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Between Heaven & Hell 2
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BetweenHeavenHell.cdr
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rccl220
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1987-03-02
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64 lines
#include "../h/rccl.h"
extern FILE *fpi;
pumatask()
{
TRSF_PTR z, e, conv, or, fl;
POS_PTR pf, pm;
int convfn();
conv = newtrans("CONV",convfn);
z = gentr_rot("Z", 0., 0., 864., zunit, 0.); /* at the base */
e = gentr_eul("E" , 0. , 0. , 170. , 0. , 0., 0.);/* finger tips */
or = gentr_eul("OR", 500. , 300., 500., 10., 0., 0.);
fl = gentr_rot("FL", 0. , 0., 0., yunit, 180.);
pf = makeposition("PF" , z, t6, e, EQ, or, fl, TL, e);
pm = makeposition("PM" , z, t6, e, EQ, conv, or, fl, TL, e);
/* 1 */ fprintf(fpi,"1\n");
movecart(pf, 300, 2000);
/* 2 */ fprintf(fpi,"2\n");
movecart(pm, 300, 5000);
/* 3 */ fprintf(fpi,"3\n");
movecart(pm, 300, 5000);
/* 4 */ fprintf(fpi,"4\n");
movecart(pf, 300, 1000);
/* 5 */ fprintf(fpi,"5\n");
movejnts(pm, 300, 1000);
/* 6 */ fprintf(fpi,"6\n");
movejnts(pf, 300, 1000);
/* 7 */ fprintf(fpi,"7\n");
movejnts(pm, 300, 1000);
/* 8 */ fprintf(fpi,"8\n");
movejnts(pm, 300, 1000);
/* 9 */ fprintf(fpi,"9\n");
movecart(pm, 300, 5000);
/* 10 */fprintf(fpi,"10\n");
movejnts(pf, 300, 1000);
/* 11 */fprintf(fpi,"11\n");
movecart(pm, 300, 5000);
/* 12 */fprintf(fpi,"12\n");
movejnts(pm, 300, 1000);
/* 13 */fprintf(fpi,"13\n");
movecart(park, 300, 2000);
}
convfn(t)
TRSF_PTR t;
{
extern int rtime;
double time;
double omega = .2;
double radius = 200.;
time = rtime / 1000.;
t->p.y = radius * cos(omega * time * PIT2);
t->p.z = radius * sin(omega * time * PIT2);
}