.4306999295949936e+01 4.4734500348567963e+01 1.3999800384044647e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02))))) | |
| + (nreverse (list (float-vector 3.9893999695777893e+01 -9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 1.8772000446915627e+01 -7.2111003100872040e+01 1.3999600708484650e+02) (float-vector 3.1477000564336777e+01 -5.3464200347661972e+01 1.3999800384044647e+02) (float-vector 6.7693702876567841e+01 -4.7537401318550110e+01 1.2611100077629089e+02) (float-vector 5.2067000418901443e+01 -8.4423199295997620e+01 1.2574000656604767e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02))))) | |
| + (nreverse (list (float-vector 1.7694300040602684e+01 -9.6136599779129028e+01 8.0000497400760651e+01) (float-vector -2.1406000480055809e+01 -1.0276299715042114e+02 9.4608396291732788e+01) (float-vector 3.9804000407457352e+00 -1.0907199978828430e+02 1.2561200559139252e+02) (float-vector 1.9983500242233276e+01 -1.0721100121736526e+02 1.1599200218915939e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.7622501850128174e+01 4.3000001460313797e+01 -5.6410598754882812e+02) (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -4.7474600374698639e+01 4.3000001460313797e+01 -5.7362002134323120e+02))))) | |
| + (nreverse (list (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01) (float-vector -4.4797599315643311e+01 -9.3632496893405914e+01 7.9999998211860657e+01) (float-vector -2.1406000480055809e+01 -1.0276299715042114e+02 9.4608396291732788e+01) (float-vector 1.7694300040602684e+01 -9.6136599779129028e+01 8.0000497400760651e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 4.4654901139438152e+00 4.3000001460313797e+01 -5.5519902706146240e+02) (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02))))) | |
| + (nreverse (list (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01) (float-vector 1.7694300040602684e+01 -9.6136599779129028e+01 8.0000497400760651e+01) (float-vector 1.9983500242233276e+01 -1.0721100121736526e+02 1.1599200218915939e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.9768900722265244e+01 4.2954698204994202e+01 -5.7839000225067139e+02) (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02) (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02) (float-vector 4.4654901139438152e+00 4.3000001460313797e+01 -5.5519902706146240e+02) (float-vector -3.9948899298906326e+01 4.3000001460313797e+01 -5.5828201770782471e+02) (float-vector -4.7622501850128174e+01 4.3000001460313797e+01 -5.6410598754882812e+02) (float-vector -4.7474600374698639e+01 4.3000001460313797e+01 -5.7362002134323120e+02))))) | |
| + (nreverse (list (float-vector 6.2560997903347015e+01 -2.1213499829173088e+01 8.4999598562717438e+01) (float-vector 1.6339000314474106e+01 -2.8500000014901161e+01 -1.1533999815583229e+01) (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -3.9948899298906326e+01 4.3000001460313797e+01 -5.5828201770782471e+02) (float-vector 4.4654901139438152e+00 4.3000001460313797e+01 -5.5519902706146240e+02))))) | |
| + (nreverse (list (float-vector 1.7319999635219574e+01 2.9500000178813934e+01 -9.9999997764825821e+00) (float-vector 1.6339000314474106e+01 -2.8500000014901161e+01 -1.1533999815583229e+01) (float-vector 6.2560997903347015e+01 -2.1213499829173088e+01 8.4999598562717438e+01) (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -4.7622501850128174e+01 4.3000001460313797e+01 -5.6410598754882812e+02) (float-vector -3.9948899298906326e+01 4.3000001460313797e+01 -5.5828201770782471e+02))))) | |
| - )) | |
| - ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_HEAD_JOINT0_Link_LwMweE.dae")) | |
| - (when glv | |
| - (setq (geom . gl::aglvertices) glv) | |
| - (send geom :assoc glv)) | |
| - geom)) | |
| - (:_make_instance_RARM_JOINT3_Link_geom0 () | |
| - (let (geom glv qhull | |
| - (local-cds (make-coords :pos (float-vector -3.0000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| - (setq glv | |
| - (instance gl::glvertices :init | |
| - (list ;; mesh list | |
| - (list ;; mesh description | |
| - (list :type :triangles) | |
| - (list :material (list | |
| - (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| - (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
| - (list :indices #i( 0 1 2 3 0 2 0 35 1 36 35 0 3 36 0 1 34 2 35 34 1 35 31 34 30 31 35 36 30 35 37 36 3 29 30 36 37 29 36 4 3 2 4 37 3 38 37 4 60 37 38 62 29 37 60 62 37 5 4 2 5 38 4 6 5 2 39 38 5 6 39 5 7 6 2 40 39 6 7 40 6 39 57 58 59 57 39 40 59 39 39 58 38 41 40 7 55 59 40 41 55 40 8 7 2 8 41 7 42 41 8 41 54 55 56 54 41 42 56 41 55 82 59 83 82 55 54 83 55 84 83 54 56 84 54 53 56 42 85 84 56 53 85 56 84 114 83 116 114 84 84 118 116 85 118 84 83 112 82 114 112 83 112 110 82 110 108 81 82 110 81 108 105 80 81 108 80 81 80 57 59 81 57 82 81 59 80 79 58 57 80 58 80 105 79 105 104 79 79 78 61 58 79 61 79 104 78 58 61 38 61 60 38 61 78 60 78 77 60 78 104 103 77 78 103 60 77 62 77 76 62 77 103 102 76 77 102 103 101 102 102 101 100 106 76 102 102 100 120 106 102 120 101 99 100 100 99 98 100 98 120 99 97 98 98 97 96 98 96 120 97 95 96 96 95 92 96 92 120 95 93 92 92 93 94 92 94 120 93 132 133 94 93 133 94 133 120 133 132 131 133 131 120 132 130 131 131 130 129 131 129 120 130 128 129 129 128 127 129 127 120 128 126 127 127 126 125 127 125 120 126 124 125 125 88 123 87 88 125 124 87 125 125 123 120 124 122 87 87 86 52 64 87 52 88 87 64 87 122 86 122 119 86 86 85 53 52 86 53 86 119 85 52 42 49 53 42 52 52 49 64 50 63 64 49 50 64 63 88 64 63 50 67 89 88 63 67 89 63 88 89 123 90 89 67 89 90 120 121 89 120 123 89 121 67 51 65 50 51 67 65 90 67 91 90 65 90 91 117 120 90 117 65 26 66 51 26 65 66 91 65 51 50 17 18 51 17 26 51 18 50 49 16 17 50 16 17 16 2 18 17 2 19 18 2 19 26 18 20 19 2 27 26 19 20 27 19 21 20 2 28 27 20 21 28 20 27 68 69 26 27 69 27 28 71 68 27 71 68 73 69 74 73 68 71 74 68 66 26 69 69 72 66 73 72 69 73 74 111 113 73 111 72 73 113 75 74 71 74 75 109 111 74 109 111 109 120 113 111 120 115 72 113 115 113 120 72 91 66 91 72 115 117 91 115 117 115 120 123 121 120 107 106 120 109 107 120 109 75 107 107 76 106 75 76 107 76 75 70 62 76 70 28 70 71 70 28 62 70 75 71 28 29 62 29 28 21 22 29 21 30 29 22 22 21 2 23 22 2 23 30 22 31 30 23 24 23 2 24 31 23 32 31 24 31 32 34 25 24 2 25 32 24 33 32 25 34 32 33 34 33 2 2 33 25 9 8 2 10 9 2 11 10 2 12 11 2 13 12 2 14 13 2 15 14 2 16 15 2 9 42 8 43 42 9 42 43 49 10 43 9 44 43 10 43 44 48 49 43 48 49 48 15 16 49 15 15 48 14 48 47 14 48 44 47 11 44 10 45 44 11 44 45 47 47 46 13 14 47 13 47 45 46 12 45 11 46 45 12 13 46 12 119 118 85 134 135 136 136 134 135 134 135 136)) | |
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| - ) | |
| - )) | |
| - (send glv :transform local-cds) | |
| - (send glv :calc-normals) | |
| - (setq qhull | |
| - ;; qhull 2337 -> 27 faces | |
| - (instance faceset :init :faces (list | |
| + (nreverse (list (float-vector -1.5529499948024750e+02 2.1810000762343407e+01 7.9999998211860657e+01) (float-vector -1.6060300171375275e+02 2.8993699699640274e+01 9.3338400125503540e+01) (float-vector -1.6799999773502350e+02 8.5159996524453163e+00 1.1600100249052048e+02) (float-vector -1.6775000095367432e+02 -1.5499000437557697e+01 1.1700099706649780e+02) (float-vector -1.5868900716304779e+02 -3.6440998315811157e+01 9.3247897922992706e+01) (float-vector -1.5490700304508209e+02 -2.6748999953269958e+01 7.9999998211860657e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (nreverse (list (float-vector -1.6754199564456940e+02 -1.5499000437557697e+01 1.2611100077629089e+02) (float-vector -1.6775000095367432e+02 -1.5499000437557697e+01 1.1700099706649780e+02) (float-vector -1.6799999773502350e+02 8.5159996524453163e+00 1.1600100249052048e+02) (float-vector -1.6604299843311310e+02 2.7235200628638268e+01 1.2611100077629089e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.3610000759363174e+00 -2.6242999359965324e+01 -1.3999499380588531e+02) (float-vector 3.0004000291228294e+01 -3.5999998450279236e+01 -1.3999499380588531e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| + (nreverse (list (float-vector 3.1477000564336777e+01 -5.3464200347661972e+01 1.3999800384044647e+02) (float-vector 4.0000001899898052e+00 0.0000000000000000e+00 1.4274199306964874e+02) (float-vector 3.4306999295949936e+01 4.4734500348567963e+01 1.3999800384044647e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.6752000898122787e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 8.8440002873539925e+00 2.9124999418854713e+01 -1.3999499380588531e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| + (nreverse (list (float-vector 3.4306999295949936e+01 4.4734500348567963e+01 1.3999800384044647e+02) (float-vector 4.0000001899898052e+00 0.0000000000000000e+00 1.4274199306964874e+02) (float-vector -6.5563999116420746e+01 0.0000000000000000e+00 1.4380200207233429e+02) (float-vector 1.8772000446915627e+01 7.2111003100872040e+01 1.3999600708484650e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02) (float-vector -2.5690000038594007e+00 1.5328000299632549e+01 -1.3999499380588531e+02) (float-vector -5.9949997812509537e+00 7.6293895645562770e-06 -1.3999499380588531e+02))))) | |
| + (nreverse (list (float-vector -6.5563999116420746e+01 0.0000000000000000e+00 1.4380200207233429e+02) (float-vector 4.0000001899898052e+00 0.0000000000000000e+00 1.4274199306964874e+02) (float-vector 3.1477000564336777e+01 -5.3464200347661972e+01 1.3999800384044647e+02) (float-vector 1.8772000446915627e+01 -7.2111003100872040e+01 1.3999600708484650e+02) (float-vector -8.3020003512501717e+00 -7.6204001903533936e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 8.8440002873539925e+00 2.9124999418854713e+01 -1.3999499380588531e+02) (float-vector -2.5690000038594007e+00 1.5328000299632549e+01 -1.3999499380588531e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| + (nreverse (list (float-vector -1.5046100318431854e+02 6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.4416599273681641e+02 5.9890300035476685e+01 9.2041701078414917e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01) (float-vector -1.2424500286579132e+02 7.5599499046802521e+01 9.3286000192165375e+01) (float-vector -1.3552899658679962e+02 7.3895201086997986e+01 1.2611100077629089e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.7743001729249954e+01 2.2947000339627266e+01 -1.3999499380588531e+02) (float-vector 4.3257001787424088e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02))))) | |
| + (nreverse (list (float-vector -1.5046100318431854e+02 6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.3552899658679962e+02 7.3895201086997986e+01 1.2611100077629089e+02) (float-vector -7.4639998376369476e+01 6.4565002918243408e+01 1.4000099897384644e+02) (float-vector -1.2968400120735168e+02 3.4464001655578613e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02) (float-vector 5.3610000759363174e+00 -2.6242999359965324e+01 -1.3999499380588531e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| + (nreverse (list (float-vector 1.6339000314474106e+01 -2.8500000014901161e+01 -1.1533999815583229e+01) (float-vector 7.9669998958706856e+00 -2.8500000014901161e+01 -1.8343999981880188e+01) (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01) (float-vector 1.7694300040602684e+01 -9.6136599779129028e+01 8.0000497400760651e+01) (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| + (nreverse (list (float-vector 7.9669998958706856e+00 -2.8500000014901161e+01 -1.8343999981880188e+01) (float-vector 1.6339000314474106e+01 -2.8500000014901161e+01 -1.1533999815583229e+01) (float-vector 1.7319999635219574e+01 2.9500000178813934e+01 -9.9999997764825821e+00) (float-vector 9.9989995360374451e+00 2.4000000208616257e+01 -1.7320999875664711e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02) (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (nreverse (list (float-vector 7.9669998958706856e+00 -2.8500000014901161e+01 -1.8343999981880188e+01) (float-vector 9.9989995360374451e+00 2.4000000208616257e+01 -1.7320999875664711e+01) (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01) (float-vector -2.7240000199526548e+00 -2.8500000014901161e+01 -1.9813999533653259e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (nreverse (list (float-vector -1.6754199564456940e+02 -1.5499000437557697e+01 1.2611100077629089e+02) (float-vector -1.6121999919414520e+02 -4.4370498508214951e+01 1.1800099909305573e+02) (float-vector -1.5868900716304779e+02 -3.6440998315811157e+01 9.3247897922992706e+01) (float-vector -1.6775000095367432e+02 -1.5499000437557697e+01 1.1700099706649780e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.5050001032650471e+00 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02) (float-vector -5.9949997812509537e+00 7.6293895645562770e-06 -1.3999499380588531e+02) (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02))))) | |
| + (nreverse (list (float-vector -7.4639998376369476e+01 -6.4565002918243408e+01 1.4000099897384644e+02) (float-vector -1.2302300333976746e+02 -4.2722500860691071e+01 1.4000099897384644e+02) (float-vector -6.5563999116420746e+01 0.0000000000000000e+00 1.4380200207233429e+02) (float-vector -8.3020003512501717e+00 -7.6204001903533936e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 1.4599000103771687e+01 3.6499999463558197e+01 -2.5148999691009521e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| + (nreverse (list (float-vector -1.2302300333976746e+02 -4.2722500860691071e+01 1.4000099897384644e+02) (float-vector -1.3500100374221802e+02 -1.5499000437557697e+01 1.4000000059604645e+02) (float-vector -1.2968400120735168e+02 3.4464001655578613e+01 1.4000000059604645e+02) (float-vector -6.5563999116420746e+01 0.0000000000000000e+00 1.4380200207233429e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.3015000149607658e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02) (float-vector 2.5412999093532562e+01 3.6499999463558197e+01 -2.5709301233291626e+02) (float-vector 1.4599000103771687e+01 3.6499999463558197e+01 -2.5148999691009521e+02))))) | |
| + (nreverse (list (float-vector -1.6754199564456940e+02 -1.5499000437557697e+01 1.2611100077629089e+02) (float-vector -1.6604299843311310e+02 2.7235200628638268e+01 1.2611100077629089e+02) (float-vector -1.2968400120735168e+02 3.4464001655578613e+01 1.4000000059604645e+02) (float-vector -1.3500100374221802e+02 -1.5499000437557697e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.7743001729249954e+01 2.2947000339627266e+01 -1.3999499380588531e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02) (float-vector 6.5366998314857483e+01 6.7460099235177040e+00 -1.3999499380588531e+02))))) | |
| + (nreverse (list (float-vector -1.6604299843311310e+02 2.7235200628638268e+01 1.2611100077629089e+02) (float-vector -1.5984299778938293e+02 4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.5046100318431854e+02 6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.2968400120735168e+02 3.4464001655578613e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.5366998314857483e+01 6.7460099235177040e+00 -1.3999499380588531e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02) (float-vector 4.6994000673294067e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 6.5932996571063995e+01 -2.2609899751842022e+00 -1.3999499380588531e+02))))) | |
| + (nreverse (list (float-vector -1.5046100318431854e+02 6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.5984299778938293e+02 4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.6121999919414520e+02 4.4370498508214951e+01 1.1800099909305573e+02) (float-vector -1.4416599273681641e+02 5.9890300035476685e+01 9.2041701078414917e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2329998686909676e+00 -1.1125000193715096e+01 -1.3999499380588531e+02) (float-vector -5.9949997812509537e+00 7.6293895645562770e-06 -1.3999499380588531e+02) (float-vector -2.5690000038594007e+00 1.5328000299632549e+01 -1.3999499380588531e+02) (float-vector 8.8440002873539925e+00 2.9124999418854713e+01 -1.3999499380588531e+02) (float-vector 1.6752000898122787e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 4.3257001787424088e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 5.7743001729249954e+01 2.2947000339627266e+01 -1.3999499380588531e+02) (float-vector 6.5366998314857483e+01 6.7460099235177040e+00 -1.3999499380588531e+02) (float-vector 6.5932996571063995e+01 -2.2609899751842022e+00 -1.3999499380588531e+02) (float-vector 6.0400001704692841e+01 -1.9290000200271606e+01 -1.3999499380588531e+02) (float-vector 3.8956999778747559e+01 -3.4869000315666199e+01 -1.3999499380588531e+02) (float-vector 3.0004000291228294e+01 -3.5999998450279236e+01 -1.3999499380588531e+02) (float-vector 5.3610000759363174e+00 -2.6242999359965324e+01 -1.3999499380588531e+02))))) | |
| + (nreverse (list (float-vector -1.6121999919414520e+02 4.4370498508214951e+01 1.1800099909305573e+02) (float-vector -1.5984299778938293e+02 4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.6604299843311310e+02 2.7235200628638268e+01 1.2611100077629089e+02) (float-vector -1.6799999773502350e+02 8.5159996524453163e+00 1.1600100249052048e+02) (float-vector -1.6060300171375275e+02 2.8993699699640274e+01 9.3338400125503540e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (nreverse (list (float-vector -1.5984299778938293e+02 -4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.6121999919414520e+02 -4.4370498508214951e+01 1.1800099909305573e+02) (float-vector -1.6754199564456940e+02 -1.5499000437557697e+01 1.2611100077629089e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 6.0400001704692841e+01 -1.9290000200271606e+01 -1.3999499380588531e+02) (float-vector 6.5932996571063995e+01 -2.2609899751842022e+00 -1.3999499380588531e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02))))) | |
| + (nreverse (list (float-vector -6.8895302712917328e+01 -1.0129900276660919e+02 1.1809799820184708e+02) (float-vector -4.0332701057195663e+01 -1.0557100176811218e+02 1.2574100494384766e+02) (float-vector 3.9804000407457352e+00 -1.0907199978828430e+02 1.2561200559139252e+02) (float-vector -2.1406000480055809e+01 -1.0276299715042114e+02 9.4608396291732788e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (nreverse (list (float-vector -4.4797599315643311e+01 -9.3632496893405914e+01 7.9999998211860657e+01) (float-vector -9.5853097736835480e+01 -8.1021696329116821e+01 7.9999998211860657e+01) (float-vector -1.0027900338172913e+02 -8.3697296679019928e+01 8.8775999844074249e+01) (float-vector -6.8895302712917328e+01 -1.0129900276660919e+02 1.1809799820184708e+02) (float-vector -2.1406000480055809e+01 -1.0276299715042114e+02 9.4608396291732788e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.0004000291228294e+01 -3.5999998450279236e+01 -1.3999499380588531e+02) (float-vector 3.8956999778747559e+01 -3.4869000315666199e+01 -1.3999499380588531e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 7.5039998628199100e+00 -4.5499999076128006e+01 -1.4999499917030334e+02))))) | |
| + (nreverse (list (float-vector -1.5868900716304779e+02 -3.6440998315811157e+01 9.3247897922992706e+01) (float-vector -1.6121999919414520e+02 -4.4370498508214951e+01 1.1800099909305573e+02) (float-vector -1.5052500367164612e+02 -6.1012499034404755e+01 1.1800099909305573e+02) (float-vector -1.4078700542449951e+02 -6.4185000956058502e+01 9.5035500824451447e+01) (float-vector -1.5253299474716187e+02 -4.2270001024007797e+01 8.4003798663616180e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -1.4999499917030334e+02) (float-vector 3.8956999778747559e+01 -3.4869000315666199e+01 -1.3999499380588531e+02) (float-vector 6.0400001704692841e+01 -1.9290000200271606e+01 -1.3999499380588531e+02))))) | |
| + (nreverse (list (float-vector -6.8895302712917328e+01 -1.0129900276660919e+02 1.1809799820184708e+02) (float-vector -9.1108001768589020e+01 -9.2641003429889679e+01 1.2651799619197845e+02) (float-vector -4.0332701057195663e+01 -1.0557100176811218e+02 1.2574100494384766e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.7562999874353409e+01 3.6499999463558197e+01 -2.5626200437545776e+02) (float-vector 4.3393000960350037e+01 1.7999999225139618e+01 -2.5396201014518738e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02))))) | |
| + (nreverse (list (float-vector 3.9804000407457352e+00 -1.0907199978828430e+02 1.2561200559139252e+02) (float-vector -4.0332701057195663e+01 -1.0557100176811218e+02 1.2574100494384766e+02) (float-vector -9.1108001768589020e+01 -9.2641003429889679e+01 1.2651799619197845e+02) (float-vector -7.4639998376369476e+01 -6.4565002918243408e+01 1.4000099897384644e+02) (float-vector -8.3020003512501717e+00 -7.6204001903533936e+01 1.4000000059604645e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4599000103771687e+01 3.6499999463558197e+01 -2.5148999691009521e+02) (float-vector 2.5412999093532562e+01 3.6499999463558197e+01 -2.5709301233291626e+02) (float-vector 3.7562999874353409e+01 3.6499999463558197e+01 -2.5626200437545776e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02) (float-vector 4.3257001787424088e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 1.6752000898122787e+01 3.3472001552581787e+01 -1.3999499380588531e+02) (float-vector 8.2719996571540833e+00 3.6499999463558197e+01 -2.4108399450778961e+02))))) | |
| + (nreverse (list (float-vector -1.2724600732326508e+02 -7.8467100858688354e+01 1.2574100494384766e+02) (float-vector -9.1108001768589020e+01 -9.2641003429889679e+01 1.2651799619197845e+02) (float-vector -6.8895302712917328e+01 -1.0129900276660919e+02 1.1809799820184708e+02) (float-vector -1.0027900338172913e+02 -8.3697296679019928e+01 8.8775999844074249e+01) (float-vector -1.2811100482940674e+02 -7.0912696421146393e+01 8.7783202528953552e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02))))) | |
| + (nreverse (list (float-vector -1.5984299778938293e+02 -4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.5052500367164612e+02 -6.1012499034404755e+01 1.1800099909305573e+02) (float-vector -1.6121999919414520e+02 -4.4370498508214951e+01 1.1800099909305573e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 3.0005000531673431e+01 -6.3000001013278961e+01 -2.1138399839401245e+02) (float-vector 5.2505001425743103e+01 -4.5499999076128006e+01 -2.1199500560760498e+02) (float-vector 4.6994000673294067e+01 -2.3000000044703484e+01 -2.4733799695968628e+02))))) | |
| + (nreverse (list (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.5984299778938293e+02 -4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.6754199564456940e+02 -1.5499000437557697e+01 1.2611100077629089e+02) (float-vector -1.3500100374221802e+02 -1.5499000437557697e+01 1.4000000059604645e+02) (float-vector -1.2302300333976746e+02 -4.2722500860691071e+01 1.4000099897384644e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.3393000960350037e+01 1.7999999225139618e+01 -2.5396201014518738e+02) (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 4.6994000673294067e+01 -2.3000000044703484e+01 -2.4733799695968628e+02) (float-vector 5.0705999135971069e+01 3.6499999463558197e+01 -2.4398699402809143e+02))))) | |
| + (nreverse (list (float-vector -9.1108001768589020e+01 -9.2641003429889679e+01 1.2651799619197845e+02) (float-vector -1.2724600732326508e+02 -7.8467100858688354e+01 1.2574100494384766e+02) (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.2302300333976746e+02 -4.2722500860691071e+01 1.4000099897384644e+02) (float-vector -7.4639998376369476e+01 -6.4565002918243408e+01 1.4000099897384644e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.2348001152276993e+01 -2.3000000044703484e+01 -2.5198400020599365e+02) (float-vector 4.3393000960350037e+01 1.7999999225139618e+01 -2.5396201014518738e+02) (float-vector 3.7562999874353409e+01 3.6499999463558197e+01 -2.5626200437545776e+02) (float-vector 2.5412999093532562e+01 3.6499999463558197e+01 -2.5709301233291626e+02) (float-vector 3.0004000291228294e+01 -2.3000000044703484e+01 -2.5599500536918640e+02))))) | |
| + (nreverse (list (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.2724600732326508e+02 -7.8467100858688354e+01 1.2574100494384766e+02) (float-vector -1.2811100482940674e+02 -7.0912696421146393e+01 8.7783202528953552e+01) (float-vector -1.4078700542449951e+02 -6.4185000956058502e+01 9.5035500824451447e+01) (float-vector -1.5052500367164612e+02 -6.1012499034404755e+01 1.1800099909305573e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT3_Link_DJQ2P2.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_HEAD_JOINT1_Link_rZsAm4.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -2547,7 +2692,7 @@ | |
| (nreverse (list (float-vector -1.1581799946725368e+01 -1.4999799430370331e+02 3.3379100263118744e+01) (float-vector -9.8446002230048180e+00 -1.5699799358844757e+02 2.7780700474977493e+01) (float-vector -2.2523099556565285e+01 -1.5699799358844757e+02 1.5576399862766266e+01) (float-vector -2.2692000493407249e+01 -1.4999799430370331e+02 2.6647999882698059e+01))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT1_Link_JzPrqJ.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT1_Link_YDYbJ7.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -2672,7 +2817,7 @@ | |
| (nreverse (list (float-vector 2.2590000182390213e+01 6.2001001089811325e+01 2.7405101060867310e+02) (float-vector 8.2070101052522659e+00 6.2001001089811325e+01 2.8195801377296448e+02) (float-vector 1.2884000316262245e+01 1.3600100576877594e+02 2.8253701329231262e+02) (float-vector 2.6968000456690788e+01 1.3600100576877594e+02 2.7230501174926758e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT2_Link_sQh56n.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT2_Link_RiQswd.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -2854,417 +2999,276 @@ | |
| (nreverse (list (float-vector 2.3780599236488342e+01 1.5699799358844757e+02 1.9846800714731216e+01) (float-vector 3.2026298344135284e+01 1.4999799430370331e+02 1.8344499170780182e+01) (float-vector 2.4949600920081139e+01 1.4999799430370331e+02 2.6719599962234497e+01) (float-vector 1.1879500001668930e+01 1.4999799430370331e+02 3.4297898411750793e+01) (float-vector 9.6582500264048576e+00 1.5699799358844757e+02 3.0315300449728966e+01))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LARM_JOINT1_Link_DzvU2a.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LARM_JOINT1_Link_Dp9Mdc.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_HEAD_JOINT1_Link_geom0 () | |
| + (:_make_instance_RARM_JOINT0_Link_geom0 () | |
| (let (geom glv qhull | |
| - (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -1.4500000000000000e+02 3.7029599999999999e+02) | |
| + :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))))) | |
| (setq glv | |
| (instance gl::glvertices :init | |
| (list ;; mesh list | |
| (list ;; mesh description | |
| (list :type :triangles) | |
| (list :material (list | |
| - (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| - (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
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| (list ;; mesh description | |
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-1.5465100288391113e+01 -2.4808299541473389e+00 1.2793700408935547e+02 -9.3461601257324219e+01 -6.5149597167968750e+01 1.2086699676513672e+02 -9.1518798828125000e+01 6.7553100585937500e+01 1.2107899475097656e+02 -1.3917300224304199e+01 4.5541801452636719e+00 1.2872799682617188e+02 -1.3563600540161133e+01 4.8309803009033203e+00 1.2747600555419922e+02 -9.1713500976562500e+01 6.7148300170898438e+01 1.1982700347900391e+02 -1.3960599899291992e+01 4.5086698532104492e+00 1.2648299407958984e+02 -9.1748603820800781e+01 6.7096397399902344e+01 1.2207199859619141e+02 -1.4782299995422363e+01 3.6434698104858398e+00 1.2604500579833984e+02 -9.2686599731445312e+01 6.5814102172851562e+01 1.1947699737548828e+02 -9.2349502563476562e+01 6.6193199157714844e+01 1.2250400543212891e+02 -1.4771600723266602e+01 3.6474699974060059e+00 1.2912100219726562e+02 -1.5428999900817871e+01 2.5794699192047119e+00 1.2841999816894531e+02 -1.5388400077819824e+01 2.6565699577331543e+00 1.2678800201416016e+02 -9.3064002990722656e+01 6.5467498779296875e+01 1.2204899597167969e+02 -9.3462104797363281e+01 6.5149597167968750e+01 1.2086699676513672e+02 -9.5480400085449219e+01 6.4192802429199219e+01 1.2077600097656250e+02 -9.5623100280761719e+01 -6.4156394958496094e+01 1.2162700653076172e+02 -9.5515495300292969e+01 -6.4183097839355469e+01 1.2056999969482422e+02 -9.5739898681640625e+01 6.4129997253417969e+01 1.2187000274658203e+02 -9.6231803894042969e+01 6.4043701171875000e+01 1.1965599822998047e+02 -9.6291000366210938e+01 -6.4037796020507812e+01 1.2236499786376953e+02 -9.6147094726562500e+01 -6.4062698364257812e+01 1.1975699615478516e+02 -9.6879196166992188e+01 6.3990398406982422e+01 1.2254799652099609e+02 -9.7044998168945312e+01 -6.3992797851562500e+01 1.1946900177001953e+02 -9.7360794067382812e+01 6.4006698608398438e+01 1.1951599884033203e+02 -9.7189903259277344e+01 -6.4000900268554688e+01 1.2249800109863281e+02 -9.8067901611328125e+01 -6.4092597961425781e+01 1.2210500335693359e+02 -9.8243400573730469e+01 -6.4122001647949219e+01 1.2005500030517578e+02 -9.8243896484375000e+01 6.4122001647949219e+01 1.2194499969482422e+02 -9.8457801818847656e+01 6.4173896789550781e+01 1.2039800262451172e+02 -9.8501800537109375e+01 -6.4190299987792969e+01 1.2120500183105469e+02 )) mat))) | |
| + (list :ambient (float-vector 0.300000 0.300000 0.300000 1.000000)) | |
| + (list :diffuse (float-vector 0.039216 0.039216 0.039216 1.000000)))) | |
| + (list :indices #i( 0 1 2 3 0 2 0 15 11 8 3 2 9 8 2 6 8 9 7 6 9 9 10 7 13 10 9 14 13 9 4 5 6 7 4 6 12 6 5 10 4 7 4 10 11 5 4 11 11 12 5 15 12 11)) | |
| + (list :vertices (let ((mat (make-matrix 16 3))) (fvector-replace (array-entity mat) #f(-3.3757102966308594e+01 9.1997398376464844e+01 -3.1005200195312500e+02 -3.3756099700927734e+01 1.8373800277709961e+01 -2.9032400512695312e+02 3.0021699905395508e+01 1.8373800277709961e+01 -2.9032400512695312e+02 3.0052499771118164e+01 9.1997604370117188e+01 -3.1005099487304688e+02 -4.4748001098632812e+01 3.8164198398590088e-01 -3.4917300415039062e+02 -4.4748001098632812e+01 7.8153900146484375e+01 -3.7001300048828125e+02 4.1967998504638672e+01 7.8154098510742188e+01 -3.7001199340820312e+02 4.1967998504638672e+01 3.8164198398590088e-01 -3.4917300415039062e+02 4.0229999542236328e+01 8.9560394287109375e+01 -3.1914700317382812e+02 4.0229999542236328e+01 1.5936599731445312e+01 -2.9942001342773438e+02 -4.2647598266601562e+01 1.5948899269104004e+01 -2.9937402343750000e+02 -4.2830600738525391e+01 8.9545898437500000e+01 -3.1920098876953125e+02 4.0182399749755859e+01 8.9546096801757812e+01 -3.1920098876953125e+02 -3.3699199676513672e+01 1.8373800277709961e+01 -2.9032400512695312e+02 3.0052499771118164e+01 1.8373800277709961e+01 -2.9032400512695312e+02 3.0021699905395508e+01 9.1997604370117188e+01 -3.1005099487304688e+02 )) mat))) | |
| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 5199 -> 80 faces | |
| + ;; qhull 831 -> 29 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7319999635219574e+01 2.9500000178813934e+01 -9.9999997764825821e+00) (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.9989995360374451e+00 2.4000000208616257e+01 -1.7320999875664711e+01) (float-vector 1.7319999635219574e+01 2.9500000178813934e+01 -9.9999997764825821e+00) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01) (float-vector 1.6419600695371628e+01 9.6252396702766418e+01 8.0000802874565125e+01) (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.1925997734069824e+01 -9.4999996945261955e+00 1.1406899988651276e+02) (float-vector 6.2560997903347015e+01 -2.1213499829173088e+01 8.4999598562717438e+01) (float-vector 5.7000301778316498e+01 -8.5269398987293243e+01 9.1380000114440918e+01) (float-vector 6.8291902542114258e+01 -4.4521000236272812e+01 1.1390399932861328e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01) (float-vector 7.1590498089790344e+01 2.2540999576449394e+01 1.1599999666213989e+02) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.1590498089790344e+01 2.2540999576449394e+01 1.1599999666213989e+02) (float-vector 6.2113899737596512e+01 2.5986300781369209e+01 8.4999799728393555e+01) (float-vector 6.2560997903347015e+01 -2.1213499829173088e+01 8.4999598562717438e+01) (float-vector 7.1925997734069824e+01 -9.4999996945261955e+00 1.1406899988651276e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.9983500242233276e+01 -1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 3.9804000407457352e+00 -1.0907199978828430e+02 1.2561200559139252e+02) (float-vector 2.3113699629902840e+01 -1.0541199892759323e+02 1.2611599266529083e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.6060300171375275e+02 2.8993699699640274e+01 9.3338400125503540e+01) (float-vector -1.5529499948024750e+02 2.1810000762343407e+01 7.9999998211860657e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01) (float-vector -1.1279200017452240e+02 7.4669398367404938e+01 7.9999998211860657e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5868900716304779e+02 -3.6440998315811157e+01 9.3247897922992706e+01) (float-vector -1.5253299474716187e+02 -4.2270001024007797e+01 8.4003798663616180e+01) (float-vector -1.5490700304508209e+02 -2.6748999953269958e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.4078700542449951e+02 -6.4185000956058502e+01 9.5035500824451447e+01) (float-vector -1.2811100482940674e+02 -7.0912696421146393e+01 8.7783202528953552e+01) (float-vector -1.3431699573993683e+02 -6.1583101749420166e+01 7.9999998211860657e+01) (float-vector -1.5253299474716187e+02 -4.2270001024007797e+01 8.4003798663616180e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01) (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -1.1279200017452240e+02 7.4669398367404938e+01 7.9999998211860657e+01) (float-vector -1.0001000016927719e+01 2.9500000178813934e+01 -1.7320999875664711e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.1279200017452240e+02 7.4669398367404938e+01 7.9999998211860657e+01) (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -1.2424500286579132e+02 7.5599499046802521e+01 9.3286000192165375e+01) (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -9.2378698289394379e+01 8.6475998163223267e+01 8.9763797819614410e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01) (float-vector -4.2385898530483246e+01 1.0048700124025345e+02 9.5620997250080109e+01) (float-vector -6.8895302712917328e+01 1.0129900276660919e+02 1.1809799820184708e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.2976799905300140e+02 6.5344803035259247e+01 7.9999998211860657e+01) (float-vector -1.4416599273681641e+02 5.9890300035476685e+01 9.2041701078414917e+01) (float-vector -1.5200899541378021e+02 3.7744801491498947e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -7.4639998376369476e+01 6.4565002918243408e+01 1.4000099897384644e+02) (float-vector -8.3020003512501717e+00 7.6204001903533936e+01 1.4000000059604645e+02) (float-vector 1.8772000446915627e+01 7.2111003100872040e+01 1.3999600708484650e+02) (float-vector -6.5563999116420746e+01 0.0000000000000000e+00 1.4380200207233429e+02) (float-vector -1.2968400120735168e+02 3.4464001655578613e+01 1.4000000059604645e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -6.2332998961210251e+01 1.0140900313854218e+02 1.2574100494384766e+02) (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02) (float-vector -8.3020003512501717e+00 7.6204001903533936e+01 1.4000000059604645e+02) (float-vector -7.4639998376369476e+01 6.4565002918243408e+01 1.4000099897384644e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 2.3113699629902840e+01 1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.9893999695777893e+01 9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 2.3113699629902840e+01 1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01) (float-vector 5.6999601423740387e+01 8.9273497462272644e+01 1.0736099630594254e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02) (float-vector 2.3113699629902840e+01 1.0541199892759323e+02 1.2611599266529083e+02) (float-vector 3.9893999695777893e+01 9.6406899392604828e+01 1.2611499428749084e+02) (float-vector 1.8772000446915627e+01 7.2111003100872040e+01 1.3999600708484650e+02) (float-vector -8.3020003512501717e+00 7.6204001903533936e+01 1.4000000059604645e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector -4.2385898530483246e+01 1.0048700124025345e+02 9.5620997250080109e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2385898530483246e+01 1.0048700124025345e+02 9.5620997250080109e+01) (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector 3.9804000407457352e+00 1.0907199978828430e+02 1.2561200559139252e+02) (float-vector -6.2332998961210251e+01 1.0140900313854218e+02 1.2574100494384766e+02) (float-vector -6.8895302712917328e+01 1.0129900276660919e+02 1.1809799820184708e+02))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.9983500242233276e+01 1.0721100121736526e+02 1.1599200218915939e+02) (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector 1.6419600695371628e+01 9.6252396702766418e+01 8.0000802874565125e+01) (float-vector 5.6999601423740387e+01 9.0742498636245728e+01 9.3941099941730499e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5312399482354522e+00 1.0382200032472610e+02 9.5311596989631653e+01) (float-vector -3.9978701621294022e+01 9.4462200999259949e+01 7.9999998211860657e+01) (float-vector -9.9999999747524271e-04 2.9500000178813934e+01 -1.9999999552965164e+01) (float-vector 1.6419600695371628e+01 9.6252396702766418e+01 8.0000802874565125e+01))))) | |
| - (instance face :init :vertices | |
| - (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
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| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.5984299778938293e+02 -4.6164598315954208e+01 1.2611100077629089e+02) (float-vector -1.6754199564456940e+02 -1.5499000437557697e+01 1.2611100077629089e+02) (float-vector -1.3500100374221802e+02 -1.5499000437557697e+01 1.4000000059604645e+02) (float-vector -1.2302300333976746e+02 -4.2722500860691071e+01 1.4000099897384644e+02))))) | |
| + (nreverse (list (float-vector -1.9454800437301856e-05 -6.4450600184500217e+00 -4.4519799947738647e+02) (float-vector -1.7999999225139618e+01 -1.7862999811768532e+00 -4.4644600152969360e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -9.1108001768589020e+01 -9.2641003429889679e+01 1.2651799619197845e+02) (float-vector -1.2724600732326508e+02 -7.8467100858688354e+01 1.2574100494384766e+02) (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.2302300333976746e+02 -4.2722500860691071e+01 1.4000099897384644e+02) (float-vector -7.4639998376369476e+01 -6.4565002918243408e+01 1.4000099897384644e+02))))) | |
| + (nreverse (list (float-vector -3.4773301333189011e+01 3.7328299134969711e+01 -4.5692700147628784e+02) (float-vector -3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector -3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02) (float-vector -1.7999999225139618e+01 -1.7862999811768532e+00 -4.4644600152969360e+02) (float-vector -1.9454800437301856e-05 -6.4450600184500217e+00 -4.4519799947738647e+02) (float-vector 9.3174697831273079e+00 -5.2601601928472519e+00 -4.4551500678062439e+02) (float-vector 2.5455800816416740e+01 3.7397600244730711e+00 -4.4792699813842773e+02) (float-vector 3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02) (float-vector 3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector 3.1176900491118431e+01 4.5714899897575378e+01 -4.5917400717735291e+02) (float-vector 1.7999999225139618e+01 5.8442901819944382e+01 -4.6258398890495300e+02) (float-vector 0.0000000000000000e+00 6.3101597130298615e+01 -4.6383300423622131e+02) (float-vector -9.3174800276756287e+00 6.1916701495647430e+01 -4.6351501345634460e+02) (float-vector -2.5455800816416740e+01 5.2916798740625381e+01 -4.6110400557518005e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5046100318431854e+02 -6.0956701636314392e+01 1.2611100077629089e+02) (float-vector -1.2724600732326508e+02 -7.8467100858688354e+01 1.2574100494384766e+02) (float-vector -1.2811100482940674e+02 -7.0912696421146393e+01 8.7783202528953552e+01) (float-vector -1.4078700542449951e+02 -6.4185000956058502e+01 9.5035500824451447e+01) (float-vector -1.5052500367164612e+02 -6.1012499034404755e+01 1.1800099909305573e+02))))) | |
| + (nreverse (list (float-vector 9.3174697831273079e+00 -5.2601601928472519e+00 -4.4551500678062439e+02) (float-vector -1.9454800437301856e-05 -6.4450600184500217e+00 -4.4519799947738647e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_HEAD_JOINT1_Link_XX131i.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT0_Link_m3olW1.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_RARM_JOINT0_Link_geom0 () | |
| + (:_make_instance_HEAD_JOINT0_Link_geom0 () | |
| (let (geom glv qhull | |
| - (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -1.4500000000000000e+02 3.7029599999999999e+02) | |
| - :rot (quaternion2matrix (float-vector 9.9144488668276498e-01 1.3052599997931219e-01 0.0000000000000000e+00 0.0000000000000000e+00))))) | |
| + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6950000000000000e+02)))) | |
| (setq glv | |
| (instance gl::glvertices :init | |
| (list ;; mesh list | |
| (list ;; mesh description | |
| (list :type :triangles) | |
| (list :material (list | |
| - (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) | |
| - (list :diffuse (float-vector 1.000000 1.000000 1.000000 1.000000)))) | |
| - (list :indices #i( 0 1 2 37 36 0 32 0 39 32 1 0 35 36 37 38 35 37 38 37 5 36 35 64 63 36 64 64 62 63 20 64 35 62 64 20 63 62 61 62 60 61 62 20 23 60 62 23 20 21 22 23 20 22 20 35 21 24 23 22 60 23 24 60 58 59 61 60 59 58 60 24 25 24 22 58 24 25 58 56 57 59 58 57 56 58 25 26 25 22 56 25 26 56 54 55 57 56 55 54 56 26 27 26 22 54 26 27 54 52 53 55 54 53 52 54 27 28 27 22 52 27 28 52 50 51 53 52 51 50 52 28 29 28 22 50 28 29 50 48 49 51 50 49 48 50 29 30 29 22 48 29 30 48 46 47 49 48 47 46 48 30 31 30 22 46 30 31 46 44 45 47 46 45 44 46 31 44 31 42 34 42 31 34 31 22 44 42 43 45 44 43 42 34 41 43 42 41 33 34 22 34 33 40 41 34 40 32 33 22 33 22 39 40 33 39 33 32 39 32 19 1 22 19 32 32 22 1 19 18 1 22 72 19 72 18 19 1 18 17 18 16 17 72 71 18 71 16 18 72 66 71 66 72 22 66 70 71 71 70 16 16 14 15 17 16 15 70 14 16 70 66 69 70 69 14 14 12 13 15 14 13 69 12 14 69 66 68 69 68 12 12 10 11 13 12 11 68 10 12 68 66 65 68 65 10 10 8 9 11 10 9 65 8 10 65 66 67 65 67 8 8 6 7 9 8 7 67 6 8 67 4 6 67 66 38 67 38 4 66 22 21 66 21 35 66 35 38 4 38 5 3 4 5 6 4 3 7 6 3)) | |
| - (list :vertices (let ((mat (make-matrix 73 3))) (fvector-replace (array-entity mat) #f(3.3824001312255859e+01 7.0122200012207031e+01 -3.9512698364257812e+02 2.2548000335693359e+01 8.4678199768066406e+01 -3.4080300903320312e+02 -2.2554000854492188e+01 8.4678199768066406e+01 -3.4080300903320312e+02 -1.4343000411987305e+01 8.8161903381347656e+01 -3.2780099487304688e+02 -1.6754899978637695e+01 9.4733604431152344e+01 -3.3225302124023438e+02 -1.9006000518798828e+01 8.6861297607421875e+01 -3.3265499877929688e+02 -1.4343000411987305e+01 9.5406303405761719e+01 -3.2974301147460938e+02 -8.4060001373291016e+00 8.9049102783203125e+01 -3.2449002075195312e+02 -8.4060001373291016e+00 9.6293601989746094e+01 -3.2643099975585938e+02 -1.7220000028610229e+00 8.9444099426269531e+01 -3.2301599121093750e+02 -1.7220000028610229e+00 9.6688499450683594e+01 -3.2495700073242188e+02 5.1150002479553223e+00 8.9311302185058594e+01 -3.2351199340820312e+02 5.1150002479553223e+00 9.6555801391601562e+01 -3.2545300292968750e+02 1.1497000694274902e+01 8.8663200378417969e+01 -3.2592999267578125e+02 1.1497000694274902e+01 9.5907699584960938e+01 -3.2787200927734375e+02 1.6857000350952148e+01 8.7556800842285156e+01 -3.3005999755859375e+02 1.6857000350952148e+01 9.4801200866699219e+01 -3.3200100708007812e+02 2.0718999862670898e+01 8.6090599060058594e+01 -3.3553201293945312e+02 2.0718999862670898e+01 9.3334999084472656e+01 -3.3747299194335938e+02 2.2548000335693359e+01 9.1922599792480469e+01 -3.4274398803710938e+02 -2.7466699600219727e+01 8.2553604125976562e+01 -4.0475601196289062e+02 -2.6741701126098633e+01 8.4128204345703125e+01 -3.9887899780273438e+02 2.4784900665283203e+01 8.4128204345703125e+01 -3.9887899780273438e+02 -2.6538099288940430e+01 8.0558998107910156e+01 -4.1220001220703125e+02 -2.3528499603271484e+01 7.8705497741699219e+01 -4.1911700439453125e+02 -1.8856899261474609e+01 7.7100097656250000e+01 -4.2510797119140625e+02 -1.2487400054931641e+01 7.5900001525878906e+01 -4.2958700561523438e+02 -4.9777503013610840e+00 7.5190498352050781e+01 -4.3223501586914062e+02 3.1655600070953369e+00 7.5042205810546875e+01 -4.3278900146484375e+02 1.1389199256896973e+01 7.5497299194335938e+01 -4.3108999633789062e+02 1.9118801116943359e+01 7.6571502685546875e+01 -4.2708099365234375e+02 2.5783000946044922e+01 7.8261505126953125e+01 -4.2077401733398438e+02 3.3824001312255859e+01 7.7366699218750000e+01 -3.9706799316406250e+02 3.4224998474121094e+01 7.6731506347656250e+01 -3.9944198608398438e+02 3.4224998474121094e+01 7.4493202209472656e+01 -4.0779501342773438e+02 -3.3829998016357422e+01 7.7366699218750000e+01 -3.9706799316406250e+02 -3.3829998016357422e+01 7.0122200012207031e+01 -3.9512698364257812e+02 -2.1981000900268555e+01 8.5262596130371094e+01 -3.3862200927734375e+02 -2.1981000900268555e+01 9.2507102966308594e+01 -3.4056298828125000e+02 3.4224998474121094e+01 6.9486099243164062e+01 -3.9750097656250000e+02 3.4224998474121094e+01 6.7247802734375000e+01 -4.0585397338867188e+02 3.2074001312255859e+01 6.5079895019531250e+01 -4.1394497680664062e+02 3.2074001312255859e+01 7.2325294494628906e+01 -4.1588601684570312e+02 2.7907999038696289e+01 6.3118598937988281e+01 -4.2126400756835938e+02 2.7907999038696289e+01 7.0363998413085938e+01 -4.2320599365234375e+02 2.1988000869750977e+01 6.1486698150634766e+01 -4.2735498046875000e+02 2.1988000869750977e+01 6.8731201171875000e+01 -4.2929598999023438e+02 1.4685999870300293e+01 6.0287597656250000e+01 -4.3182998657226562e+02 1.4685999870300293e+01 6.7532096862792969e+01 -4.3377102661132812e+02 6.4619998931884766e+00 5.9595802307128906e+01 -4.3441198730468750e+02 6.4619998931884766e+00 6.6840301513671875e+01 -4.3635299682617188e+02 -2.1689999103546143e+00 5.9455303192138672e+01 -4.3493597412109375e+02 -2.1689999103546143e+00 6.6699699401855469e+01 -4.3687701416015625e+02 -1.0664000511169434e+01 5.9874797821044922e+01 -4.3336999511718750e+02 -1.0664000511169434e+01 6.7119300842285156e+01 -4.3531201171875000e+02 -1.8489000320434570e+01 6.0827800750732422e+01 -4.2981402587890625e+02 -1.8489000320434570e+01 6.8072196960449219e+01 -4.3175500488281250e+02 -2.5152000427246094e+01 6.2254398345947266e+01 -4.2448999023437500e+02 -2.5152000427246094e+01 6.9498802185058594e+01 -4.2643099975585938e+02 -3.0236000061035156e+01 6.4065399169921875e+01 -4.1773098754882812e+02 -3.0236000061035156e+01 7.1309799194335938e+01 -4.1967199707031250e+02 -3.3419002532958984e+01 6.6146301269531250e+01 -4.0996499633789062e+02 -3.3419002532958984e+01 7.3390701293945312e+01 -4.1190600585937500e+02 -3.4503002166748047e+01 6.8366897583007812e+01 -4.0167700195312500e+02 -3.4503002166748047e+01 7.5611396789550781e+01 -4.0361898803710938e+02 -9.7674198150634766e+00 1.0178900146484375e+02 -3.3296701049804688e+02 -1.6089700698852539e+01 9.7670196533203125e+01 -3.4833999633789062e+02 -1.2509499549865723e+01 1.0052700042724609e+02 -3.3475500488281250e+02 -2.6397099494934082e+00 1.0215900421142578e+02 -3.3158901977539062e+02 3.9730799198150635e+00 1.0190500640869141e+02 -3.3253601074218750e+02 9.5257797241210938e+00 1.0113000488281250e+02 -3.3542901611328125e+02 1.3517100334167480e+01 9.9956901550292969e+01 -3.3980599975585938e+02 1.5335399627685547e+01 9.8778800964355469e+01 -3.4420202636718750e+02 )) mat))) | |
| + (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| + (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
| + (list :indices #i( 0 1 2 46 47 0 0 47 1 2 46 0 2 1 3 23 3 1 23 1 25 25 1 47 46 45 47 47 45 25 44 45 46 2 44 46 44 43 45 27 25 45 27 45 43 24 23 25 24 25 26 26 25 27 26 27 28 28 27 29 29 27 43 42 41 43 42 43 44 29 43 41 2 42 44 40 41 42 2 40 42 40 39 41 31 29 41 31 41 39 28 29 30 30 29 31 30 31 32 32 31 33 33 31 39 38 37 39 38 39 40 39 37 33 2 38 40 36 37 38 2 36 38 36 35 37 33 37 35 32 33 34 34 33 35 2 30 32 2 32 34 2 28 30 2 26 28 2 24 26 22 23 24 2 22 24 20 21 22 22 21 23 2 20 22 21 5 23 23 5 3 20 19 21 21 19 7 7 5 21 18 19 20 2 18 20 18 17 19 19 17 9 9 7 19 6 5 7 6 7 8 8 7 9 8 9 10 10 9 11 11 9 17 16 15 17 16 17 18 17 15 11 2 16 18 14 15 16 2 14 16 14 13 15 11 15 13 10 11 12 12 11 13 2 8 10 2 10 12 2 6 8 2 3 4 2 4 6 2 12 14 2 34 36 12 13 14 34 35 36 4 5 6 4 3 5 48 49 50 50 60 48 78 49 48 60 136 48 48 136 134 48 134 132 48 132 131 48 131 133 48 133 78 133 132 134 133 134 135 135 134 136 135 136 137 137 136 138 60 138 136 78 133 135 78 135 137 131 132 133 137 138 139 78 137 139 139 138 140 60 140 138 78 139 79 79 139 164 78 79 80 87 80 79 79 164 165 79 165 87 78 80 49 87 86 80 100 49 80 100 80 101 101 80 86 50 49 51 99 51 49 99 49 100 98 99 100 98 100 101 98 101 102 101 86 102 98 102 103 102 86 84 102 84 103 98 103 104 103 84 82 103 82 104 83 82 84 83 84 85 85 84 86 85 86 87 87 165 166 87 166 167 85 87 167 85 167 186 85 186 187 85 187 188 85 188 83 83 188 189 83 189 190 83 190 191 83 191 81 81 191 192 81 82 83 92 82 81 92 81 154 81 192 193 81 193 154 92 91 82 104 82 105 105 82 91 90 89 91 90 91 92 105 91 106 106 91 89 98 104 105 98 105 106 98 106 107 106 89 107 88 89 90 93 76 89 93 89 88 107 89 76 98 107 108 107 76 108 73 75 76 73 76 77 93 94 76 77 76 94 108 76 75 108 75 109 108 109 98 73 74 75 74 97 75 109 75 97 98 109 110 109 97 110 95 96 97 95 97 74 110 97 96 112 95 74 112 74 113 113 74 73 110 96 95 110 95 111 111 95 112 98 110 111 98 111 112 112 113 98 98 113 114 113 73 114 73 77 68 73 68 70 114 73 70 98 114 115 114 70 115 68 69 70 70 69 71 70 71 72 115 70 72 98 115 116 115 72 116 72 71 61 72 61 63 116 72 63 69 152 71 71 152 153 61 71 153 69 151 152 69 150 151 69 129 150 128 129 130 68 149 129 68 129 69 94 145 128 94 128 130 94 130 146 93 145 94 94 146 77 93 144 145 88 142 93 93 142 143 93 143 144 141 142 88 88 159 141 88 158 159 90 125 88 88 125 127 88 127 158 92 156 90 90 156 157 90 157 125 125 126 127 62 171 126 62 126 172 62 170 171 61 62 63 63 62 64 61 170 62 62 172 64 64 172 173 63 64 65 65 64 66 64 173 174 64 174 175 64 175 66 116 63 117 117 63 65 65 66 67 117 65 118 118 65 67 98 116 117 98 117 118 98 118 119 118 67 119 67 66 55 67 55 57 119 67 57 98 119 120 119 57 120 55 56 57 57 56 58 57 58 59 120 57 59 98 120 121 120 59 121 59 58 60 59 60 50 121 59 50 98 121 122 121 50 122 50 51 52 122 50 52 98 122 123 122 52 123 52 51 53 52 53 54 123 52 54 98 53 51 98 51 99 98 123 124 124 53 98 123 54 124 124 54 53 58 163 60 60 163 140 56 161 58 58 161 162 58 162 163 160 161 56 55 183 56 56 183 184 56 184 185 56 185 160 66 180 55 55 180 181 55 181 182 55 182 183 66 179 180 66 178 179 66 175 176 66 176 177 66 177 178 61 169 170 61 153 168 61 168 169 92 155 156 92 154 155 77 146 147 77 147 68 68 147 148 68 148 149)) | |
| + (list :vertices (let ((mat (make-matrix 194 3))) (fvector-replace (array-entity mat) #f(2.3004999160766602e+01 -2.3600000381469727e+01 -5.6950097656250000e+02 2.3004999160766602e+01 2.3500000000000000e+01 -5.6950097656250000e+02 2.2221000671386719e+01 -2.3600000381469727e+01 -5.6354803466796875e+02 2.2221000671386719e+01 2.3500000000000000e+01 -5.6354803466796875e+02 1.9923000335693359e+01 -2.3600000381469727e+01 -5.5800097656250000e+02 1.9923000335693359e+01 2.3500000000000000e+01 -5.5800097656250000e+02 1.6267999649047852e+01 -2.3600000381469727e+01 -5.5323699951171875e+02 1.6267999649047852e+01 2.3500000000000000e+01 -5.5323699951171875e+02 1.1505000114440918e+01 -2.3600000381469727e+01 -5.4958203125000000e+02 1.1505000114440918e+01 2.3500000000000000e+01 -5.4958203125000000e+02 5.9580101966857910e+00 -2.3600000381469727e+01 -5.4728503417968750e+02 5.9580101966857910e+00 2.3500000000000000e+01 -5.4728503417968750e+02 5.0067100673913956e-03 -2.3600000381469727e+01 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| + (list :diffuse (float-vector 0.901961 0.901961 0.901961 1.000000)))) | |
| + (list :indices #i( 0 1 2 0 2 3 0 3 4 0 4 5 0 5 6 0 6 7 0 7 8 0 8 9 0 9 10 0 10 11 0 11 12 0 12 13 0 13 14 0 14 15 0 15 16 0 16 17 36 1 0 36 0 21 21 0 17 23 16 15 23 15 24 24 15 14 22 17 16 22 16 23 21 17 22 24 14 25 25 14 13 25 13 26 26 13 12 26 12 27 27 12 11 27 11 28 28 11 10 28 10 29 29 10 9 29 9 30 30 9 8 30 8 31 31 8 7 31 7 32 32 7 6 32 6 33 33 6 5 33 5 19 19 5 4 18 19 20 19 4 20 20 4 3 20 3 18 18 3 34 34 3 2 34 2 35 35 2 1 35 1 36)) | |
| + (list :vertices (let ((mat (make-matrix 37 3))) (fvector-replace (array-entity mat) #f(-4.1095996856689453e+01 -2.8600000381469727e+01 -5.7678002929687500e+02 -3.7290000915527344e+01 -2.8600000381469727e+01 -5.7711199951171875e+02 -3.3599998474121094e+01 -2.8600000381469727e+01 -5.7612402343750000e+02 -3.0471000671386719e+01 -2.8600000381469727e+01 -5.7393298339843750e+02 -2.8279998779296875e+01 -2.8600000381469727e+01 -5.7080297851562500e+02 -2.7291000366210938e+01 -2.8600000381469727e+01 -5.6711297607421875e+02 -2.7624000549316406e+01 -2.8600000381469727e+01 -5.6330700683593750e+02 -2.9238000869750977e+01 -2.8600000381469727e+01 -5.5984497070312500e+02 -3.1939998626708984e+01 -2.8600000381469727e+01 -5.5714398193359375e+02 -3.5402000427246094e+01 -2.8600000381469727e+01 -5.5552899169921875e+02 -3.9208000183105469e+01 -2.8600000381469727e+01 -5.5519598388671875e+02 -4.2897998809814453e+01 -2.8600000381469727e+01 -5.5618499755859375e+02 -4.6027000427246094e+01 -2.8600000381469727e+01 -5.5837603759765625e+02 -4.8218002319335938e+01 -2.8600000381469727e+01 -5.6150598144531250e+02 -4.9206996917724609e+01 -2.8600000381469727e+01 -5.6519598388671875e+02 -4.8873996734619141e+01 -2.8600000381469727e+01 -5.6900103759765625e+02 -4.7260002136230469e+01 -2.8600000381469727e+01 -5.7246398925781250e+02 -4.4557998657226562e+01 -2.8600000381469727e+01 -5.7516497802734375e+02 -3.0471000671386719e+01 2.9500000000000000e+01 -5.7393200683593750e+02 -2.8279998779296875e+01 2.9500000000000000e+01 -5.7080297851562500e+02 -2.9238000869750977e+01 2.9500000000000000e+01 -5.7246295166015625e+02 -4.4557998657226562e+01 2.9500000000000000e+01 -5.7516497802734375e+02 -4.7260002136230469e+01 2.9500000000000000e+01 -5.7246398925781250e+02 -4.8873996734619141e+01 2.9500000000000000e+01 -5.6900103759765625e+02 -4.9206996917724609e+01 2.9500000000000000e+01 -5.6519500732421875e+02 -4.8218002319335938e+01 2.9500000000000000e+01 -5.6150500488281250e+02 -4.6027000427246094e+01 2.9500000000000000e+01 -5.5837603759765625e+02 -4.2897998809814453e+01 2.9500000000000000e+01 -5.5618499755859375e+02 -3.9208000183105469e+01 2.9500000000000000e+01 -5.5519598388671875e+02 -3.5402000427246094e+01 2.9500000000000000e+01 -5.5552899169921875e+02 -3.1939998626708984e+01 2.9500000000000000e+01 -5.5714294433593750e+02 -2.9238000869750977e+01 2.9500000000000000e+01 -5.5984497070312500e+02 -2.7624000549316406e+01 2.9500000000000000e+01 -5.6330700683593750e+02 -2.7291000366210938e+01 2.9500000000000000e+01 -5.6711297607421875e+02 -3.3599998474121094e+01 2.9500000000000000e+01 -5.7612402343750000e+02 -3.7290000915527344e+01 2.9500000000000000e+01 -5.7711199951171875e+02 -4.1095996856689453e+01 2.9500000000000000e+01 -5.7677899169921875e+02 )) mat))) | |
| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 831 -> 29 faces | |
| + ;; qhull 1479 -> 33 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.0229998528957367e+01 8.9560396969318390e+01 -3.1914699077606201e+02) (float-vector 1.5335399657487869e+01 9.8778799176216125e+01 -3.4420201182365417e+02) (float-vector 2.5783000513911247e+01 7.8261502087116241e+01 -4.2077401280403137e+02) (float-vector 4.1967999190092087e+01 7.8154101967811584e+01 -3.7001198530197144e+02))))) | |
| + (nreverse (list (float-vector -4.2036999017000198e+01 2.3499999195337296e+01 -5.5090200901031494e+02) (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.0052499845623970e+01 9.1997601091861725e+01 -3.1005099415779114e+02) (float-vector -3.3757101744413376e+01 9.1997399926185608e+01 -3.1005200743675232e+02) (float-vector -2.6397099718451500e+00 1.0215900093317032e+02 -3.3158901333808899e+02))))) | |
| + (nreverse (list (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector -4.9206998199224472e+01 -2.8599999845027924e+01 -5.6519597768783569e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.0229998528957367e+01 8.9560396969318390e+01 -3.1914699077606201e+02) (float-vector 3.0052499845623970e+01 9.1997601091861725e+01 -3.1005099415779114e+02) (float-vector -2.6397099718451500e+00 1.0215900093317032e+02 -3.3158901333808899e+02) (float-vector 1.5335399657487869e+01 9.8778799176216125e+01 -3.4420201182365417e+02))))) | |
| + (nreverse (list (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02) (float-vector -4.9206998199224472e+01 -2.8599999845027924e+01 -5.6519597768783569e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.3757101744413376e+01 9.1997399926185608e+01 -3.1005200743675232e+02) (float-vector 3.0052499845623970e+01 9.1997601091861725e+01 -3.1005099415779114e+02) (float-vector 3.0052499845623970e+01 1.8373800441622734e+01 -2.9032400250434875e+02) (float-vector -3.3756099641323090e+01 1.8373800441622734e+01 -2.9032400250434875e+02))))) | |
| + (nreverse (list (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 1.9235000014305115e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.4748000800609589e+01 7.8153900802135468e+01 -3.7001299858093262e+02) (float-vector -4.2830601334571838e+01 8.9545898139476776e+01 -3.1920099258422852e+02) (float-vector -4.2647600173950195e+01 1.5948899090290070e+01 -2.9937401413917542e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02) (float-vector 1.6268000006675720e+01 -2.3600000888109207e+01 -5.5323702096939087e+02) (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2830601334571838e+01 8.9545898139476776e+01 -3.1920099258422852e+02) (float-vector -3.3757101744413376e+01 9.1997399926185608e+01 -3.1005200743675232e+02) (float-vector -3.3756099641323090e+01 1.8373800441622734e+01 -2.9032400250434875e+02) (float-vector -4.2647600173950195e+01 1.5948899090290070e+01 -2.9937401413917542e+02))))) | |
| + (nreverse (list (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector -3.9768900722265244e+01 4.2954698204994202e+01 -5.7839000225067139e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02) (float-vector -3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector 1.3481999747455120e+01 2.5677999481558800e+01 -5.9700101613998413e+02) (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.5783000513911247e+01 7.8261502087116241e+01 -4.2077401280403137e+02) (float-vector 3.1176900491118431e+01 4.5714899897575378e+01 -4.5917400717735291e+02) (float-vector 4.1967999190092087e+01 7.8154101967811584e+01 -3.7001198530197144e+02))))) | |
| + (nreverse (list (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector 1.3481999747455120e+01 2.5677999481558800e+01 -5.9700101613998413e+02) (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.6397099718451500e+00 1.0215900093317032e+02 -3.3158901333808899e+02) (float-vector -1.6089700162410736e+01 9.7670197486877441e+01 -3.4834000468254089e+02) (float-vector -2.7466699481010437e+01 8.2553602755069733e+01 -4.0475600957870483e+02) (float-vector 2.5783000513911247e+01 7.8261502087116241e+01 -4.2077401280403137e+02) (float-vector 1.5335399657487869e+01 9.8778799176216125e+01 -3.4420201182365417e+02))))) | |
| + (nreverse (list (float-vector -1.9225999712944031e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.3757101744413376e+01 9.1997399926185608e+01 -3.1005200743675232e+02) (float-vector -4.2830601334571838e+01 8.9545898139476776e+01 -3.1920099258422852e+02) (float-vector -1.6089700162410736e+01 9.7670197486877441e+01 -3.4834000468254089e+02) (float-vector -2.6397099718451500e+00 1.0215900093317032e+02 -3.3158901333808899e+02))))) | |
| + (nreverse (list (float-vector -1.9225999712944031e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector -2.7110999450087547e+01 -1.0282999835908413e+01 -5.9700101613998413e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.2830601334571838e+01 8.9545898139476776e+01 -3.1920099258422852e+02) (float-vector -4.4748000800609589e+01 7.8153900802135468e+01 -3.7001299858093262e+02) (float-vector -2.7466699481010437e+01 8.2553602755069733e+01 -4.0475600957870483e+02) (float-vector -1.6089700162410736e+01 9.7670197486877441e+01 -3.4834000468254089e+02))))) | |
| + (nreverse (list (float-vector -4.9206998199224472e+01 -2.8599999845027924e+01 -5.6519597768783569e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.7999999225139618e+01 -1.7862999811768532e+00 -4.4644600152969360e+02) (float-vector -3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 2.7119999751448631e+01 -1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector 1.9235000014305115e+01 -2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.5455800816416740e+01 5.2916798740625381e+01 -4.6110400557518005e+02) (float-vector -9.3174800276756287e+00 6.1916701495647430e+01 -4.6351501345634460e+02) (float-vector -2.7466699481010437e+01 8.2553602755069733e+01 -4.0475600957870483e+02))))) | |
| + (nreverse (list (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -9.3174800276756287e+00 6.1916701495647430e+01 -4.6351501345634460e+02) (float-vector 0.0000000000000000e+00 6.3101597130298615e+01 -4.6383300423622131e+02) (float-vector 2.5783000513911247e+01 7.8261502087116241e+01 -4.2077401280403137e+02) (float-vector -2.7466699481010437e+01 8.2553602755069733e+01 -4.0475600957870483e+02))))) | |
| + (nreverse (list (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector -3.4773301333189011e+01 3.7328299134969711e+01 -4.5692700147628784e+02) (float-vector -4.4748000800609589e+01 7.8153900802135468e+01 -3.7001299858093262e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.7466699481010437e+01 8.2553602755069733e+01 -4.0475600957870483e+02) (float-vector -4.4748000800609589e+01 7.8153900802135468e+01 -3.7001299858093262e+02) (float-vector -3.4773301333189011e+01 3.7328299134969711e+01 -4.5692700147628784e+02) (float-vector -2.5455800816416740e+01 5.2916798740625381e+01 -4.6110400557518005e+02))))) | |
| + (nreverse (list (float-vector 1.1505000293254852e+01 2.3499999195337296e+01 -5.4958200454711914e+02) (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 1.6268000006675720e+01 -2.3600000888109207e+01 -5.5323702096939087e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7999999225139618e+01 5.8442901819944382e+01 -4.6258398890495300e+02) (float-vector 2.5783000513911247e+01 7.8261502087116241e+01 -4.2077401280403137e+02) (float-vector 0.0000000000000000e+00 6.3101597130298615e+01 -4.6383300423622131e+02))))) | |
| + (nreverse (list (float-vector 2.3004999384284019e+01 -2.3600000888109207e+01 -5.6950098276138306e+02) (float-vector 2.2250000387430191e+01 3.6004200577735901e+01 -5.6826400756835938e+02) (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 2.7119999751448631e+01 -1.0284000076353550e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7999999225139618e+01 5.8442901819944382e+01 -4.6258398890495300e+02) (float-vector 3.1176900491118431e+01 4.5714899897575378e+01 -4.5917400717735291e+02) (float-vector 2.5783000513911247e+01 7.8261502087116241e+01 -4.2077401280403137e+02))))) | |
| + (nreverse (list (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -4.2036999017000198e+01 2.3499999195337296e+01 -5.5090200901031494e+02) (float-vector -4.2897999286651611e+01 -2.8599999845027924e+01 -5.5618500709533691e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.0229998528957367e+01 1.5936600044369698e+01 -2.9941999912261963e+02) (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector -4.2647600173950195e+01 1.5948899090290070e+01 -2.9937401413917542e+02) (float-vector -3.3756099641323090e+01 1.8373800441622734e+01 -2.9032400250434875e+02) (float-vector 3.0052499845623970e+01 1.8373800441622734e+01 -2.9032400250434875e+02))))) | |
| + (nreverse (list (float-vector -4.2036999017000198e+01 2.3499999195337296e+01 -5.5090200901031494e+02) (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector 5.0069097596860956e-03 2.3499999195337296e+01 -5.4650098085403442e+02) (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.0229998528957367e+01 8.9560396969318390e+01 -3.1914699077606201e+02) (float-vector 4.0229998528957367e+01 1.5936600044369698e+01 -2.9941999912261963e+02) (float-vector 3.0052499845623970e+01 1.8373800441622734e+01 -2.9032400250434875e+02) (float-vector 3.0052499845623970e+01 9.1997601091861725e+01 -3.1005099415779114e+02))))) | |
| + (nreverse (list (float-vector -2.7110999450087547e+01 1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector -2.7110999450087547e+01 -1.0282999835908413e+01 -5.9700101613998413e+02) (float-vector -1.9225999712944031e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector 5.0034000196319539e-03 -2.8999999165534973e+01 -5.9700101613998413e+02) (float-vector 1.9235000014305115e+01 -2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector 2.7119999751448631e+01 -1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector 2.3871000856161118e+01 1.6473999246954918e+01 -5.9700101613998413e+02) (float-vector 1.3481999747455120e+01 2.5677999481558800e+01 -5.9700101613998413e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector 4.0229998528957367e+01 1.5936600044369698e+01 -2.9941999912261963e+02) (float-vector 4.0229998528957367e+01 8.9560396969318390e+01 -3.1914699077606201e+02) (float-vector 4.1967999190092087e+01 7.8154101967811584e+01 -3.7001198530197144e+02))))) | |
| + (nreverse (list (float-vector -2.7110999450087547e+01 -1.0282999835908413e+01 -5.9700101613998413e+02) (float-vector -2.7110999450087547e+01 1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -4.4557999819517136e+01 -2.8599999845027924e+01 -5.7516497373580933e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.1176900491118431e+01 4.5714899897575378e+01 -4.5917400717735291e+02) (float-vector 3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector 4.1967999190092087e+01 7.8154101967811584e+01 -3.7001198530197144e+02))))) | |
| + (nreverse (list (float-vector -4.7474600374698639e+01 4.3000001460313797e+01 -5.7362002134323120e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -2.7110999450087547e+01 1.0284000076353550e+01 -5.9700101613998413e+02) (float-vector -1.9225999712944031e+01 2.1707000210881233e+01 -5.9700101613998413e+02) (float-vector -3.9768900722265244e+01 4.2954698204994202e+01 -5.7839000225067139e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector 4.1967999190092087e+01 7.8154101967811584e+01 -3.7001198530197144e+02))))) | |
| + (nreverse (list (float-vector 1.1505000293254852e+01 2.3499999195337296e+01 -5.4958200454711914e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector 3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector 3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02))))) | |
| + (nreverse (list (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 5.0069097596860956e-03 2.3499999195337296e+01 -5.4650098085403442e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.5455800816416740e+01 3.7397600244730711e+00 -4.4792699813842773e+02) (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector 3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02))))) | |
| + (nreverse (list (float-vector 5.0069097596860956e-03 2.3499999195337296e+01 -5.4650098085403442e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 1.1505000293254852e+01 2.3499999195337296e+01 -5.4958200454711914e+02) (float-vector 1.6268000006675720e+01 -2.3600000888109207e+01 -5.5323702096939087e+02) (float-vector 5.0067101255990565e-03 -2.3600000888109207e+01 -5.4650098085403442e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 2.5455800816416740e+01 3.7397600244730711e+00 -4.4792699813842773e+02) (float-vector 9.3174697831273079e+00 -5.2601601928472519e+00 -4.4551500678062439e+02) (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.9454800437301856e-05 -6.4450600184500217e+00 -4.4519799947738647e+02) (float-vector -1.7999999225139618e+01 -1.7862999811768532e+00 -4.4644600152969360e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -3.4773301333189011e+01 3.7328299134969711e+01 -4.5692700147628784e+02) (float-vector -3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector -3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02) (float-vector -1.7999999225139618e+01 -1.7862999811768532e+00 -4.4644600152969360e+02) (float-vector -1.9454800437301856e-05 -6.4450600184500217e+00 -4.4519799947738647e+02) (float-vector 9.3174697831273079e+00 -5.2601601928472519e+00 -4.4551500678062439e+02) (float-vector 2.5455800816416740e+01 3.7397600244730711e+00 -4.4792699813842773e+02) (float-vector 3.1176900491118431e+01 1.0941600427031517e+01 -4.4985601305961609e+02) (float-vector 3.5999998450279236e+01 2.8328299522399902e+01 -4.5451501011848450e+02) (float-vector 3.1176900491118431e+01 4.5714899897575378e+01 -4.5917400717735291e+02) (float-vector 1.7999999225139618e+01 5.8442901819944382e+01 -4.6258398890495300e+02) (float-vector 0.0000000000000000e+00 6.3101597130298615e+01 -4.6383300423622131e+02) (float-vector -9.3174800276756287e+00 6.1916701495647430e+01 -4.6351501345634460e+02) (float-vector -2.5455800816416740e+01 5.2916798740625381e+01 -4.6110400557518005e+02))))) | |
| + (nreverse (list (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -5.0606999546289444e+01 2.3499999195337296e+01 -5.5644500255584717e+02) (float-vector -5.3964998573064804e+01 2.3499999195337296e+01 -5.6608200073242188e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.3174697831273079e+00 -5.2601601928472519e+00 -4.4551500678062439e+02) (float-vector -1.9454800437301856e-05 -6.4450600184500217e+00 -4.4519799947738647e+02) (float-vector -4.4748000800609589e+01 3.8164199213497341e-01 -3.4917300939559937e+02) (float-vector 4.1967999190092087e+01 3.8164199213497341e-01 -3.4917300939559937e+02))))) | |
| + (nreverse (list (float-vector -4.7622501850128174e+01 4.3000001460313797e+01 -5.6410598754882812e+02) (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -5.0349399447441101e+01 3.6004099994897842e+01 -5.7548302412033081e+02) (float-vector -4.7474600374698639e+01 4.3000001460313797e+01 -5.7362002134323120e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.8050000071525574e+01 3.6004200577735901e+01 -5.5643397569656372e+02) (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector 4.4654901139438152e+00 4.3000001460313797e+01 -5.5519902706146240e+02) (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -3.9768900722265244e+01 4.2954698204994202e+01 -5.7839000225067139e+02) (float-vector 1.4162899460643530e+00 4.3000001460313797e+01 -5.9005498886108398e+02) (float-vector 1.3875599950551987e+01 4.3000001460313797e+01 -5.8090800046920776e+02) (float-vector 1.4648799784481525e+01 4.3000001460313797e+01 -5.6333100795745850e+02) (float-vector 4.4654901139438152e+00 4.3000001460313797e+01 -5.5519902706146240e+02) (float-vector -3.9948899298906326e+01 4.3000001460313797e+01 -5.5828201770782471e+02) (float-vector -4.7622501850128174e+01 4.3000001460313797e+01 -5.6410598754882812e+02) (float-vector -4.7474600374698639e+01 4.3000001460313797e+01 -5.7362002134323120e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 5.1100901328027248e+00 3.6004301160573959e+01 -5.4781401157379150e+02) (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -3.9948899298906326e+01 4.3000001460313797e+01 -5.5828201770782471e+02) (float-vector 4.4654901139438152e+00 4.3000001460313797e+01 -5.5519902706146240e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -4.6546701341867447e+01 3.6004200577735901e+01 -5.5332499742507935e+02) (float-vector -5.2677698433399200e+01 3.6004099994897842e+01 -5.6112700700759888e+02) (float-vector -4.7622501850128174e+01 4.3000001460313797e+01 -5.6410598754882812e+02) (float-vector -3.9948899298906326e+01 4.3000001460313797e+01 -5.5828201770782471e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT0_Link_B3TvK4.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_HEAD_JOINT0_Link_2C2EsY.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -3390,7 +3394,7 @@ | |
| (nreverse (list (float-vector 2.5455800816416740e+01 -5.2916698157787323e+01 -4.6110400557518005e+02) (float-vector 3.4224998205900192e+01 -7.4493199586868286e+01 -4.0779501199722290e+02) (float-vector 4.1967999190092087e+01 -7.8154101967811584e+01 -3.7001198530197144e+02) (float-vector 3.5999998450279236e+01 -2.8328299522399902e+01 -4.5451501011848450e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LARM_JOINT0_Link_saS1tw.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LARM_JOINT0_Link_95RVx6.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -3453,7 +3457,7 @@ | |
| (nreverse (list (float-vector -1.4120999723672867e+01 -3.5121299326419830e+01 1.5799999237060547e+01) (float-vector 3.1899999827146530e+01 -2.4650000035762787e+01 1.5799999237060547e+01) (float-vector 3.1899999827146530e+01 -4.1349999606609344e+01 1.5799999237060547e+01))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LHAND_JOINT2_Link_h0fR5r.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LHAND_JOINT2_Link_HGBLPE.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| @@ -3511,73 +3515,169 @@ | |
| (nreverse (list (float-vector 3.8398001343011856e+01 7.7448999509215355e+00 1.5799999237060547e+01) (float-vector 1.1900000274181366e+01 -8.5000004619359970e+00 1.5799999237060547e+01) (float-vector 1.1900000274181366e+01 -8.5000004619359970e+00 -1.5799999237060547e+01) (float-vector 3.8398001343011856e+01 7.7448999509215355e+00 -1.5799999237060547e+01))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LHAND_JOINT3_Link_4MxHK6.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LHAND_JOINT3_Link_hAfABK.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_LHAND_JOINT1_Link_geom0 () | |
| + (:_make_instance_RARM_JOINT4_Link_geom0 () | |
| (let (geom glv qhull | |
| - (local-cds (make-coords :pos (float-vector -4.1899999999999999e+01 0.0000000000000000e+00 0.0000000000000000e+00)))) | |
| + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -2.3500000000000000e+02)))) | |
| (setq glv | |
| (instance gl::glvertices :init | |
| (list ;; mesh list | |
| (list ;; mesh description | |
| (list :type :triangles) | |
| (list :material (list | |
| - (list :ambient (float-vector 0.100000 0.100000 0.100000 1.000000)) | |
| - (list :diffuse (float-vector 0.500000 0.700000 0.500000 1.000000)))) | |
| - (list :indices #i( 0 1 2 2 3 0 3 2 4 3 4 5 4 2 1 1 6 4 1 0 6 6 0 7 6 7 4 4 7 5 5 7 0 0 3 5)) | |
| - (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(1.1900000572204590e+01 1.3000000000000000e+01 -1.4000000000000000e+01 1.1900000572204590e+01 1.3000000000000000e+01 1.4000000000000000e+01 1.1900000572204590e+01 1.8000000000000000e+01 1.4000000000000000e+01 1.1900000572204590e+01 1.8000000000000000e+01 -1.4000000000000000e+01 2.9899999618530273e+01 1.8000000000000000e+01 1.4000000000000000e+01 2.9899999618530273e+01 1.8000000000000000e+01 -1.4000000000000000e+01 2.9899999618530273e+01 1.3000000000000000e+01 1.4000000000000000e+01 2.9899999618530273e+01 1.3000000000000000e+01 -1.4000000000000000e+01 )) mat))) | |
| + (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| + (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
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| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 252 -> 9 faces | |
| + ;; qhull 1722 -> 41 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.8403000682592392e+01 -7.7472999691963196e+00 1.5799999237060547e+01) (float-vector 5.4636899381875992e+01 8.5086002945899963e+00 1.5799999237060547e+01) (float-vector 5.4636899381875992e+01 8.5086002945899963e+00 -1.5799999237060547e+01) (float-vector 3.8403000682592392e+01 -7.7472999691963196e+00 -1.5799999237060547e+01))))) | |
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| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4999000355601311e+01 1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 1.4999000355601311e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4999000355601311e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector 1.4999000355601311e+01 1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 3.3498998731374741e+01 9.9400095641613007e+00 1.2469299882650375e+02) (float-vector 3.3498998731374741e+01 2.1622000262141228e+01 1.3840299844741821e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 3.3498998731374741e+01 9.9400095641613007e+00 1.2469299882650375e+02) (float-vector 1.4999000355601311e+01 1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 1.4999000355601311e+01 3.7710000760853291e+00 1.1876499652862549e+02) (float-vector 1.4999000355601311e+01 -3.7719900719821453e+00 1.1876499652862549e+02) (float-vector 3.3498998731374741e+01 -8.0530000850558281e+00 1.2387300282716751e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4999000355601311e+01 -3.7719900719821453e+00 1.1876499652862549e+02) (float-vector 1.4999000355601311e+01 3.7710000760853291e+00 1.1876499652862549e+02) (float-vector -1.5000999905169010e+01 3.7710000760853291e+00 1.1876499652862549e+02) (float-vector -1.5000999905169010e+01 -1.1009000241756439e+01 1.2088999897241592e+02) (float-vector -5.4729999974370003e+00 -3.5682998597621918e+01 1.2746900320053101e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -2.5001000612974167e+01 1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -1.5000999905169010e+01 1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -1.5000999905169010e+01 1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -2.5001000612974167e+01 2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -4.1000999510288239e+01 -3.0282000079751015e+01 1.5044499933719635e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -2.5001000612974167e+01 2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector 1.4999000355601311e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector 1.4999000355601311e+01 2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -9.9708699963230174e-04 -7.0000002160668373e+00 2.4649499356746674e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4999000355601311e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector 3.3498998731374741e+01 2.1622000262141228e+01 1.3840299844741821e+02) (float-vector 1.4999000355601311e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LHAND_JOINT1_Link_W1Q14p.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT4_Link_tYCCbp.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_LARM_JOINT5_Link_geom0 () | |
| + (:_make_instance_RARM_JOINT5_Link_geom0 () | |
| (let (geom glv qhull | |
| (local-cds (make-coords :pos (float-vector -9.9000000000000000e+01 0.0000000000000000e+00 -9.0000000000000000e+01)))) | |
| (setq glv | |
| @@ -3603,89 +3703,104 @@ | |
| (list :ambient (float-vector 0.100000 0.100000 0.100000 1.000000)) | |
| (list :diffuse (float-vector 0.600000 0.600000 0.700000 1.000000)))) | |
| (list :indices #i( 0 1 2 1 0 6 0 4 10 0 11 6 11 0 10 4 0 2 7 4 2 1 7 2 3 4 5 4 7 5 4 3 10 7 8 5 8 7 12 7 1 12 8 3 5 3 11 10 3 8 258 11 3 258 11 9 6 9 11 258 8 9 258 9 8 12 1 9 12 9 1 6 113 114 10 114 115 10 115 135 10 142 113 10 135 167 10 176 142 10 167 177 10 177 176 10 113 142 141 142 140 141 140 142 184 142 176 184 176 183 184 176 177 205 183 176 205 177 167 204 182 177 204 177 182 205 182 183 205 183 140 184 182 140 183 179 140 182 194 179 182 169 194 182 169 182 204 167 169 204 125 169 168 125 170 169 169 167 168 169 170 194 167 135 168 135 125 168 135 115 147 125 135 147 115 114 124 123 115 124 115 123 147 123 125 147 120 123 124 123 120 125 114 120 124 114 113 117 120 114 117 119 120 117 125 120 126 127 120 119 126 120 127 113 119 117 119 113 141 140 119 141 144 119 145 145 119 140 127 119 144 179 145 140 144 145 157 145 105 157 105 145 178 145 179 178 127 144 153 144 102 153 102 144 157 105 102 157 24 105 106 24 102 105 106 105 178 179 106 178 179 194 196 106 179 196 24 106 107 106 162 107 195 162 106 195 106 196 194 195 196 194 170 193 195 194 193 163 195 193 163 162 195 170 163 193 125 156 170 170 156 173 163 170 173 163 20 162 155 20 163 155 163 173 156 155 173 125 126 156 156 126 158 155 156 158 21 20 155 21 155 158 126 21 158 126 127 154 21 126 154 16 20 21 16 21 22 22 21 154 127 22 154 22 127 153 16 22 24 24 22 102 102 22 153 16 24 17 24 19 17 19 24 104 24 107 104 14 16 17 19 14 17 13 14 15 15 14 18 14 13 23 18 14 19 16 14 23 25 16 23 13 25 23 25 13 100 13 101 100 13 15 101 16 25 20 20 25 100 101 20 100 101 15 137 101 137 159 20 101 160 101 159 161 101 161 160 162 20 160 161 162 160 161 159 201 161 201 190 161 190 206 162 161 206 107 162 191 191 162 206 190 191 206 107 191 192 192 191 207 191 190 207 107 103 104 103 107 189 107 192 189 192 188 189 188 192 207 190 188 207 188 103 189 190 103 188 103 19 104 109 19 103 109 103 187 187 103 190 18 19 108 108 19 109 111 18 116 18 108 116 15 18 118 18 111 118 108 112 116 108 109 136 112 108 136 112 111 116 110 111 112 110 112 132 139 112 136 146 112 139 132 112 146 109 139 136 146 139 181 181 139 185 139 109 186 185 139 186 109 187 186 187 185 186 197 181 185 185 187 202 197 185 202 187 201 202 201 187 190 201 197 202 197 198 181 165 197 203 165 198 197 197 201 203 201 159 203 159 165 203 143 164 165 143 165 166 165 159 166 165 164 198 159 137 166 137 143 166 137 15 138 143 137 138 122 15 118 15 122 138 122 143 138 121 122 111 111 122 118 122 121 143 121 111 110 110 128 129 128 110 131 110 132 131 121 110 129 130 128 131 128 130 133 134 128 133 128 134 129 134 121 129 152 134 133 134 152 151 121 134 151 152 148 151 171 152 133 148 152 172 152 171 172 148 121 151 143 121 148 143 148 164 164 148 172 171 164 172 175 171 133 171 175 199 164 171 199 198 164 199 175 198 199 174 175 133 175 174 200 198 175 200 181 198 200 174 181 200 150 174 133 174 150 180 181 174 180 130 150 133 150 130 149 146 150 149 150 146 180 146 181 180 132 146 149 130 132 149 132 130 131 26 27 28 27 26 72 26 43 72 39 26 28 96 26 92 26 39 92 96 43 26 30 39 28 27 30 28 39 30 40 37 39 40 39 37 92 29 30 31 30 27 31 30 29 40 29 37 40 37 29 38 41 37 38 37 88 92 41 88 37 32 29 31 29 32 38 32 41 38 41 32 42 75 41 42 75 88 41 33 32 31 32 33 42 33 75 42 75 33 73 71 75 73 71 88 75 34 33 31 33 34 73 34 71 73 71 34 70 69 71 70 69 88 71 35 34 31 34 35 70 35 69 70 69 35 44 43 69 44 96 69 43 96 88 69 36 35 31 35 36 44 27 36 31 36 43 44 36 27 72 43 36 72 87 88 89 88 90 89 88 96 99 90 88 99 92 88 87 92 87 93 87 94 93 94 87 89 90 94 89 94 95 93 90 95 94 95 92 93 96 92 97 92 95 97 98 96 97 96 98 99 98 90 99 95 98 97 90 98 230 230 98 210 210 98 212 212 98 95 209 210 211 210 212 211 210 209 231 230 210 231 212 213 211 213 212 219 212 220 219 220 212 95 213 209 211 221 213 219 209 213 257 213 221 257 220 221 219 221 220 225 220 226 225 226 220 95 90 226 95 226 227 225 227 226 228 226 215 228 90 215 226 227 221 225 221 227 257 214 227 228 227 214 257 215 214 228 214 215 216 215 217 216 90 217 215 90 230 223 90 223 217 217 218 216 218 217 222 217 223 222 218 214 216 214 218 257 224 218 222 218 224 257 223 224 222 224 223 239 223 230 239 229 230 231 230 229 239 229 224 239 224 229 257 229 209 257 209 229 231 45 46 47 48 45 47 45 65 67 46 45 67 45 48 68 65 45 68 49 48 47 46 49 47 48 49 53 54 48 53 48 54 68 49 55 53 46 77 49 49 77 84 55 49 84 55 54 53 54 55 59 60 54 59 54 60 68 55 61 59 61 55 84 61 60 59 60 61 62 63 60 62 60 63 68 61 64 62 80 61 84 80 64 61 64 63 62 63 51 68 51 63 52 63 64 52 64 50 52 80 50 64 50 51 52 51 50 56 51 58 68 58 51 56 58 65 68 57 58 56 58 57 74 65 58 74 50 57 56 80 77 50 50 77 57 57 66 74 57 77 66 66 65 74 65 66 67 66 46 67 66 77 46 76 77 78 77 80 81 77 83 78 83 77 81 84 77 76 79 76 78 84 76 85 76 79 85 83 79 78 79 91 85 83 91 79 91 84 85 80 84 86 84 91 86 80 82 81 82 80 86 82 83 81 91 82 86 83 82 208 236 82 91 235 82 236 208 82 235 232 236 91 241 232 91 83 241 91 235 236 237 236 238 237 238 236 234 236 232 234 240 235 237 208 235 249 235 240 249 238 240 237 233 238 234 240 238 256 238 233 256 232 233 234 233 232 247 248 233 247 233 248 256 241 248 247 232 241 247 248 241 246 245 248 246 248 245 256 242 245 246 241 242 246 245 242 253 255 245 253 245 255 256 83 242 241 83 243 242 242 243 253 243 255 253 255 243 250 254 255 250 255 254 256 83 244 243 243 244 250 83 208 244 244 208 252 254 244 252 244 254 250 251 254 252 254 251 256 251 240 256 251 208 249 208 251 252 240 251 249)) | |
| - (list :vertices (let ((mat (make-matrix 259 3))) (fvector-replace (array-entity mat) #f(9.9000000000000000e+01 -2.2000000000000000e+01 6.8000000000000000e+01 7.2000000000000000e+01 -2.2000000000000000e+01 6.8000000000000000e+01 8.5500000000000000e+01 1.2212500916480005e-15 6.8000000000000000e+01 9.9000000000000000e+01 2.2000000000000000e+01 1.1200000000000000e+02 9.9000000000000000e+01 2.2000000000000000e+01 6.8000000000000000e+01 8.5500000000000000e+01 2.2000000000000000e+01 9.0000000000000000e+01 8.5500000000000000e+01 -2.2000000000000000e+01 9.0000000000000000e+01 7.2000000000000000e+01 2.2000000000000000e+01 6.8000000000000000e+01 7.2000000000000000e+01 2.2000000000000000e+01 1.1200000000000000e+02 7.2000000000000000e+01 -2.2000000000000000e+01 1.1200000000000000e+02 9.9000000000000000e+01 0.0000000000000000e+00 9.0000000000000000e+01 9.9000000000000000e+01 -2.2000000000000000e+01 1.1200000000000000e+02 7.2000000000000000e+01 0.0000000000000000e+00 9.0000000000000000e+01 1.1650000000000000e+02 -1.2374400138854980e+01 7.7625602722167969e+01 1.1650000000000000e+02 9.7144493478877516e-16 7.2500000000000000e+01 1.1650000000000000e+02 -8.4852991104125977e+00 8.1514701843261719e+01 1.1400000000000000e+02 9.7144493478877516e-16 7.2500000000000000e+01 1.1525000000000000e+02 6.1872000694274902e+00 7.5062797546386719e+01 1.1650000000000000e+02 6.6613397359377153e-16 7.8000000000000000e+01 1.1650000000000000e+02 1.2374400138854980e+01 7.7625602722167969e+01 1.1400000000000000e+02 -1.7500000000000000e+01 9.0000000000000000e+01 1.1400000000000000e+02 -4.9496998786926270e+00 8.5050300598144531e+01 1.1400000000000000e+02 3.8857797920946598e-16 8.3000000000000000e+01 1.1525000000000000e+02 -6.1872000694274902e+00 7.5062797546386719e+01 1.1400000000000000e+02 1.2374400138854980e+01 7.7625602722167969e+01 1.1400000000000000e+02 -1.2374400138854980e+01 7.7625602722167969e+01 7.1150604248046875e+01 3.0949399948120117e+01 7.7500000000000000e+01 7.1150604248046875e+01 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7.7500000000000000e+01 6.8074707031250000e+01 3.5475299835205078e+01 7.5850006103515625e+01 6.9099998474121094e+01 3.0099998474121094e+01 7.7500000000000000e+01 6.8074707031250000e+01 3.0524700164794922e+01 7.5850006103515625e+01 6.9099998474121094e+01 -3.0000000000000000e+01 7.4199996948242188e+01 6.9099998474121094e+01 -3.0000000000000000e+01 7.7500000000000000e+01 7.0160705566406250e+01 -3.0439300537109375e+01 7.5850006103515625e+01 7.1221298217773438e+01 -3.0878700256347656e+01 7.4199996948242188e+01 7.1221298217773438e+01 -3.0878700256347656e+01 7.7500000000000000e+01 6.6978698730468750e+01 -3.5121299743652344e+01 7.7500000000000000e+01 6.6978698730468750e+01 -3.5121299743652344e+01 7.4199996948242188e+01 6.8039299011230469e+01 -3.5560699462890625e+01 7.5850006103515625e+01 7.1660697937011719e+01 -3.1939302444458008e+01 7.5850006103515625e+01 7.2099998474121094e+01 -3.3000000000000000e+01 7.4199996948242188e+01 7.2099998474121094e+01 -3.3000000000000000e+01 7.7500000000000000e+01 6.6539299011230469e+01 -3.4060703277587891e+01 7.5850006103515625e+01 6.6099998474121094e+01 -3.3000000000000000e+01 7.7500000000000000e+01 6.6099998474121094e+01 -3.3000000000000000e+01 7.4199996948242188e+01 7.1660697937011719e+01 -3.4060703277587891e+01 7.5850006103515625e+01 7.1221298217773438e+01 -3.5121299743652344e+01 7.4199996948242188e+01 7.1221298217773438e+01 -3.5121299743652344e+01 7.7500000000000000e+01 7.0160705566406250e+01 -3.5560699462890625e+01 7.5850006103515625e+01 6.9099998474121094e+01 -3.6000000000000000e+01 7.4199996948242188e+01 6.9099998474121094e+01 -3.6000000000000000e+01 7.7500000000000000e+01 6.6978698730468750e+01 -3.0878700256347656e+01 7.4199996948242188e+01 6.6978698730468750e+01 -3.0878700256347656e+01 7.7500000000000000e+01 6.8039299011230469e+01 -3.0439300537109375e+01 7.5850006103515625e+01 6.9099998474121094e+01 -3.3000000000000000e+01 7.4199996948242188e+01 6.7049400329589844e+01 3.0949399948120117e+01 7.7500000000000000e+01 6.6624702453613281e+01 3.1974699020385742e+01 7.5850006103515625e+01 6.6200004577636719e+01 3.3000000000000000e+01 7.7500000000000000e+01 7.0125297546386719e+01 3.0524700164794922e+01 7.5850006103515625e+01 6.6624702453613281e+01 3.4025299072265625e+01 7.5850006103515625e+01 6.6539299011230469e+01 -3.1939302444458008e+01 7.5850006103515625e+01 6.7049400329589844e+01 3.5050601959228516e+01 7.7500000000000000e+01 9.6100006103515625e+01 -2.2000000000000000e+01 7.7500000000000000e+01 6.0299999237060547e+01 -2.2000000000000000e+01 7.7500000000000000e+01 7.8199996948242188e+01 -2.2000000000000000e+01 9.0000000000000000e+01 9.6100006103515625e+01 -2.2000000000000000e+01 1.0250000000000000e+02 6.0299999237060547e+01 -4.2800003051757812e+01 7.7500000000000000e+01 6.0299999237060547e+01 -3.2400001525878906e+01 9.0000000000000000e+01 6.0299999237060547e+01 -4.2800003051757812e+01 1.0250000000000000e+02 6.0299999237060547e+01 -2.2000000000000000e+01 1.0250000000000000e+02 9.6100006103515625e+01 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| - (list :vertices (let ((mat (make-matrix 50 3))) (fvector-replace (array-entity mat) #f(7.3799995422363281e+01 -2.0000000000000000e+01 3.7400001525878906e+01 7.3799995422363281e+01 -2.0000000000000000e+01 6.1000000000000000e+01 7.3799995422363281e+01 4.0000000000000000e+01 6.1000000000000000e+01 7.3799995422363281e+01 4.0000000000000000e+01 3.7400001525878906e+01 9.1599998474121094e+01 4.0000000000000000e+01 6.1000000000000000e+01 9.1599998474121094e+01 4.0000000000000000e+01 3.7400001525878906e+01 9.1599998474121094e+01 -2.0000000000000000e+01 6.1000000000000000e+01 9.1599998474121094e+01 -2.0000000000000000e+01 3.7400001525878906e+01 7.2800003051757812e+01 -2.0510099174586571e-10 4.8000000000000000e+01 7.2800003051757812e+01 6.6574001312255859e+00 5.0163101196289062e+01 7.2800003051757812e+01 7.0000000000000000e+00 4.8000000000000000e+01 7.4800003051757812e+01 6.6574001312255859e+00 5.0163101196289062e+01 7.4800003051757812e+01 7.0000000000000000e+00 4.8000000000000000e+01 7.4800003051757812e+01 2.0510598774947653e-10 4.8000000000000000e+01 7.2800003051757812e+01 5.6631202697753906e+00 5.2114501953125000e+01 7.4800003051757812e+01 5.6631202697753906e+00 5.2114501953125000e+01 7.2800003051757812e+01 4.1144995689392090e+00 5.3663101196289062e+01 7.4800003051757812e+01 4.1144995689392090e+00 5.3663101196289062e+01 7.2800003051757812e+01 2.1631200313568115e+00 5.4657398223876953e+01 7.4800003051757812e+01 2.1631200313568115e+00 5.4657398223876953e+01 7.2800003051757812e+01 -2.0510099174586571e-10 5.5000000000000000e+01 7.4800003051757812e+01 2.0510598774947653e-10 5.5000000000000000e+01 7.2800003051757812e+01 -2.1631200313568115e+00 5.4657398223876953e+01 7.4800003051757812e+01 -2.1631200313568115e+00 5.4657398223876953e+01 7.2800003051757812e+01 -4.1144995689392090e+00 5.3663101196289062e+01 7.4800003051757812e+01 -4.1144995689392090e+00 5.3663101196289062e+01 7.2800003051757812e+01 -5.6631202697753906e+00 5.2114501953125000e+01 7.4800003051757812e+01 -5.6631202697753906e+00 5.2114501953125000e+01 7.2800003051757812e+01 -6.6574001312255859e+00 5.0163101196289062e+01 7.4800003051757812e+01 -6.6574001312255859e+00 5.0163101196289062e+01 7.2800003051757812e+01 -7.0000000000000000e+00 4.8000000000000000e+01 7.4800003051757812e+01 -7.0000000000000000e+00 4.8000000000000000e+01 7.2800003051757812e+01 -6.6574001312255859e+00 4.5836898803710938e+01 7.4800003051757812e+01 -6.6574001312255859e+00 4.5836898803710938e+01 7.2800003051757812e+01 -5.6631202697753906e+00 4.3885498046875000e+01 7.4800003051757812e+01 -5.6631202697753906e+00 4.3885498046875000e+01 7.2800003051757812e+01 -4.1144995689392090e+00 4.2336898803710938e+01 7.4800003051757812e+01 -4.1144995689392090e+00 4.2336898803710938e+01 7.2800003051757812e+01 -2.1631200313568115e+00 4.1342601776123047e+01 7.4800003051757812e+01 -2.1631200313568115e+00 4.1342601776123047e+01 7.2800003051757812e+01 -2.0510197706880007e-10 4.1000000000000000e+01 7.4800003051757812e+01 2.0510498854875436e-10 4.1000000000000000e+01 7.2800003051757812e+01 2.1631200313568115e+00 4.1342601776123047e+01 7.4800003051757812e+01 2.1631200313568115e+00 4.1342601776123047e+01 7.2800003051757812e+01 4.1144995689392090e+00 4.2336898803710938e+01 7.4800003051757812e+01 4.1144995689392090e+00 4.2336898803710938e+01 7.2800003051757812e+01 5.6631202697753906e+00 4.3885498046875000e+01 7.4800003051757812e+01 5.6631202697753906e+00 4.3885498046875000e+01 7.2800003051757812e+01 6.6574001312255859e+00 4.5836898803710938e+01 7.4800003051757812e+01 6.6574001312255859e+00 4.5836898803710938e+01 )) mat))) | |
| + (list :vertices (let ((mat (make-matrix 50 3))) (fvector-replace (array-entity mat) #f(7.3799995422363281e+01 -4.0000000000000000e+01 3.7400001525878906e+01 7.3799995422363281e+01 -4.0000000000000000e+01 6.1000000000000000e+01 7.3799995422363281e+01 2.0000000000000000e+01 6.1000000000000000e+01 7.3799995422363281e+01 2.0000000000000000e+01 3.7400001525878906e+01 9.1599998474121094e+01 2.0000000000000000e+01 6.1000000000000000e+01 9.1599998474121094e+01 2.0000000000000000e+01 3.7400001525878906e+01 9.1599998474121094e+01 -4.0000000000000000e+01 6.1000000000000000e+01 9.1599998474121094e+01 -4.0000000000000000e+01 3.7400001525878906e+01 7.2800003051757812e+01 -2.0510598774947653e-10 4.8000000000000000e+01 7.2800003051757812e+01 6.6574001312255859e+00 5.0163101196289062e+01 7.2800003051757812e+01 7.0000000000000000e+00 4.8000000000000000e+01 7.4800003051757812e+01 6.6574001312255859e+00 5.0163101196289062e+01 7.4800003051757812e+01 7.0000000000000000e+00 4.8000000000000000e+01 7.4800003051757812e+01 2.0510099174586571e-10 4.8000000000000000e+01 7.2800003051757812e+01 5.6631202697753906e+00 5.2114501953125000e+01 7.4800003051757812e+01 5.6631202697753906e+00 5.2114501953125000e+01 7.2800003051757812e+01 4.1144995689392090e+00 5.3663101196289062e+01 7.4800003051757812e+01 4.1144995689392090e+00 5.3663101196289062e+01 7.2800003051757812e+01 2.1631200313568115e+00 5.4657398223876953e+01 7.4800003051757812e+01 2.1631200313568115e+00 5.4657398223876953e+01 7.2800003051757812e+01 -2.0510498854875436e-10 5.5000000000000000e+01 7.4800003051757812e+01 2.0510197706880007e-10 5.5000000000000000e+01 7.2800003051757812e+01 -2.1631200313568115e+00 5.4657398223876953e+01 7.4800003051757812e+01 -2.1631200313568115e+00 5.4657398223876953e+01 7.2800003051757812e+01 -4.1144995689392090e+00 5.3663101196289062e+01 7.4800003051757812e+01 -4.1144995689392090e+00 5.3663101196289062e+01 7.2800003051757812e+01 -5.6631202697753906e+00 5.2114501953125000e+01 7.4800003051757812e+01 -5.6631202697753906e+00 5.2114501953125000e+01 7.2800003051757812e+01 -6.6574001312255859e+00 5.0163101196289062e+01 7.4800003051757812e+01 -6.6574001312255859e+00 5.0163101196289062e+01 7.2800003051757812e+01 -7.0000000000000000e+00 4.8000000000000000e+01 7.4800003051757812e+01 -7.0000000000000000e+00 4.8000000000000000e+01 7.2800003051757812e+01 -6.6574001312255859e+00 4.5836898803710938e+01 7.4800003051757812e+01 -6.6574001312255859e+00 4.5836898803710938e+01 7.2800003051757812e+01 -5.6631202697753906e+00 4.3885498046875000e+01 7.4800003051757812e+01 -5.6631202697753906e+00 4.3885498046875000e+01 7.2800003051757812e+01 -4.1144995689392090e+00 4.2336898803710938e+01 7.4800003051757812e+01 -4.1144995689392090e+00 4.2336898803710938e+01 7.2800003051757812e+01 -2.1631200313568115e+00 4.1342601776123047e+01 7.4800003051757812e+01 -2.1631200313568115e+00 4.1342601776123047e+01 7.2800003051757812e+01 -2.0510800002870866e-10 4.1000000000000000e+01 7.4800003051757812e+01 2.0509900722220920e-10 4.1000000000000000e+01 7.2800003051757812e+01 2.1631200313568115e+00 4.1342601776123047e+01 7.4800003051757812e+01 2.1631200313568115e+00 4.1342601776123047e+01 7.2800003051757812e+01 4.1144995689392090e+00 4.2336898803710938e+01 7.4800003051757812e+01 4.1144995689392090e+00 4.2336898803710938e+01 7.2800003051757812e+01 5.6631202697753906e+00 4.3885498046875000e+01 7.4800003051757812e+01 5.6631202697753906e+00 4.3885498046875000e+01 7.2800003051757812e+01 6.6574001312255859e+00 4.5836898803710938e+01 7.4800003051757812e+01 6.6574001312255859e+00 4.5836898803710938e+01 )) mat))) | |
| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 2748 -> 20 faces | |
| + ;; qhull 2748 -> 25 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 1.6989499330520630e+01 7.7656500041484833e+01) (float-vector 9.1600000858306885e+01 3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| + (nreverse (list (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 1.7299999296665192e+02 2.1000200882554054e+01 9.0000003576278687e+01) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.1600000858306885e+01 3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| + (nreverse (list (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 7.3799997568130493e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.1600000858306885e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 -1.2343299575150013e+01 7.3010601103305817e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| + (nreverse (list (float-vector 7.3799997568130493e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 7.3799997568130493e+01 -3.9999999105930328e+01 3.7399999797344208e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 9.1600000858306885e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 7.3799997568130493e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| + (nreverse (list (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 7.3010601103305817e+01) (float-vector 9.1600000858306885e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.3799997568130493e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 7.3799997568130493e+01 3.9999999105930328e+01 3.7399999797344208e+01))))) | |
| + (nreverse (list (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 7.3010601103305817e+01) (float-vector 1.7299999296665192e+02 2.1000200882554054e+01 9.0000003576278687e+01) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 9.1600000858306885e+01 1.9999999552965164e+01 3.7399999797344208e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 -1.9972000271081924e+01 8.3510600030422211e+01) (float-vector 1.7299999296665192e+02 -1.2343299575150013e+01 7.3010601103305817e+01) (float-vector 9.1600000858306885e+01 -1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| + (nreverse (list (float-vector 9.1600000858306885e+01 -3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 7.7656500041484833e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 6.4895399846136570e+00 1.0997200012207031e+02) (float-vector 1.7299999296665192e+02 -6.4891800284385681e+00 1.0997200012207031e+02) (float-vector 1.4000000059604645e+02 5.6934698733357436e-05 1.1500000208616257e+02))))) | |
| + (nreverse (list (float-vector 9.1600000858306885e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 -3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 1.9972400739789009e+01 9.6489399671554565e+01) (float-vector 1.7299999296665192e+02 6.4895399846136570e+00 1.0997200012207031e+02) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| + (nreverse (list (float-vector 9.1600000858306885e+01 -3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 7.3799997568130493e+01 1.9999999552965164e+01 3.7399999797344208e+01) (float-vector 7.3799997568130493e+01 -3.9999999105930328e+01 3.7399999797344208e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 -1.2343299575150013e+01 7.3010601103305817e+01) (float-vector 1.7299999296665192e+02 -1.9972000271081924e+01 8.3510600030422211e+01) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 1.0234300047159195e+02) (float-vector 1.7299999296665192e+02 -6.4891800284385681e+00 1.0997200012207031e+02) (float-vector 1.7299999296665192e+02 6.4895399846136570e+00 1.0997200012207031e+02) (float-vector 1.7299999296665192e+02 1.9972400739789009e+01 9.6489399671554565e+01) (float-vector 1.7299999296665192e+02 1.6989499330520630e+01 7.7656500041484833e+01) (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01))))) | |
| + (nreverse (list (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 1.6989499330520630e+01 7.7656500041484833e+01) (float-vector 1.7299999296665192e+02 1.9972400739789009e+01 9.6489399671554565e+01) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.1600000858306885e+01 3.9999999105930328e+01 3.7399999797344208e+01))))) | |
| + (nreverse (list (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4000000059604645e+02 5.6934698733357436e-05 1.1500000208616257e+02) (float-vector 7.1999996900558472e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 1.7299999296665192e+02 6.4895399846136570e+00 1.0997200012207031e+02))))) | |
| + (nreverse (list (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 1.0899999737739563e+02 -5.6934698733357436e-05 1.1500000208616257e+02) (float-vector 1.4000000059604645e+02 -7.7253701165318489e+00 1.1377599835395813e+02) (float-vector 9.8999999463558197e+01 -2.1999999880790710e+01 1.1200000345706940e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| + (nreverse (list (float-vector 9.8999999463558197e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 1.0234300047159195e+02) (float-vector 1.7299999296665192e+02 -1.9972000271081924e+01 8.3510600030422211e+01) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| + (nreverse (list (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.1600000858306885e+01 -3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 7.3799997568130493e+01 -3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 1.0234300047159195e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.8999999463558197e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 1.4000000059604645e+02 5.6934698733357436e-05 1.1500000208616257e+02) (float-vector 1.7299999296665192e+02 -6.4891800284385681e+00 1.0997200012207031e+02))))) | |
| + (nreverse (list (float-vector 9.8999999463558197e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 7.1999996900558472e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.3799997568130493e+01 3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 7.3799997568130493e+01 -1.9999999552965164e+01 3.7399999797344208e+01))))) | |
| + (nreverse (list (float-vector 7.1999996900558472e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01))))) | |
| + (nreverse (list (float-vector 7.1999996900558472e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 9.8999999463558197e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 1.0899999737739563e+02 -5.6934698733357436e-05 1.1500000208616257e+02) (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 7.7500000596046448e+01) (float-vector 7.3799997568130493e+01 3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 9.1600000858306885e+01 3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| + (nreverse (list (float-vector 1.4000000059604645e+02 -7.7253701165318489e+00 1.1377599835395813e+02) (float-vector 1.7299999296665192e+02 -6.4891800284385681e+00 1.0997200012207031e+02) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 1.0234300047159195e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 9.8999999463558197e+01 -2.1999999880790710e+01 1.1200000345706940e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 9.8999999463558197e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| + (nreverse (list (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 1.7299999296665192e+02 -2.0999800413846970e+01 9.0000003576278687e+01) (float-vector 9.1600000858306885e+01 -3.9999999105930328e+01 3.7399999797344208e+01))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 7.1999996900558472e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 6.0300000011920929e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 6.0300000011920929e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| + (nreverse (list (float-vector 1.7299999296665192e+02 -2.0999800413846970e+01 9.0000003576278687e+01) (float-vector 9.6100002527236938e+01 -4.2800001800060272e+01 1.0249999910593033e+02) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 1.0234300047159195e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 9.8999999463558197e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 7.1999996900558472e+01 -2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 7.1999996900558472e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 1.4000000059604645e+02 5.6934698733357436e-05 1.1500000208616257e+02))))) | |
| + (nreverse (list (float-vector 9.1600000858306885e+01 -3.9999999105930328e+01 3.7399999797344208e+01) (float-vector 1.7299999296665192e+02 -2.0999800413846970e+01 9.0000003576278687e+01) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 7.7656500041484833e+01))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4000000059604645e+02 7.7254800125956535e+00 1.1377599835395813e+02) (float-vector 1.4000000059604645e+02 -7.7253701165318489e+00 1.1377599835395813e+02) (float-vector 1.0899999737739563e+02 -5.6934698733357436e-05 1.1500000208616257e+02) (float-vector 9.8999999463558197e+01 2.1999999880790710e+01 1.1200000345706940e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.7299999296665192e+02 2.1000200882554054e+01 9.0000003576278687e+01) (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 1.0698900371789932e+02) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.7299999296665192e+02 1.7815000319387764e-04 6.8999998271465302e+01) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 7.7656500041484833e+01) (float-vector 1.7299999296665192e+02 -2.0999800413846970e+01 9.0000003576278687e+01) (float-vector 1.7299999296665192e+02 -1.6989199444651604e+01 1.0234300047159195e+02) (float-vector 1.7299999296665192e+02 -6.4891800284385681e+00 1.0997200012207031e+02) (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 1.0698900371789932e+02) (float-vector 1.7299999296665192e+02 2.1000200882554054e+01 9.0000003576278687e+01) (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 7.3010601103305817e+01))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 1.0698900371789932e+02) (float-vector 1.4000000059604645e+02 7.7254800125956535e+00 1.1377599835395813e+02) (float-vector 9.8999999463558197e+01 2.1999999880790710e+01 1.1200000345706940e+02) (float-vector 9.6100002527236938e+01 4.2800001800060272e+01 1.0249999910593033e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4000000059604645e+02 -7.7253701165318489e+00 1.1377599835395813e+02) (float-vector 1.4000000059604645e+02 7.7254800125956535e+00 1.1377599835395813e+02) (float-vector 1.7299999296665192e+02 1.2343700043857098e+01 1.0698900371789932e+02) (float-vector 1.7299999296665192e+02 -6.4891800284385681e+00 1.0997200012207031e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LARM_JOINT5_Link_0ZggsN.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT5_Link_TXcr2u.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_RARM_JOINT4_Link_geom0 () | |
| + (:_make_instance_LARM_JOINT4_Link_geom0 () | |
| (let (geom glv qhull | |
| (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -2.3500000000000000e+02)))) | |
| (setq glv | |
| @@ -3696,153 +3811,159 @@ | |
| (list :material (list | |
| (list :ambient (float-vector 0.275000 0.275000 0.275000 1.000000)) | |
| (list :diffuse (float-vector 0.250980 0.250980 0.250980 1.000000)))) | |
| - (list :indices #i( 0 1 2 3 0 2 0 3 29 30 0 29 1 0 30 1 30 67 2 1 67 30 29 67 29 3 28 29 28 67 4 3 2 3 4 28 28 4 27 28 27 67 5 4 2 4 5 27 27 5 26 27 26 67 6 5 2 5 6 26 26 6 25 26 25 67 7 6 2 6 7 25 25 7 24 25 24 67 8 7 2 7 8 24 24 8 23 24 23 67 9 8 2 8 9 23 23 9 22 23 22 67 10 9 2 9 10 22 22 10 21 22 21 67 11 10 2 10 11 21 21 11 20 21 20 67 12 11 2 11 12 20 20 12 19 20 19 67 13 12 2 12 13 19 19 13 17 19 17 67 14 13 2 13 14 17 15 14 2 16 15 2 16 2 63 63 2 67 17 14 18 65 18 14 15 65 14 17 18 67 65 66 67 18 65 67 67 66 52 52 63 67 63 52 53 64 16 63 53 64 63 52 48 51 53 52 51 85 48 52 66 85 52 66 65 16 85 66 16 65 15 16 64 85 16 84 85 64 64 59 84 53 59 64 86 85 84 86 48 85 87 86 84 84 61 87 59 61 84 58 59 60 61 59 58 59 53 54 60 59 54 62 61 58 55 61 62 61 55 87 58 60 74 75 58 74 62 58 75 60 54 73 74 60 73 54 53 51 54 51 72 73 54 72 73 72 70 74 73 70 75 74 70 76 75 70 76 62 75 77 76 70 56 62 76 77 56 76 78 77 70 57 56 77 78 57 77 55 56 57 56 55 62 37 55 57 39 37 57 39 57 78 79 78 70 79 39 78 39 38 37 38 39 79 80 79 70 80 38 79 38 36 37 38 46 36 46 38 80 81 80 70 81 46 80 46 45 36 45 46 81 82 81 70 82 45 81 45 43 44 36 45 44 43 45 82 83 82 70 83 43 82 43 41 40 44 43 40 41 43 83 44 40 90 92 44 90 36 44 92 40 41 42 40 42 49 40 49 88 90 40 88 70 41 83 42 41 70 42 50 49 69 42 70 50 42 69 68 69 70 71 68 70 72 71 70 68 50 69 50 47 49 47 50 68 71 47 68 51 47 71 72 51 71 47 48 49 48 47 51 49 48 86 88 86 87 88 49 86 89 88 87 87 55 89 90 88 89 91 90 89 89 37 91 55 37 89 92 90 91 93 92 91 91 35 93 37 35 91 37 36 35 35 34 31 36 34 35 35 31 93 94 92 93 95 94 93 93 31 95 94 36 92 34 36 94 34 32 31 96 34 94 32 34 96 31 32 33 31 33 95 96 94 95 97 96 95 95 33 97 97 32 96 33 32 97 98 99 100 101 99 98 102 101 98 104 102 98 106 104 98 108 106 98 110 108 98 112 110 98 114 112 98 116 114 98 118 116 98 120 118 98 122 120 98 124 122 98 126 124 98 128 126 98 130 128 98 132 130 98 134 132 98 136 134 98 138 136 98 140 138 98 142 140 98 144 142 98 100 144 98 138 137 136 139 137 138 140 139 138 141 139 140 142 141 140 143 141 142 144 143 142 145 143 144 100 145 144 99 145 100 137 135 136 135 133 134 136 135 134 133 131 132 134 133 132 131 129 130 132 131 130 129 127 128 130 129 128 127 125 126 128 127 126 125 123 124 126 125 124 123 121 122 124 123 122 121 119 120 122 121 120 119 117 118 120 119 118 117 115 116 118 117 116 115 113 114 116 115 114 113 111 112 114 113 112 111 109 110 112 111 110 109 107 108 110 109 108 107 105 106 108 107 106 105 103 104 106 105 104 103 101 102 104 103 102)) | |
| - (list :vertices (let ((mat (make-matrix 146 3))) (fvector-replace (array-entity mat) #f(1.4999000549316406e+01 2.2292999267578125e+01 1.5932199096679688e+02 1.4999000549316406e+01 1.9190000534057617e+01 1.6326998901367188e+02 1.4999000549316406e+01 -1.7839999198913574e+00 1.8529499816894531e+02 1.4999000549316406e+01 2.5426000595092773e+01 1.5246101379394531e+02 1.4999000549316406e+01 2.6500000000000000e+01 1.4499501037597656e+02 1.4999000549316406e+01 2.5426000595092773e+01 1.3752900695800781e+02 1.4999000549316406e+01 2.2292999267578125e+01 1.3066799926757812e+02 1.4999000549316406e+01 1.7353000640869141e+01 1.2496800231933594e+02 1.4999000549316406e+01 1.1008000373840332e+01 1.2088999938964844e+02 1.4999000549316406e+01 3.7710001468658447e+00 1.1876499938964844e+02 1.4999000549316406e+01 -3.7719900608062744e+00 1.1876499938964844e+02 1.4999000549316406e+01 -1.1008999824523926e+01 1.2088999938964844e+02 1.4999000549316406e+01 -1.7354000091552734e+01 1.2496800231933594e+02 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5.4710001945495605e+00 2.3856998443603516e+01 1.3286801147460938e+02 1.0284000396728516e+01 2.5010999679565430e+01 1.3539599609375000e+02 1.3855000495910645e+01 2.6778999328613281e+01 1.3926799011230469e+02 1.5755999565124512e+01 2.8947999954223633e+01 1.4401799011230469e+02 )) mat))) | |
| ) | |
| )) | |
| (send glv :transform local-cds) | |
| (send glv :calc-normals) | |
| (setq qhull | |
| - ;; qhull 1722 -> 41 faces | |
| + ;; qhull 1722 -> 43 faces | |
| (instance faceset :init :faces (list | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.3498998731374741e+01 -3.3355999737977982e+01 1.9063399732112885e+02) (float-vector 3.3498998731374741e+01 -1.7854999750852585e+01 1.3113200664520264e+02) (float-vector 2.3409999907016754e+01 -7.1259997785091400e+01 2.2777399420738220e+02))))) | |
| + (nreverse (list (float-vector 8.1310002133250237e+00 7.0000002160668373e+00 2.4312700331211090e+02) (float-vector 1.7797000706195831e+01 2.3000000044703484e+01 2.4792699515819550e+02) (float-vector 3.3498998731374741e+01 -1.9576000049710274e+01 1.5629799664020538e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.3498998731374741e+01 -1.1265000328421593e+01 1.9307899475097656e+02) (float-vector 3.3498998731374741e+01 -3.3355999737977982e+01 1.9063399732112885e+02) (float-vector 2.3409999907016754e+01 -7.1259997785091400e+01 2.2777399420738220e+02) (float-vector 2.0241999998688698e+01 -7.1259997785091400e+01 2.4879699945449829e+02))))) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 -2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -8.1329997628927231e+00 7.0000002160668373e+00 2.4312700331211090e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.3498998731374741e+01 2.1898999810218811e+01 1.5059700608253479e+02) (float-vector 3.3498998731374741e+01 -1.1265000328421593e+01 1.9307899475097656e+02) (float-vector 1.7797000706195831e+01 -2.3000000044703484e+01 2.4792699515819550e+02) (float-vector 8.1310002133250237e+00 -7.0000002160668373e+00 2.4312700331211090e+02))))) | |
| + (nreverse (list (float-vector 3.3498998731374741e+01 3.5397000610828400e+01 1.7657099664211273e+02) (float-vector 3.3498998731374741e+01 2.9791999608278275e+01 1.9410100579261780e+02) (float-vector 2.4498999118804932e+01 7.1259997785091400e+01 2.3499499261379242e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1000999510288239e+01 -3.0282000079751015e+01 1.5044499933719635e+02) (float-vector -1.6247000545263290e+01 -7.1259997785091400e+01 2.0539000630378723e+02) (float-vector -1.5758000314235687e+01 -4.0773000568151474e+01 1.3861900568008423e+02))))) | |
| + (nreverse (list (float-vector 1.7797000706195831e+01 2.3000000044703484e+01 2.4792699515819550e+02) (float-vector 3.3498998731374741e+01 1.1265000328421593e+01 1.9307899475097656e+02) (float-vector 3.3498998731374741e+01 -1.9576000049710274e+01 1.5629799664020538e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.7798999324440956e+01 -2.3000000044703484e+01 2.4792699515819550e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -8.1329997628927231e+00 -7.0000002160668373e+00 2.4312700331211090e+02))))) | |
| + (nreverse (list (float-vector 2.4498999118804932e+01 7.1259997785091400e+01 2.3499499261379242e+02) (float-vector 3.3498998731374741e+01 2.9791999608278275e+01 1.9410100579261780e+02) (float-vector 3.3498998731374741e+01 1.1265000328421593e+01 1.9307899475097656e+02) (float-vector 1.7797000706195831e+01 2.3000000044703484e+01 2.4792699515819550e+02) (float-vector 2.0241999998688698e+01 7.1259997785091400e+01 2.4879699945449829e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -1.7798999324440956e+01 -2.3000000044703484e+01 2.4792699515819550e+02) (float-vector -4.1000999510288239e+01 -2.2016000002622604e+01 1.9820199906826019e+02))))) | |
| + (nreverse (list (float-vector 2.4498999118804932e+01 7.1259997785091400e+01 2.3499499261379242e+02) (float-vector 1.6245000064373016e+01 7.1259997785091400e+01 2.0539000630378723e+02) (float-vector 1.5999000519514084e+01 4.1926998645067215e+01 1.4114600419998169e+02) (float-vector 3.3498998731374741e+01 1.7854999750852585e+01 1.3113200664520264e+02) (float-vector 3.3498998731374741e+01 3.5397000610828400e+01 1.7657099664211273e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.7960999161005020e+01 -7.1259997785091400e+01 2.5165900588035583e+02) (float-vector -2.4227000772953033e+01 -7.1259997785091400e+01 2.3134399950504303e+02) (float-vector -4.1000999510288239e+01 -2.2016000002622604e+01 1.9820199906826019e+02) (float-vector -1.7798999324440956e+01 -2.3000000044703484e+01 2.4792699515819550e+02))))) | |
| + (nreverse (list (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -1.7798999324440956e+01 2.3000000044703484e+01 2.4792699515819550e+02) (float-vector -8.1329997628927231e+00 7.0000002160668373e+00 2.4312700331211090e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1000999510288239e+01 -3.7048000842332840e+01 1.8425400555133820e+02) (float-vector -4.1000999510288239e+01 -2.2016000002622604e+01 1.9820199906826019e+02) (float-vector -2.4227000772953033e+01 -7.1259997785091400e+01 2.3134399950504303e+02))))) | |
| + (nreverse (list (float-vector -1.7798999324440956e+01 2.3000000044703484e+01 2.4792699515819550e+02) (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -4.1000999510288239e+01 1.3523999601602554e+01 1.9558200240135193e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1000999510288239e+01 -2.2016000002622604e+01 1.9820199906826019e+02) (float-vector -4.1000999510288239e+01 -3.7048000842332840e+01 1.8425400555133820e+02) (float-vector -4.1000999510288239e+01 -3.0282000079751015e+01 1.5044499933719635e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| + (nreverse (list (float-vector -4.1000999510288239e+01 3.6047998815774918e+01 1.8863500654697418e+02) (float-vector -4.1000999510288239e+01 3.0282000079751015e+01 1.5044499933719635e+02) (float-vector -2.4227000772953033e+01 7.1259997785091400e+01 2.3134399950504303e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -4.1000999510288239e+01 -3.0282000079751015e+01 1.5044499933719635e+02) (float-vector -4.1000999510288239e+01 -3.7048000842332840e+01 1.8425400555133820e+02) (float-vector -2.4227000772953033e+01 -7.1259997785091400e+01 2.3134399950504303e+02) (float-vector -1.6247000545263290e+01 -7.1259997785091400e+01 2.0539000630378723e+02))))) | |
| + (nreverse (list (float-vector -4.1000999510288239e+01 3.6047998815774918e+01 1.8863500654697418e+02) (float-vector -4.1000999510288239e+01 1.3523999601602554e+01 1.9558200240135193e+02) (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -4.1000999510288239e+01 3.0282000079751015e+01 1.5044499933719635e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.5001000612974167e+01 1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -4.1000999510288239e+01 -3.0282000079751015e+01 1.5044499933719635e+02) (float-vector -1.5758000314235687e+01 -4.0773000568151474e+01 1.3861900568008423e+02) (float-vector -5.4729999974370003e+00 -3.5682998597621918e+01 1.2746900320053101e+02) (float-vector -1.5000999905169010e+01 -1.1009000241756439e+01 1.2088999897241592e+02))))) | |
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| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4999000355601311e+01 1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 1.4999000355601311e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| + (nreverse (list (float-vector -5.4529998451471329e+00 7.1259997785091400e+01 2.5888100266456604e+02) (float-vector -1.7960999161005020e+01 7.1259997785091400e+01 2.5165900588035583e+02) (float-vector -2.2074999287724495e+01 7.1259997785091400e+01 2.4562500417232513e+02) (float-vector -2.4227000772953033e+01 7.1259997785091400e+01 2.3134399950504303e+02) (float-vector -1.6247000545263290e+01 7.1259997785091400e+01 2.0539000630378723e+02) (float-vector 1.6245000064373016e+01 7.1259997785091400e+01 2.0539000630378723e+02) (float-vector 2.4498999118804932e+01 7.1259997785091400e+01 2.3499499261379242e+02) (float-vector 2.0241999998688698e+01 7.1259997785091400e+01 2.4879699945449829e+02) (float-vector 1.8299999646842480e+00 7.1259997785091400e+01 2.5942701101303101e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4999000355601311e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector 1.4999000355601311e+01 1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 3.3498998731374741e+01 9.9400095641613007e+00 1.2469299882650375e+02) (float-vector 3.3498998731374741e+01 2.1622000262141228e+01 1.3840299844741821e+02))))) | |
| + (nreverse (list (float-vector -1.7960999161005020e+01 7.1259997785091400e+01 2.5165900588035583e+02) (float-vector -5.4529998451471329e+00 7.1259997785091400e+01 2.5888100266456604e+02) (float-vector -5.4529998451471329e+00 5.8260001242160797e+01 2.5888100266456604e+02) (float-vector -1.7960999161005020e+01 5.8260001242160797e+01 2.5165900588035583e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 3.3498998731374741e+01 9.9400095641613007e+00 1.2469299882650375e+02) (float-vector 1.4999000355601311e+01 1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 1.4999000355601311e+01 3.7710000760853291e+00 1.1876499652862549e+02) (float-vector 1.4999000355601311e+01 -3.7719900719821453e+00 1.1876499652862549e+02) (float-vector 3.3498998731374741e+01 -8.0530000850558281e+00 1.2387300282716751e+02))))) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 3.7720000836998224e+00 1.1876499652862549e+02) (float-vector 1.4999000355601311e+01 3.7719900719821453e+00 1.1876499652862549e+02) (float-vector -5.4729999974370003e+00 3.5682998597621918e+01 1.2746900320053101e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4999000355601311e+01 -3.7719900719821453e+00 1.1876499652862549e+02) (float-vector 1.4999000355601311e+01 3.7710000760853291e+00 1.1876499652862549e+02) (float-vector -1.5000999905169010e+01 3.7710000760853291e+00 1.1876499652862549e+02) (float-vector -1.5000999905169010e+01 -1.1009000241756439e+01 1.2088999897241592e+02) (float-vector -5.4729999974370003e+00 -3.5682998597621918e+01 1.2746900320053101e+02))))) | |
| + (nreverse (list (float-vector 3.3498998731374741e+01 -9.9400095641613007e+00 1.2469299882650375e+02) (float-vector 3.3498998731374741e+01 8.0530000850558281e+00 1.2387300282716751e+02) (float-vector 1.4999000355601311e+01 3.7719900719821453e+00 1.1876499652862549e+02) (float-vector 1.4999000355601311e+01 -1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -2.5001000612974167e+01 1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -1.5000999905169010e+01 1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| + (nreverse (list (float-vector -5.4729999974370003e+00 3.5682998597621918e+01 1.2746900320053101e+02) (float-vector 1.4999000355601311e+01 3.7719900719821453e+00 1.1876499652862549e+02) (float-vector 3.3498998731374741e+01 8.0530000850558281e+00 1.2387300282716751e+02) (float-vector 1.0284000076353550e+01 3.6837000399827957e+01 1.2999600172042847e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -1.5000999905169010e+01 1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 3.7720000836998224e+00 1.1876499652862549e+02) (float-vector -1.5000999905169010e+01 -1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 1.4999000355601311e+01 -1.1008000001311302e+01 1.2088999897241592e+02) (float-vector 1.4999000355601311e+01 3.7719900719821453e+00 1.1876499652862549e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -2.5001000612974167e+01 2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 -1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -1.5000999905169010e+01 -2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 -1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.5001000612974167e+01 1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -4.1000999510288239e+01 -3.0282000079751015e+01 1.5044499933719635e+02))))) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 -1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -2.5001000612974167e+01 -1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -1.5000999905169010e+01 -1.1008000001311302e+01 1.2088999897241592e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -2.5001000612974167e+01 2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -2.5001000612974167e+01 1.5638999640941620e+01 1.3097999989986420e+02))))) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 -2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -2.5001000612974167e+01 -1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -2.5001000612974167e+01 2.0967999473214149e+01 1.4614400267601013e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -4.1000999510288239e+01 1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| + (nreverse (list (float-vector -2.5001000612974167e+01 -1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -2.5001000612974167e+01 -1.1480000102892518e+00 1.2402600049972534e+02) (float-vector -4.1000999510288239e+01 3.0282000079751015e+01 1.5044499933719635e+02) (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector -1.5000999905169010e+01 2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector 1.4999000355601311e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector 1.4999000355601311e+01 2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -9.9708699963230174e-04 -7.0000002160668373e+00 2.4649499356746674e+02))))) | |
| + (nreverse (list (float-vector -1.5000999905169010e+01 -2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 -2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -2.5001000612974167e+01 -1.5638999640941620e+01 1.3097999989986420e+02) (float-vector -2.5001000612974167e+01 -2.0967999473214149e+01 1.4614400267601013e+02))))) | |
| (instance face :init :vertices | |
| (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| - (nreverse (list (float-vector 1.4999000355601311e+01 2.2292999550700188e+01 1.3066799938678741e+02) (float-vector 3.3498998731374741e+01 2.1622000262141228e+01 1.3840299844741821e+02) (float-vector 1.4999000355601311e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 2.2292999550700188e+01 1.3066799938678741e+02))))) | |
| + (nreverse (list (float-vector -4.1000999510288239e+01 -1.0421000421047211e+01 1.7394499480724335e+02) (float-vector -1.5000999905169010e+01 -2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -1.5000999905169010e+01 -2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -2.5001000612974167e+01 -2.0967999473214149e+01 1.4614400267601013e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 8.1310002133250237e+00 7.0000002160668373e+00 2.4312700331211090e+02) (float-vector 3.3498998731374741e+01 -1.9576000049710274e+01 1.5629799664020538e+02) (float-vector 1.4999000355601311e+01 -2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 -2.6499999687075615e+01 1.4499500393867493e+02) (float-vector -1.5000999905169010e+01 -2.5426000356674194e+01 1.5246100723743439e+02) (float-vector -8.1329997628927231e+00 7.0000002160668373e+00 2.4312700331211090e+02) (float-vector -9.9708699963230174e-04 7.0000002160668373e+00 2.4649499356746674e+02))))) | |
| + (instance face :init :vertices | |
| + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) | |
| + (nreverse (list (float-vector 1.4999000355601311e+01 -2.6499999687075615e+01 1.4499500393867493e+02) (float-vector 3.3498998731374741e+01 -2.1622000262141228e+01 1.3840299844741821e+02) (float-vector 1.4999000355601311e+01 -2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 -2.2292999550700188e+01 1.3066799938678741e+02) (float-vector -1.5000999905169010e+01 -2.6499999687075615e+01 1.4499500393867493e+02))))) | |
| )) | |
| ) | |
| - (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_RARM_JOINT4_Link_EnTuzH.dae")) | |
| + (setq geom (instance collada-body :init :replace-obj qhull :name "file:///tmp/collada_model_reader_LARM_JOINT4_Link_pgJilt.dae")) | |
| (when glv | |
| (setq (geom . gl::aglvertices) glv) | |
| (send geom :assoc glv)) | |
| geom)) | |
| - (:_make_instance_RARM_JOINT5_Link_geom0 () | |
| + (:_make_instance_LARM_JOINT5_Link_geom0 () | |
| (let (geom glv qhull | |
| (local-cds (make-coords :pos (float-vector -9.9000000000000000e+01 0.0000000000000000e+00 -9.0000000000000000e+01)))) | |
| (setq glv | |
| @@ -3868,106 +3989,91 @@ | |
| (list :ambient (float-vector 0.100000 0.100000 0.100000 1.000000)) | |
| (list :diffuse (float-vector 0.600000 0.600000 0.700000 1.000000)))) | |
| (list :indices #i( 0 1 2 1 0 6 0 4 10 0 11 6 11 0 10 4 0 2 7 4 2 1 7 2 3 4 5 4 7 5 4 3 10 7 8 5 8 7 12 7 1 12 8 3 5 3 11 10 3 8 258 11 3 258 11 9 6 9 11 258 8 9 258 9 8 12 1 9 12 9 1 6 113 114 10 114 115 10 115 135 10 142 113 10 135 167 10 176 142 10 167 177 10 177 176 10 113 142 141 142 140 141 140 142 184 142 176 184 176 183 184 176 177 205 183 176 205 177 167 204 182 177 204 177 182 205 182 183 205 183 140 184 182 140 183 179 140 182 194 179 182 169 194 182 169 182 204 167 169 204 125 169 168 125 170 169 169 167 168 169 170 194 167 135 168 135 125 168 135 115 147 125 135 147 115 114 124 123 115 124 115 123 147 123 125 147 120 123 124 123 120 125 114 120 124 114 113 117 120 114 117 119 120 117 125 120 126 127 120 119 126 120 127 113 119 117 119 113 141 140 119 141 144 119 145 145 119 140 127 119 144 179 145 140 144 145 157 145 105 157 105 145 178 145 179 178 127 144 153 144 102 153 102 144 157 105 102 157 24 105 106 24 102 105 106 105 178 179 106 178 179 194 196 106 179 196 24 106 107 106 162 107 195 162 106 195 106 196 194 195 196 194 170 193 195 194 193 163 195 193 163 162 195 170 163 193 125 156 170 170 156 173 163 170 173 163 20 162 155 20 163 155 163 173 156 155 173 125 126 156 156 126 158 155 156 158 21 20 155 21 155 158 126 21 158 126 127 154 21 126 154 16 20 21 16 21 22 22 21 154 127 22 154 22 127 153 16 22 24 24 22 102 102 22 153 16 24 17 24 19 17 19 24 104 24 107 104 14 16 17 19 14 17 13 14 15 15 14 18 14 13 23 18 14 19 16 14 23 25 16 23 13 25 23 25 13 100 13 101 100 13 15 101 16 25 20 20 25 100 101 20 100 101 15 137 101 137 159 20 101 160 101 159 161 101 161 160 162 20 160 161 162 160 161 159 201 161 201 190 161 190 206 162 161 206 107 162 191 191 162 206 190 191 206 107 191 192 192 191 207 191 190 207 107 103 104 103 107 189 107 192 189 192 188 189 188 192 207 190 188 207 188 103 189 190 103 188 103 19 104 109 19 103 109 103 187 187 103 190 18 19 108 108 19 109 111 18 116 18 108 116 15 18 118 18 111 118 108 112 116 108 109 136 112 108 136 112 111 116 110 111 112 110 112 132 139 112 136 146 112 139 132 112 146 109 139 136 146 139 181 181 139 185 139 109 186 185 139 186 109 187 186 187 185 186 197 181 185 185 187 202 197 185 202 187 201 202 201 187 190 201 197 202 197 198 181 165 197 203 165 198 197 197 201 203 201 159 203 159 165 203 143 164 165 143 165 166 165 159 166 165 164 198 159 137 166 137 143 166 137 15 138 143 137 138 122 15 118 15 122 138 122 143 138 121 122 111 111 122 118 122 121 143 121 111 110 110 128 129 128 110 131 110 132 131 121 110 129 130 128 131 128 130 133 134 128 133 128 134 129 134 121 129 152 134 133 134 152 151 121 134 151 152 148 151 171 152 133 148 152 172 152 171 172 148 121 151 143 121 148 143 148 164 164 148 172 171 164 172 175 171 133 171 175 199 164 171 199 198 164 199 175 198 199 174 175 133 175 174 200 198 175 200 181 198 200 174 181 200 150 174 133 174 150 180 181 174 180 130 150 133 150 130 149 146 150 149 150 146 180 146 181 180 132 146 149 130 132 149 132 130 131 26 27 28 27 26 72 26 43 72 39 26 28 96 26 92 26 39 92 96 43 26 30 39 28 27 30 28 39 30 40 37 39 40 39 37 92 29 30 31 30 27 31 30 29 40 29 37 40 37 29 38 41 37 38 37 88 92 41 88 37 32 29 31 29 32 38 32 41 38 41 32 42 75 41 42 75 88 41 33 32 31 32 33 42 33 75 42 75 33 73 71 75 73 71 88 75 34 33 31 33 34 73 34 71 73 71 34 70 69 71 70 69 88 71 35 34 31 34 35 70 35 69 70 69 35 44 43 69 44 96 69 43 96 88 69 36 35 31 35 36 44 27 36 31 36 43 44 36 27 72 43 36 72 87 88 89 88 90 89 88 96 99 90 88 99 92 88 87 92 87 93 87 94 93 94 87 89 90 94 89 94 95 93 90 95 94 95 92 93 96 92 97 92 95 97 98 96 97 96 98 99 98 90 99 95 98 97 90 98 230 230 98 210 210 98 212 212 98 95 209 210 211 210 212 211 210 209 231 230 210 231 212 213 211 213 212 219 212 220 219 220 212 95 213 209 211 221 213 219 209 213 257 213 221 257 220 221 219 221 220 225 220 226 225 226 220 95 90 226 95 226 227 225 227 226 228 226 215 228 90 215 226 227 221 225 221 227 257 214 227 228 227 214 257 215 214 228 214 215 216 215 217 216 90 217 215 90 230 223 90 223 217 217 218 216 218 217 222 217 223 222 218 214 216 214 218 257 224 218 222 218 224 257 223 224 222 224 223 239 223 230 239 229 230 231 230 229 239 229 224 239 224 229 257 229 209 257 209 229 231 45 46 47 48 45 47 45 65 67 46 45 67 45 48 68 65 45 68 49 48 47 46 49 47 48 49 53 54 48 53 48 54 68 49 55 53 46 77 49 49 77 84 55 49 84 55 54 53 54 55 59 60 54 59 54 60 68 55 61 59 61 55 84 61 60 59 60 61 62 63 60 62 60 63 68 61 64 62 80 61 84 80 64 61 64 63 62 63 51 68 51 63 52 63 64 52 64 50 52 80 50 64 50 51 52 51 50 56 51 58 68 58 51 56 58 65 68 57 58 56 58 57 74 65 58 74 50 57 56 80 77 50 50 77 57 57 66 74 57 77 66 66 65 74 65 66 67 66 46 67 66 77 46 76 77 78 77 80 81 77 83 78 83 77 81 84 77 76 79 76 78 84 76 85 76 79 85 83 79 78 79 91 85 83 91 79 91 84 85 80 84 86 84 91 86 80 82 81 82 80 86 82 83 81 91 82 86 83 82 208 236 82 91 235 82 236 208 82 235 232 236 91 241 232 91 83 241 91 235 236 237 236 238 237 238 236 234 236 232 234 240 235 237 208 235 249 235 240 249 238 240 237 233 238 234 240 238 256 238 233 256 232 233 234 233 232 247 248 233 247 233 248 256 241 248 247 232 241 247 248 241 246 245 248 246 248 245 256 242 245 246 241 242 246 245 242 253 255 245 253 245 255 256 83 242 241 83 243 242 242 243 253 243 255 253 255 243 250 254 255 250 255 254 256 83 244 243 243 244 250 83 208 244 244 208 252 254 244 252 244 254 250 251 254 252 254 251 256 251 240 256 251 208 249 208 251 252 240 251 249)) | |
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| + (list :vertices (let ((mat (make-matrix 259 3))) (fvector-replace (array-entity mat) #f(9.9000000000000000e+01 -2.2000000000000000e+01 6.8000000000000000e+01 7.2000000000000000e+01 -2.2000000000000000e+01 6.8000000000000000e+01 8.5500000000000000e+01 1.2212500916480005e-15 6.8000000000000000e+01 9.9000000000000000e+01 2.2000000000000000e+01 1.1200000000000000e+02 9.9000000000000000e+01 2.2000000000000000e+01 6.8000000000000000e+01 8.5500000000000000e+01 2.2000000000000000e+01 9.0000000000000000e+01 8.5500000000000000e+01 -2.2000000000000000e+01 9.0000000000000000e+01 7.2000000000000000e+01 2.2000000000000000e+01 6.8000000000000000e+01 7.2000000000000000e+01 2.2000000000000000e+01 1.1200000000000000e+02 7.2000000000000000e+01 -2.2000000000000000e+01 1.1200000000000000e+02 9.9000000000000000e+01 0.0000000000000000e+00 9.0000000000000000e+01 9.9000000000000000e+01 -2.2000000000000000e+01 1.1200000000000000e+02 7.2000000000000000e+01 0.0000000000000000e+00 9.0000000000000000e+01 1.1650000000000000e+02 -1.2374400138854980e+01 7.7625602722167969e+01 1.1650000000000000e+02 9.7144493478877516e-16 7.2500000000000000e+01 1.1650000000000000e+02 -8.4852991104125977e+00 8.1514701843261719e+01 1.1400000000000000e+02 9.7144493478877516e-16 7.2500000000000000e+01 1.1525000000000000e+02 6.1872000694274902e+00 7.5062797546386719e+01 1.1650000000000000e+02 6.6613397359377153e-16 7.8000000000000000e+01 1.1650000000000000e+02 1.2374400138854980e+01 7.7625602722167969e+01 1.1400000000000000e+02 -1.7500000000000000e+01 9.0000000000000000e+01 1.1400000000000000e+02 -4.9496998786926270e+00 8.5050300598144531e+01 1.1400000000000000e+02 3.8857797920946598e-16 8.3000000000000000e+01 1.1525000000000000e+02 -6.1872000694274902e+00 7.5062797546386719e+01 1.1400000000000000e+02 1.2374400138854980e+01 7.7625602722167969e+01 1.1400000000000000e+02 -1.2374400138854980e+01 7.7625602722167969e+01 7.1150604248046875e+01 3.0949399948120117e+01 7.7500000000000000e+01 7.1150604248046875e+01 3.0949399948120117e+01 7.4199996948242188e+01 7.1575302124023438e+01 3.1974699020385742e+01 7.5850006103515625e+01 7.1150604248046875e+01 3.5050601959228516e+01 7.4199996948242188e+01 7.2000000000000000e+01 3.3000000000000000e+01 7.4199996948242188e+01 6.9099998474121094e+01 3.3000000000000000e+01 7.4199996948242188e+01 6.9099998474121094e+01 3.5900001525878906e+01 7.4199996948242188e+01 6.7049400329589844e+01 3.5050601959228516e+01 7.4199996948242188e+01 6.6200004577636719e+01 3.3000000000000000e+01 7.4199996948242188e+01 6.7049400329589844e+01 3.0949399948120117e+01 7.4199996948242188e+01 6.9099998474121094e+01 3.0099998474121094e+01 7.4199996948242188e+01 7.1150604248046875e+01 3.5050601959228516e+01 7.7500000000000000e+01 7.0125297546386719e+01 3.5475299835205078e+01 7.5850006103515625e+01 7.2000000000000000e+01 3.3000000000000000e+01 7.7500000000000000e+01 7.1575302124023438e+01 3.4025299072265625e+01 7.5850006103515625e+01 6.9099998474121094e+01 3.5900001525878906e+01 7.7500000000000000e+01 6.8074707031250000e+01 3.5475299835205078e+01 7.5850006103515625e+01 6.9099998474121094e+01 3.0099998474121094e+01 7.7500000000000000e+01 6.8074707031250000e+01 3.0524700164794922e+01 7.5850006103515625e+01 6.9099998474121094e+01 -3.0000000000000000e+01 7.4199996948242188e+01 6.9099998474121094e+01 -3.0000000000000000e+01 7.7500000000000000e+01 7.0160705566406250e+01 -3.0439300537109375e+01 7.5850006103515625e+01 7.1221298217773438e+01 -3.0878700256347656e+01 7.4199996948242188e+01 7.1221298217773438e+01 -3.0878700256347656e+01 7.7500000000000000e+01 6.6978698730468750e+01 -3.5121299743652344e+01 7.7500000000000000e+01 6.6978698730468750e+01 -3.5121299743652344e+01 7.4199996948242188e+01 6.8039299011230469e+01 -3.5560699462890625e+01 7.5850006103515625e+01 7.1660697937011719e+01 -3.1939302444458008e+01 7.5850006103515625e+01 7.2099998474121094e+01 -3.3000000000000000e+01 7.4199996948242188e+01 7.2099998474121094e+01 -3.3000000000000000e+01 7.7500000000000000e+01 6.6539299011230469e+01 -3.4060703277587891e+01 7.5850006103515625e+01 6.6099998474121094e+01 -3.3000000000000000e+01 7.7500000000000000e+01 6.6099998474121094e+01 -3.3000000000000000e+01 7.4199996948242188e+01 7.1660697937011719e+01 -3.4060703277587891e+01 7.5850006103515625e+01 7.1221298217773438e+01 -3.5121299743652344e+01 7.4199996948242188e+01 7.1221298217773438e+01 -3.5121299743652344e+01 7.7500000000000000e+01 7.0160705566406250e+01 -3.5560699462890625e+01 7.5850006103515625e+01 6.9099998474121094e+01 -3.6000000000000000e+01 7.4199996948242188e+01 6.9099998474121094e+01 -3.6000000000000000e+01 7.7500000000000000e+01 6.6978698730468750e+01 -3.0878700256347656e+01 7.4199996948242188e+01 6.6978698730468750e+01 -3.08 |
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