Java tutorial
/* * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. * All rights reserved. This program is made available under the terms of the * Eclipse Public License v1.0 which accompanies this distribution, and is * available at http://www.eclipse.org/legal/epl-v10.html * Contributors: * General Robotix Inc. * National Institute of Advanced Industrial Science and Technology (AIST) */ /* * GrxModelItem.java * * @author Yuichiro Kawasumi (General Robotix, Inc.) * @author Shin'ichiro Nakaoka (AIST) */ package com.generalrobotix.ui.item; import java.awt.image.BufferedImage; import java.awt.image.DataBufferByte; import java.awt.image.DataBufferInt; import java.awt.image.DataBufferUShort; import java.util.List; import javax.media.j3d.Appearance; import javax.media.j3d.BranchGroup; import javax.media.j3d.Geometry; import javax.media.j3d.GeometryArray; import javax.media.j3d.ImageComponent; import javax.media.j3d.ImageComponent2D; import javax.media.j3d.Material; import javax.media.j3d.Node; import javax.media.j3d.PolygonAttributes; import javax.media.j3d.QuadArray; import javax.media.j3d.Shape3D; import javax.media.j3d.Switch; import javax.media.j3d.Texture; import javax.media.j3d.Texture2D; import javax.media.j3d.TextureAttributes; import javax.media.j3d.Transform3D; import javax.media.j3d.TransformGroup; import javax.media.j3d.TransparencyAttributes; import javax.vecmath.Color3f; import javax.vecmath.Matrix3d; import javax.vecmath.Matrix4d; import javax.vecmath.Point2f; import javax.vecmath.Point3f; import javax.vecmath.Vector3d; import javax.vecmath.Vector3f; import jp.go.aist.hrp.simulator.AppearanceInfo; import jp.go.aist.hrp.simulator.MaterialInfo; import jp.go.aist.hrp.simulator.SceneInfo; import jp.go.aist.hrp.simulator.ShapeInfo; import jp.go.aist.hrp.simulator.ShapePrimitiveType; import jp.go.aist.hrp.simulator.TextureInfo; import jp.go.aist.hrp.simulator.TransformedShapeIndex; import org.eclipse.jface.action.Action; import org.eclipse.jface.dialogs.InputDialog; import org.eclipse.jface.dialogs.MessageDialog; import org.eclipse.osgi.util.NLS; import com.generalrobotix.ui.GrxPluginManager; import com.generalrobotix.ui.util.AxisAngle4d; import com.generalrobotix.ui.util.MessageBundle; import com.generalrobotix.ui.view.tdview.SceneGraphModifier; import com.sun.j3d.utils.geometry.Box; import com.sun.j3d.utils.geometry.Cone; import com.sun.j3d.utils.geometry.Cylinder; import com.sun.j3d.utils.geometry.GeometryInfo; import com.sun.j3d.utils.geometry.NormalGenerator; import com.sun.j3d.utils.geometry.Primitive; import com.sun.j3d.utils.geometry.Sphere; import com.sun.j3d.utils.image.TextureLoader; import com.sun.j3d.utils.picking.PickTool; @SuppressWarnings("serial") //$NON-NLS-1$ /** * @brief sensor item */ public class GrxShapeItem extends GrxShapeTransformItem { public boolean isInline_ = false; public ShapeInfo[] shapes_; public AppearanceInfo[] appearances_; public MaterialInfo[] materials_; public TextureInfo[] textures_; //public double transform_; private int primitiveFlag = Primitive.GEOMETRY_NOT_SHARED | Primitive.GENERATE_NORMALS | Primitive.GENERATE_TEXTURE_COORDS; private Appearance appearance_ = null; private BranchGroup bg_; /** * @brief constructor * @param name name of this item * @param manager PluginManager * @param transform Transform retrieved through ModelLoader * @param shapeInfo ShapeInfo retrieved through ModelLoader * @param appearanceInfo AppearanceInfo retrieved through ModelLoader * @param materialInfo MaterialInfo retrieved through ModelLoader * @param textureInfo TextureInfo retrieved through ModelLoader */ public GrxShapeItem(String name, GrxPluginManager manager, GrxModelItem model) { super(name, manager, model); bg_ = new BranchGroup(); bg_.setCapability(BranchGroup.ALLOW_DETACH); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_READ); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); } public void loadShape(Matrix4d shapeT, int index, Matrix4d segmentT) { GrxModelItem model = model(); shapes_ = new ShapeInfo[1]; appearances_ = new AppearanceInfo[1]; materials_ = new MaterialInfo[1]; textures_ = new TextureInfo[1]; Matrix4d invSegmentT = new Matrix4d(); invSegmentT.invert(segmentT); Matrix4d shapeT0 = new Matrix4d(); shapeT0.mul(invSegmentT, shapeT); Transform3D t3d = new Transform3D(shapeT0); setShapeInfofromModel((short) index, 0); Shape3D shape3d = createShape3D(shapes_[0], appearances_[0], materials_[0], textures_[0]); bg_.addChild(shape3d); tg_.addChild(bg_); setPrimitiveProperty(model.shapes[index]); tg_.setTransform(t3d); setURL(model.shapes[index].url); initialize(t3d); } public void createnewPrimitiveShape(int type) { shapes_ = new ShapeInfo[1]; shapes_[0] = new ShapeInfo(); appearances_ = new AppearanceInfo[1]; appearances_[0] = new AppearanceInfo(); materials_ = new MaterialInfo[1]; materials_[0] = new MaterialInfo(); textures_ = new TextureInfo[1]; textures_[0] = null; Appearance appearance = createAppearance(); materials_[0].diffuseColor = new float[3]; materials_[0].diffuseColor[0] = materials_[0].diffuseColor[1] = materials_[0].diffuseColor[2] = 0.8f; materials_[0].emissiveColor = new float[3]; materials_[0].emissiveColor[0] = materials_[0].emissiveColor[1] = materials_[0].emissiveColor[2] = 0.0f; materials_[0].specularColor = new float[3]; materials_[0].specularColor[0] = materials_[0].specularColor[1] = materials_[0].specularColor[2] = 0.0f; materials_[0].ambientIntensity = 0.2f; materials_[0].shininess = 0.2f; materials_[0].transparency = 0.0f; setMaterial(appearance, materials_[0]); appearance_ = appearance; Primitive primitive = null; switch (type) { case ShapePrimitiveType._SP_BOX: float[] size = new float[3]; size[0] = size[1] = size[2] = 1.0f; primitive = new Box(size[0] / 2, size[1] / 2, size[2] / 2, primitiveFlag, appearance); shapes_[0].primitiveType = ShapePrimitiveType.SP_BOX; shapes_[0].primitiveParameters = size; setFltAry("size", size); //$NON-NLS-1$ break; case ShapePrimitiveType._SP_CONE: float bottomRadius = 1.0f; float height = 2.0f; primitive = new Cone(bottomRadius, height, primitiveFlag, appearance); shapes_[0].primitiveType = ShapePrimitiveType.SP_CONE; float[] param = new float[4]; param[0] = bottomRadius; param[1] = height; param[2] = 1; param[3] = 1; shapes_[0].primitiveParameters = param; setFlt("bottomRadius", bottomRadius); //$NON-NLS-1$ setFlt("height", height); //$NON-NLS-1$ setProperty("side", "true"); //$NON-NLS-1$ //$NON-NLS-2$ setProperty("bottom", "true"); //$NON-NLS-1$ //$NON-NLS-2$ break; case ShapePrimitiveType._SP_CYLINDER: float radius = 1.0f; height = 2.0f; primitive = new Cylinder(radius, height, primitiveFlag, appearance); shapes_[0].primitiveType = ShapePrimitiveType.SP_CYLINDER; param = new float[5]; param[0] = radius; param[1] = height; param[2] = 1; param[3] = 1; param[4] = 1; shapes_[0].primitiveParameters = param; setFlt("radius", radius); //$NON-NLS-1$ setFlt("height", height); //$NON-NLS-1$ setProperty("side", "true"); //$NON-NLS-1$ //$NON-NLS-2$ setProperty("bottom", "true"); //$NON-NLS-1$ //$NON-NLS-2$ setProperty("top", "true"); //$NON-NLS-1$ //$NON-NLS-2$ break; case ShapePrimitiveType._SP_SPHERE: radius = 1.0f; primitive = new Sphere(radius, primitiveFlag, appearance); shapes_[0].primitiveType = ShapePrimitiveType.SP_SPHERE; param = new float[1]; param[0] = radius; shapes_[0].primitiveParameters = param; setFlt("radius", radius); //$NON-NLS-1$ break; default: break; } bg_.addChild(primitive); Transform3D t3d = new Transform3D(); tg_.setTransform(t3d); tg_.addChild(bg_); initialize(t3d); setFltAry("diffuseColor", materials_[0].diffuseColor); //$NON-NLS-1$ } public void loadInlineShape(Matrix4d[] shapeT, Matrix4d inlinedT, int[] index, Matrix4d segmentT) { isInline_ = true; int n = index.length; shapes_ = new ShapeInfo[n]; appearances_ = new AppearanceInfo[n]; materials_ = new MaterialInfo[n]; textures_ = new TextureInfo[n]; for (int i = 0; i < n; i++) { setShapeInfofromModel((short) index[i], i); } setShape(shapeT, inlinedT, n, segmentT); setURL(model().shapes[index[0]].url); } private void setShape(Matrix4d[] shapeT, Matrix4d inlinedT, int n, Matrix4d segmentT) { Matrix4d invertIT = new Matrix4d(); invertIT.invert(inlinedT); for (int i = 0; i < n; i++) { TransformGroup tfg = new TransformGroup(); Matrix4d shapeT0 = new Matrix4d(); shapeT0.mul(invertIT, shapeT[i]); Transform3D transform3d = new Transform3D(shapeT0); tfg.setTransform(transform3d); Shape3D linkShape3D = createShape3D(shapes_[i], appearances_[i], materials_[i], textures_[i]); tfg.addChild(linkShape3D); tg_.addChild(tfg); } Matrix4d invSegmentT = new Matrix4d(); invSegmentT.invert(segmentT); Matrix4d inlinedT0 = new Matrix4d(); inlinedT0.mul(invSegmentT, inlinedT); Transform3D t3d = new Transform3D(inlinedT0); tg_.setTransform(t3d); initialize(t3d); } public void loadnewInlineShape(SceneInfo sInfo) { isInline_ = true; ShapeInfo[] shapes = sInfo.shapes(); AppearanceInfo[] appearances = sInfo.appearances(); MaterialInfo[] materials = sInfo.materials(); TextureInfo[] textures = sInfo.textures(); TransformedShapeIndex[] tsi = sInfo.shapeIndices(); int n = tsi.length; shapes_ = new ShapeInfo[n]; appearances_ = new AppearanceInfo[n]; materials_ = new MaterialInfo[n]; textures_ = new TextureInfo[n]; Matrix4d[] shapeT = new Matrix4d[n]; for (int k = 0; k < n; k++) { ShapeInfo shapeInfo = shapes[tsi[k].shapeIndex]; AppearanceInfo appearanceInfo = null; MaterialInfo materialInfo = null; TextureInfo textureInfo = null; if (shapeInfo.appearanceIndex >= 0) { appearanceInfo = appearances[shapeInfo.appearanceIndex]; if (appearanceInfo.materialIndex >= 0) { materialInfo = materials[appearanceInfo.materialIndex]; } if (appearanceInfo.textureIndex >= 0) { textureInfo = textures[appearanceInfo.textureIndex]; } } shapes_[k] = shapeInfo; appearances_[k] = appearanceInfo; materials_[k] = materialInfo; textures_[k] = textureInfo; double[] m = tsi[k].transformMatrix; shapeT[k] = new Matrix4d(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8], m[9], m[10], m[11], 0, 0, 0, 1); } setShape(shapeT, new Matrix4d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1), n, new Matrix4d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)); } protected void initialize(Transform3D t3d) { Vector3d trans = new Vector3d(); Matrix3d rotat = new Matrix3d(); t3d.get(rotat, trans); double[] pos = new double[3]; trans.get(pos); translation(pos); AxisAngle4d a4d = new AxisAngle4d(); rotat.normalize(); a4d.setMatrix(rotat); double[] rot = new double[4]; a4d.get(rot); rotation(rot); resizeBoundingBox(); getMenu().clear(); Action item; // rename item = new Action() { public String getText() { return MessageBundle.get("GrxShapeItem.menu.rename"); //$NON-NLS-1$ } public void run() { InputDialog dialog = new InputDialog(null, getText(), MessageBundle.get("GrxShapeItem.dialog.message.newName"), getName(), null); //$NON-NLS-1$ if (dialog.open() == InputDialog.OK && dialog.getValue() != null) rename(dialog.getValue()); } }; setMenuItem(item); // delete item = new Action() { public String getText() { return MessageBundle.get("GrxShapeItem.menu.delete"); //$NON-NLS-1$ } public void run() { String mes = MessageBundle.get("GrxShapeItem.dialog.message.delete"); //$NON-NLS-1$ mes = NLS.bind(mes, new String[] { getName() }); if (MessageDialog.openQuestion(null, MessageBundle.get("GrxShapeItem.dialog.title.delete"), //$NON-NLS-1$ mes)) { delete(); } } }; setMenuItem(item); /* disable copy and paste menus until they are implemented // menu item : copy item = new Action(){ public String getText(){ return "copy"; } public void run(){ GrxDebugUtil.println("GrxModelItem.GrxShapeItem copy Action"); manager_.setSelectedGrxBaseItemList(); } }; setMenuItem(item); // menu item : paste item = new Action(){ public String getText(){ return "paste"; } public void run(){ } }; setMenuItem(item); */ setIcon("segment.png"); //$NON-NLS-1$ } protected Appearance createAppearance() { Appearance appearance = new Appearance(); appearance.setCapability(Appearance.ALLOW_TRANSPARENCY_ATTRIBUTES_READ); appearance.setCapability(Appearance.ALLOW_POLYGON_ATTRIBUTES_READ); appearance.setCapability(Appearance.ALLOW_MATERIAL_READ); appearance.setCapability(Appearance.ALLOW_MATERIAL_WRITE); PolygonAttributes pa = new PolygonAttributes(); pa.setCapability(PolygonAttributes.ALLOW_MODE_READ); pa.setCapability(PolygonAttributes.ALLOW_MODE_WRITE); pa.setPolygonMode(PolygonAttributes.POLYGON_FILL); pa.setCullFace(PolygonAttributes.CULL_NONE); pa.setBackFaceNormalFlip(true); appearance.setPolygonAttributes(pa); return appearance; } private void setShapeInfofromModel(short shapeIndex, int id) { ShapeInfo shapeInfo = model().shapes[shapeIndex]; AppearanceInfo appearanceInfo = null; MaterialInfo materialInfo = null; TextureInfo textureInfo = null; if (shapeInfo.appearanceIndex >= 0) { appearanceInfo = model().appearances[shapeInfo.appearanceIndex]; if (appearanceInfo.materialIndex >= 0) { materialInfo = model().materials[appearanceInfo.materialIndex]; } if (appearanceInfo.textureIndex >= 0) { textureInfo = model().textures[appearanceInfo.textureIndex]; } } shapes_[id] = shapeInfo; appearances_[id] = appearanceInfo; materials_[id] = materialInfo; textures_[id] = textureInfo; } /** * @brief create Shape3D object from shapeInfo, appearanceInfo, MaterialInfo and TextureInfo * @param shapeInfo shape information * @param appearanceInfo appearance information * @param materialInfo material information * @param textureInfo texture information * @return created shape */ @SuppressWarnings("deprecation") //$NON-NLS-1$ private Shape3D createShape3D(ShapeInfo shapeInfo, AppearanceInfo appearanceInfo, MaterialInfo materialInfo, TextureInfo textureInfo) { GeometryInfo geometryInfo = new GeometryInfo(GeometryInfo.TRIANGLE_ARRAY); // set vertices int numVertices = shapeInfo.vertices.length / 3; Point3f[] vertices = new Point3f[numVertices]; for (int i = 0; i < numVertices; ++i) { vertices[i] = new Point3f(shapeInfo.vertices[i * 3], shapeInfo.vertices[i * 3 + 1], shapeInfo.vertices[i * 3 + 2]); } geometryInfo.setCoordinates(vertices); geometryInfo.setCoordinateIndices(shapeInfo.triangles); Appearance appearance = createAppearance(); if (appearanceInfo != null) { setColors(geometryInfo, shapeInfo, appearanceInfo); setNormals(geometryInfo, shapeInfo, appearanceInfo); if (appearanceInfo.solid) { PolygonAttributes pa = appearance.getPolygonAttributes(); pa.setCullFace(PolygonAttributes.CULL_BACK); appearance.setPolygonAttributes(pa); } if (materialInfo != null) setMaterial(appearance, materialInfo); if (textureInfo != null) { setTexture(appearance, textureInfo); int numTexCoordinate = appearanceInfo.textureCoordinate.length / 2; Point2f[] texCoordinate = new Point2f[numTexCoordinate]; for (int i = 0, j = 0; i < numTexCoordinate; i++) texCoordinate[i] = new Point2f(appearanceInfo.textureCoordinate[j++], appearanceInfo.textureCoordinate[j++]); geometryInfo.setTextureCoordinates(texCoordinate); geometryInfo.setTextureCoordinateIndices(appearanceInfo.textureCoordIndices); } } Shape3D shape3D = new Shape3D(geometryInfo.getGeometryArray()); shape3D.setCapability(Shape3D.ALLOW_APPEARANCE_READ); shape3D.setCapability(Shape3D.ALLOW_GEOMETRY_READ); shape3D.setCapability(GeometryArray.ALLOW_COORDINATE_READ); shape3D.setCapability(GeometryArray.ALLOW_COUNT_READ); PickTool.setCapabilities(shape3D, PickTool.INTERSECT_FULL); appearance_ = appearance; shape3D.setAppearance(appearance); return shape3D; } /* private Primitive createPrimitive (ShapeInfo shapeInfo, AppearanceInfo appearanceInfo, MaterialInfo materialInfo, TextureInfo textureInfo){ Appearance appearance = createAppearance(); if(appearanceInfo != null){ if(materialInfo != null) setMaterial( appearance, materialInfo); if(textureInfo != null){ setTexture( appearance, textureInfo); TextureAttributes texAttrBase = new TextureAttributes(); Transform3D t3d = new Transform3D(new Matrix4d( appearanceInfo.textransformMatrix[0], appearanceInfo.textransformMatrix[1], appearanceInfo.textransformMatrix[2], 0, appearanceInfo.textransformMatrix[3], appearanceInfo.textransformMatrix[4], appearanceInfo.textransformMatrix[5], 0, 0, 0, 1, 0, 0, 0, 0, 1 )); //System.out.println(t3d.toString()); texAttrBase.setTextureTransform(t3d); appearance.setTextureAttributes(texAttrBase); } } int flag = Primitive.GEOMETRY_NOT_SHARED | Primitive.GENERATE_NORMALS | Primitive.GENERATE_TEXTURE_COORDS | Primitive.ENABLE_GEOMETRY_PICKING; if(shapeInfo.primitiveType == ShapePrimitiveType.SP_BOX || shapeInfo.primitiveType == ShapePrimitiveType.SP_PLANE){ Box box = new Box((float)(shapeInfo.primitiveParameters[0]/2.0), (float)(shapeInfo.primitiveParameters[1]/2.0), (float)(shapeInfo.primitiveParameters[2]/2.0), flag, appearance ); return box; }else if( shapeInfo.primitiveType == ShapePrimitiveType.SP_CYLINDER ){ Cylinder cylinder = new Cylinder(shapeInfo.primitiveParameters[0], shapeInfo.primitiveParameters[1], flag, appearance ); if((int)shapeInfo.primitiveParameters[2]==0) //TOP cylinder.removeChild(cylinder.getShape(Cylinder.TOP)); if((int)shapeInfo.primitiveParameters[3]==0) //BOTTOM cylinder.removeChild(cylinder.getShape(Cylinder.BOTTOM)); if((int)shapeInfo.primitiveParameters[4]==0) //SIDE cylinder.removeChild(cylinder.getShape(Cylinder.BODY)); return cylinder; }else if( shapeInfo.primitiveType == ShapePrimitiveType.SP_CONE ){ Cone cone = new Cone(shapeInfo.primitiveParameters[0], shapeInfo.primitiveParameters[1], flag, appearance ); if((int)shapeInfo.primitiveParameters[2]==0) //BOTTOM cone.removeChild(cone.getShape(Cone.CAP)); if((int)shapeInfo.primitiveParameters[3]==0) //SIDE cone.removeChild(cone.getShape(Cone.BODY)); return cone; }else if( shapeInfo.primitiveType == ShapePrimitiveType.SP_SPHERE ){ Sphere sphere = new Sphere(shapeInfo.primitiveParameters[0], flag, appearance ); return sphere; } return null; } */ protected void setMaterial(Appearance appearance, MaterialInfo materialInfo) { if (materialInfo.transparency > 0.0f) { TransparencyAttributes ta = new TransparencyAttributes(TransparencyAttributes.NICEST, materialInfo.transparency); ta.setCapability(TransparencyAttributes.ALLOW_MODE_READ); ta.setCapability(TransparencyAttributes.ALLOW_MODE_WRITE); ta.setCapability(TransparencyAttributes.ALLOW_VALUE_READ); ta.setCapability(TransparencyAttributes.ALLOW_VALUE_WRITE); appearance.setTransparencyAttributes(ta); } if (materialInfo != null) { appearance.setMaterial(createMaterial(materialInfo)); } } protected void setTexture(Appearance appearance, TextureInfo textureInfo) { TextureInfoLocal texInfo = new TextureInfoLocal(textureInfo); if ((texInfo.width != 0) && (texInfo.height != 0)) { ImageComponent2D icomp2d = texInfo.readImage; Texture2D texture2d = null; switch (texInfo.numComponents) { case 1: texture2d = new Texture2D(Texture.BASE_LEVEL, Texture.LUMINANCE, texInfo.width, texInfo.height); break; case 2: texture2d = new Texture2D(Texture.BASE_LEVEL, Texture.LUMINANCE_ALPHA, texInfo.width, texInfo.height); appearance.setTransparencyAttributes( new TransparencyAttributes(TransparencyAttributes.BLENDED, 1.0f)); break; case 3: texture2d = new Texture2D(Texture.BASE_LEVEL, Texture.RGB, texInfo.width, texInfo.height); break; case 4: texture2d = new Texture2D(Texture.BASE_LEVEL, Texture.RGBA, texInfo.width, texInfo.height); appearance.setTransparencyAttributes( new TransparencyAttributes(TransparencyAttributes.BLENDED, 1.0f)); break; } texture2d.setImage(0, icomp2d); appearance.setTexture(texture2d); } else { if (!texInfo.url.equals("")) { //$NON-NLS-1$ try { TextureLoader tloader = new TextureLoader(texInfo.url, null); Texture texture = tloader.getTexture(); appearance.setTexture(texture); } catch (Exception ex) { System.out.println(ex + " " + texInfo.url); //$NON-NLS-1$ } } } TextureAttributes texAttrBase = new TextureAttributes(); texAttrBase.setTextureMode(TextureAttributes.REPLACE); appearance.setTextureAttributes(texAttrBase); } protected Material createMaterial(MaterialInfo materialInfo) { Material material = new Material(); float[] dColor = materialInfo.diffuseColor; material.setDiffuseColor(new Color3f(dColor[0], dColor[1], dColor[2])); float[] sColor = materialInfo.specularColor; material.setSpecularColor(new Color3f(sColor[0], sColor[1], sColor[2])); float[] eColor = materialInfo.emissiveColor; material.setEmissiveColor(new Color3f(eColor[0], eColor[1], eColor[2])); float r = materialInfo.ambientIntensity; material.setAmbientColor(new Color3f(r * dColor[0], r * dColor[1], r * dColor[2])); float shininess = materialInfo.shininess * 127.0f + 1.0f; material.setShininess(shininess); material.setCapability(Material.ALLOW_COMPONENT_READ); material.setCapability(Material.ALLOW_COMPONENT_WRITE); return material; } private void setColors(GeometryInfo geometryInfo, ShapeInfo shapeInfo, AppearanceInfo appearanceInfo) { int numColors = appearanceInfo.colors.length / 3; if (numColors > 0) { float[] orgColors = appearanceInfo.colors; Color3f[] colors = new Color3f[numColors]; for (int i = 0; i < numColors; ++i) { colors[i] = new Color3f(orgColors[i * 3], orgColors[i * 3 + 1], orgColors[i * 3 + 2]); } geometryInfo.setColors(colors); int[] orgColorIndices = appearanceInfo.colorIndices; int numOrgColorIndices = orgColorIndices.length; int numTriangles = shapeInfo.triangles.length / 3; int[] colorIndices = new int[numTriangles * 3]; if (numOrgColorIndices > 0) { if (appearanceInfo.colorPerVertex) { colorIndices = orgColorIndices; } else { int pos = 0; for (int i = 0; i < numTriangles; ++i) { int colorIndex = orgColorIndices[i]; for (int j = 0; j < 3; ++j) { colorIndices[pos++] = colorIndex; } } } } else { if (appearanceInfo.colorPerVertex) { for (int i = 0; i < colorIndices.length; ++i) { colorIndices[i] = shapeInfo.triangles[i]; } } else { int pos = 0; for (int i = 0; i < numTriangles; ++i) { for (int j = 0; j < 3; ++j) { colorIndices[pos++] = i; } } } } geometryInfo.setColorIndices(colorIndices); } } private void setNormals(GeometryInfo geometryInfo, ShapeInfo shapeInfo, AppearanceInfo appearanceInfo) { int numNormals = appearanceInfo.normals.length / 3; if (numNormals == 0) { NormalGenerator ng = new NormalGenerator(appearanceInfo.creaseAngle); ng.generateNormals(geometryInfo); } else { float[] orgNormals = appearanceInfo.normals; Vector3f[] normals = new Vector3f[numNormals]; for (int i = 0; i < numNormals; ++i) { normals[i] = new Vector3f(orgNormals[i * 3], orgNormals[i * 3 + 1], orgNormals[i * 3 + 2]); } geometryInfo.setNormals(normals); int[] orgNormalIndices = appearanceInfo.normalIndices; int numOrgNormalIndices = orgNormalIndices.length; int numTriangles = shapeInfo.triangles.length / 3; int[] normalIndices = new int[numTriangles * 3]; if (numOrgNormalIndices > 0) { if (appearanceInfo.normalPerVertex) { normalIndices = orgNormalIndices; } else { int pos = 0; for (int i = 0; i < numTriangles; ++i) { int normalIndex = orgNormalIndices[i]; for (int j = 0; j < 3; ++j) { normalIndices[pos++] = normalIndex; } } } } else { if (appearanceInfo.normalPerVertex) { for (int i = 0; i < normalIndices.length; ++i) { normalIndices[i] = shapeInfo.triangles[i]; } } else { int pos = 0; for (int i = 0; i < numTriangles; ++i) { for (int j = 0; j < 3; ++j) { normalIndices[pos++] = i; } } } } geometryInfo.setNormalIndices(normalIndices); } } /** * @brief update value of property * @param property name of property * @param value value of property * @return true if updated successfully, false otherwise */ public boolean propertyChanged(String property, String value) { if (super.propertyChanged(property, value)) { } else if (property.equals("translation")) { //$NON-NLS-1$ translation(value); } else if (property.equals("rotation")) { //$NON-NLS-1$ rotation(value); } else if (property.equals("size")) { //$NON-NLS-1$ size(value); } else if (property.equals("bottomRadius") || property.equals("height") || property.equals("radius") || //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ property.equals("side") || property.equals("bottom") || property.equals("top")) { //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ if (shapes_[0].primitiveType == ShapePrimitiveType.SP_CONE) { coneSize(property, value); } else if (shapes_[0].primitiveType == ShapePrimitiveType.SP_CYLINDER) { cylinderSize(property, value); } else { sphereSize(value); } } else if (property.equals("diffuseColor")) { //$NON-NLS-1$ diffuseColor(value); } else return false; return true; } private void size(float[] newSize) { if (newSize != null && newSize.length == 3) { setFltAry("size", newSize); //$NON-NLS-1$ tg_.removeChild(bg_); bg_ = new BranchGroup(); bg_.setCapability(BranchGroup.ALLOW_DETACH); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_READ); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); Primitive primitive = new Box(newSize[0] / 2, newSize[1] / 2, newSize[2] / 2, primitiveFlag, appearance_); bg_.addChild(primitive); tg_.addChild(bg_); resizeBoundingBox(); if (model_ != null) model_.notifyModified(); shapes_[0].primitiveParameters = newSize; } } public void size(String size) { float[] newSize = getFltAry(size); size(newSize); } public void coneSize(String property, String size) { float bottomRadius = getFlt("bottomRadius", 0.0f); //$NON-NLS-1$ float height = getFlt("height", 0.0f); //$NON-NLS-1$ boolean side = isTrue("side"); //$NON-NLS-1$ boolean bottom = isTrue("bottom"); //$NON-NLS-1$ if (property.equals("bottomRadius")) { //$NON-NLS-1$ float newsize = getFlt(size); setFlt(property, newsize); bottomRadius = newsize; } else if (property.equals("height")) { //$NON-NLS-1$ float newsize = getFlt(size); setFlt(property, newsize); height = newsize; } else if (property.equals("side")) { //$NON-NLS-1$ boolean flg = size.equals("true"); //$NON-NLS-1$ setBool(property, flg); side = flg; } else if (property.equals("bottom")) { //$NON-NLS-1$ boolean flg = size.equals("true"); //$NON-NLS-1$ setBool(property, flg); bottom = flg; } tg_.removeChild(bg_); bg_ = new BranchGroup(); bg_.setCapability(BranchGroup.ALLOW_DETACH); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_READ); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); Primitive primitive = new Cone(bottomRadius, height, primitiveFlag, appearance_); if (!bottom) primitive.removeChild(primitive.getShape(Cone.CAP)); if (!side) primitive.removeChild(primitive.getShape(Cone.BODY)); bg_.addChild(primitive); tg_.addChild(bg_); resizeBoundingBox(); if (model_ != null) model_.notifyModified(); float[] param = new float[4]; param[0] = bottomRadius; param[1] = height; param[2] = bottom ? 1 : 0; param[3] = side ? 1 : 0; shapes_[0].primitiveParameters = param; } public void cylinderSize(String property, String size) { float radius = getFlt("radius", 0.0f); //$NON-NLS-1$ float height = getFlt("height", 0.0f); //$NON-NLS-1$ boolean side = isTrue("side"); //$NON-NLS-1$ boolean bottom = isTrue("bottom"); //$NON-NLS-1$ boolean top = isTrue("top"); //$NON-NLS-1$ if (property.equals("radius")) { //$NON-NLS-1$ float newsize = getFlt(size); setFlt(property, newsize); radius = newsize; } else if (property.equals("height")) { //$NON-NLS-1$ float newsize = getFlt(size); setFlt(property, newsize); height = newsize; } else if (property.equals("side")) { //$NON-NLS-1$ boolean flg = size.equals("true"); //$NON-NLS-1$ setBool(property, flg); side = flg; } else if (property.equals("bottom")) { //$NON-NLS-1$ boolean flg = size.equals("true"); //$NON-NLS-1$ setBool(property, flg); bottom = flg; } else if (property.equals("top")) { //$NON-NLS-1$ boolean flg = size.equals("true"); //$NON-NLS-1$ setBool(property, flg); top = flg; } tg_.removeChild(bg_); bg_ = new BranchGroup(); bg_.setCapability(BranchGroup.ALLOW_DETACH); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_READ); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); Primitive primitive = new Cylinder(radius, height, primitiveFlag, appearance_); bg_.addChild(primitive); if (!bottom) primitive.removeChild(primitive.getShape(Cylinder.BOTTOM)); if (!top) primitive.removeChild(primitive.getShape(Cylinder.TOP)); if (!side) primitive.removeChild(primitive.getShape(Cylinder.BODY)); tg_.addChild(bg_); resizeBoundingBox(); if (model_ != null) model_.notifyModified(); float[] param = new float[5]; param[0] = radius; param[1] = height; param[2] = top ? 1 : 0; param[3] = bottom ? 1 : 0; param[4] = side ? 1 : 0; shapes_[0].primitiveParameters = param; } private void sphereSize(float[] newSize) { if (newSize != null && newSize.length == 1) { setFlt("radius", newSize[0]); //$NON-NLS-1$ tg_.removeChild(bg_); bg_ = new BranchGroup(); bg_.setCapability(BranchGroup.ALLOW_DETACH); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_READ); bg_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND); Primitive primitive = new Sphere(newSize[0], primitiveFlag, appearance_); bg_.addChild(primitive); tg_.addChild(bg_); resizeBoundingBox(); if (model_ != null) model_.notifyModified(); shapes_[0].primitiveParameters = newSize; } } public void sphereSize(String size) { float[] newSize = getFltAry(size); sphereSize(newSize); } void diffuseColor(float[] newValue) { if (newValue != null && newValue.length == 3) { setFltAry("diffuseColor", newValue); //$NON-NLS-1$ materials_[0].diffuseColor = newValue; setMaterial(appearance_, materials_[0]); if (model_ != null) model_.notifyModified(); } } void diffuseColor(String value) { float[] newValue = getFltAry(value); diffuseColor(newValue); } public class TextureInfoLocal { public short numComponents; public short width; public short height; public boolean repeatS; public boolean repeatT; public ImageComponent2D readImage; String url; public TextureInfoLocal(TextureInfo texinfo) { width = texinfo.width; height = texinfo.height; numComponents = texinfo.numComponents; //System.out.println("numComponents= " + numComponents); repeatS = texinfo.repeatS; repeatT = texinfo.repeatT; url = texinfo.url; if ((width == 0) || (height == 0)) { numComponents = 3; repeatS = false; repeatT = false; width = 0; height = 0; return; } //width and height must be power of 2 short w = 1; do { w *= 2; } while (w <= width); short width_new = (short) (w); if (width_new - width > width - width_new / 2) width_new /= 2; w = 1; do { w *= 2; } while (w <= height); short height_new = (short) (w); if (height_new - height > height - height_new / 2) height_new /= 2; BufferedImage bimageRead = null; switch (numComponents) { case 1: bimageRead = new BufferedImage(width_new, height_new, BufferedImage.TYPE_BYTE_GRAY); byte[] bytepixels = ((DataBufferByte) bimageRead.getRaster().getDataBuffer()).getData(); for (int i = 0; i < height_new; i++) { for (int j = 0; j < width_new; j++) { int k = (int) (i * height / height_new) * width + (int) (j * width / width_new); bytepixels[i * width_new + j] = texinfo.image[k]; } } break; case 2: bimageRead = new BufferedImage(width_new, height_new, BufferedImage.TYPE_USHORT_GRAY); short[] shortpixels = ((DataBufferUShort) bimageRead.getRaster().getDataBuffer()).getData(); for (int i = 0; i < height_new; i++) { for (int j = 0; j < width_new; j++) { int k = (int) (i * height / height_new) * width * 2 + (int) (j * width / width_new) * 2; short l = texinfo.image[k]; short a = texinfo.image[k + 1]; shortpixels[i * width_new + j] = (short) ((l & 0xff) << 8 | (a & 0xff)); } } break; case 3: bimageRead = new BufferedImage(width_new, height_new, BufferedImage.TYPE_INT_RGB); int[] intpixels = ((DataBufferInt) bimageRead.getRaster().getDataBuffer()).getData(); for (int i = 0; i < height_new; i++) { for (int j = 0; j < width_new; j++) { int k = (int) (i * height / height_new) * width * 3 + (int) (j * width / width_new) * 3; short r = texinfo.image[k]; short g = texinfo.image[k + 1]; short b = texinfo.image[k + 2]; intpixels[i * width_new + j] = (r & 0xff) << 16 | (g & 0xff) << 8 | (b & 0xff); } } break; case 4: bimageRead = new BufferedImage(width_new, height_new, BufferedImage.TYPE_INT_ARGB); intpixels = ((DataBufferInt) bimageRead.getRaster().getDataBuffer()).getData(); for (int i = 0; i < height_new; i++) { for (int j = 0; j < width_new; j++) { int k = (int) (i * height / height_new) * width * 4 + (int) (j * width / width_new) * 4; short r = texinfo.image[k]; short g = texinfo.image[k + 1]; short b = texinfo.image[k + 2]; short a = texinfo.image[k + 3]; intpixels[i * width_new + j] = (a & 0xff) << 24 | (r & 0xff) << 16 | (g & 0xff) << 8 | (b & 0xff); } } break; } height = height_new; width = width_new; switch (numComponents) { case 1: readImage = new ImageComponent2D(ImageComponent.FORMAT_CHANNEL8, bimageRead); break; case 2: readImage = new ImageComponent2D(ImageComponent.FORMAT_LUM8_ALPHA8, bimageRead); break; case 3: readImage = new ImageComponent2D(ImageComponent.FORMAT_RGB, bimageRead); break; case 4: readImage = new ImageComponent2D(ImageComponent.FORMAT_RGBA, bimageRead); break; } } } /** * @brief Override clone method * @return GrxShapeItem */ public GrxShapeItem clone() { GrxShapeItem ret = (GrxShapeItem) super.clone(); /* ret.tg_ = new TransformGroup(); ret.tg_.setCapability(TransformGroup.ALLOW_CHILDREN_EXTEND); ret.tg_.setCapability(TransformGroup.ALLOW_CHILDREN_WRITE); ret.tg_.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); ret.bg_ = new BranchGroup(); ret.bg_.setCapability(BranchGroup.ALLOW_DETACH); Vector3d v3d = new Vector3d(transform[3], transform[7], transform[11]); Matrix3d m3d = new Matrix3d(transform[0], transform[1], transform[2], transform[4], transform[5], transform[6], transform[8], transform[9], transform[10]); AxisAngle4d a4d = new AxisAngle4d(); a4d.set(m3d); Transform3D t3d = new Transform3D(); t3d.setTranslation(v3d); t3d.setRotation(a4d); double [] pos = new double[3]; v3d.get(pos); setDblAry("translation", pos); double [] rot = new double[4]; a4d.get(rot); setDblAry("rotation", rot); tg_.setTransform(t3d); Shape3D linkShape3D = createLinkShape3D(shapeInfo, appearanceInfo, materialInfo, textureInfo); tg_.addChild(linkShape3D); bg_.addChild(tg_); */ /* Deep copy suspension list public BranchGroup bg_; public TransformGroup tg_; public GrxLinkItem parent_; public ShapeInfo shapeInfo_; public AppearanceInfo appearanceInfo_; public MaterialInfo materialInfo_; public TextureInfo textureInfo_; */ return ret; } void setColor(java.awt.Color color, Node node) { if (node instanceof Shape3D) { Color3f c3f = new Color3f(color); Shape3D s3d = (Shape3D) node; Appearance app = s3d.getAppearance(); if (app != null) { Material ma = app.getMaterial(); if (ma != null) { ma.setAmbientColor(c3f); } } } else if (node instanceof Primitive) { Primitive prim = (Primitive) node; for (int j = 0; j < prim.numChildren(); j++) { setColor(color, (Shape3D) prim.getChild(j)); } } else if (node instanceof TransformGroup) { TransformGroup tfg = (TransformGroup) node; for (int j = 0; j < tfg.numChildren(); j++) { setColor(color, tfg.getChild(j)); } } else if (node instanceof BranchGroup) { BranchGroup bg = (BranchGroup) node; for (int j = 0; j < bg.numChildren(); j++) { setColor(color, bg.getChild(j)); } } } void setColor(java.awt.Color color) { setColor(color, tg_); } void restoreColor(Node node, int id) { if (node instanceof Shape3D) { Shape3D s3d = (Shape3D) node; Appearance app = s3d.getAppearance(); setMaterial(app, materials_[id]); } else if (node instanceof Primitive) { Primitive prim = (Primitive) node; for (int j = 0; j < prim.numChildren(); j++) { restoreColor((Shape3D) prim.getChild(j), id); } } else if (node instanceof TransformGroup) { TransformGroup tfg = (TransformGroup) node; for (int j = 0; j < tfg.numChildren(); j++) { restoreColor(tfg.getChild(j), id); } } else if (node instanceof BranchGroup) { BranchGroup bg = (BranchGroup) node; for (int j = 0; j < bg.numChildren(); j++) { restoreColor(bg.getChild(j), id); } } } void restoreColor() { restoreColor(tg_, 0); } private void setPrimitiveProperty(ShapeInfo shapeInfo) { switch (shapeInfo.primitiveType.value()) { case ShapePrimitiveType._SP_BOX: setFltAry("size", shapeInfo.primitiveParameters); //$NON-NLS-1$ setFltAry("diffuseColor", materials_[0].diffuseColor); //$NON-NLS-1$ break; case ShapePrimitiveType._SP_CONE: setFlt("bottomRadius", shapeInfo.primitiveParameters[0]); //$NON-NLS-1$ setFlt("height", shapeInfo.primitiveParameters[1]); //$NON-NLS-1$ setProperty("bottom", shapeInfo.primitiveParameters[2] == 0 ? "false" : "true"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ setProperty("side", shapeInfo.primitiveParameters[3] == 0 ? "false" : "true"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ setFltAry("diffuseColor", materials_[0].diffuseColor); //$NON-NLS-1$ break; case ShapePrimitiveType._SP_CYLINDER: setFlt("radius", shapeInfo.primitiveParameters[0]); //$NON-NLS-1$ setFlt("height", shapeInfo.primitiveParameters[1]); //$NON-NLS-1$ setProperty("top", shapeInfo.primitiveParameters[2] == 0 ? "false" : "true"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ setProperty("bottom", shapeInfo.primitiveParameters[3] == 0 ? "false" : "true"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ setProperty("side", shapeInfo.primitiveParameters[4] == 0 ? "false" : "true"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ setFltAry("diffuseColor", materials_[0].diffuseColor); //$NON-NLS-1$ break; case ShapePrimitiveType._SP_SPHERE: setFlt("radius", shapeInfo.primitiveParameters[0]); //$NON-NLS-1$ setFltAry("diffuseColor", materials_[0].diffuseColor); //$NON-NLS-1$ break; default: break; } } @Override public ValueEditType GetValueEditType(String key) { if (shapes_.length == 1 && shapes_[0].primitiveType == ShapePrimitiveType.SP_CONE && (key.equals("side") || key.equals("bottom"))) { return new ValueEditCombo(booleanComboItem_); } else if (shapes_.length == 1 && shapes_[0].primitiveType == ShapePrimitiveType.SP_CYLINDER && (key.equals("side") || key.equals("bottom") || key.equals("top"))) { return new ValueEditCombo(booleanComboItem_); } return super.GetValueEditType(key); } }