Merge branch 'master' into javadoc-to-github-pages

README.md

@@ -1,40 +1,30 @@
+# Robot Overlord
 ![workflow](https://github.com/MarginallyClever/Robot-Overlord-App/actions/workflows/main.yml/badge.svg)
 [![Javadoc](https://img.shields.io/badge/JavaDoc-Online-green)](https://marginallyclever.github.io/robot-overlord-app/javadoc/)
 # Robot Overlord #
 ![Preview image](Screenshot_2023-12-23_120520.png)
 
+
 Robot Overlord is 3D control software for robots.  It is intended to be easier than ROS.  It was started by [Marginally Clever Robots, Ltd.](http://www.marginallyclever.com/)
 
 We would love to see your robot run in the app.  Please joint our [Discord channel](https://discord.gg/Q5TZFmB) and talk live with a human!  
 
 Some of the robots it controls are:
 
- - Sixi 2+3, 6DOF arms
- - Arm3, a 3DOF arm
- - Thor, a 5DOF arm
- - Rotary Stewart Platforms, like flight simulators
- - Delta Robot 3, aka a Kossel
- - Spidee, a 6 legged crab-style walker.
- - Dog Robot, a generic 4 legged walker.
+- Sixi 3, AR4, Mecademic Meca500, and other 6DOF arms
+- Rotary Stewart Platforms, like flight simulators
+- Dog robots.
+- Spidee, a 6 legged crab-style walker.
 
-# Why
+## Why
 
-The short answer?  ROS is too hard for most people.  We want to make it easier.
+The short answer?  ROS is too hard.  We want to make it easier.
 
 [Our philosophy about Robot Overlord](https://github.com/MarginallyClever/Robot-Overlord-App/wiki/Why-Robot-Overlord%3F).
 
-## Get Started!
-
-Steps to get started:
-
-1. Install The latest Java
-2. Install Robot Overlord App from [the "Releases" section of the Github repository](https://github.com/MarginallyClever/Robot-Overlord-App/releases)
-
-Then you should be able to run the application.
-
-## More
+## Get Started today!
 
-If you're reading this, make an issue ticket, and we will respond to it promptly.
+[Read our friendly manual](https://mcr.dozuki.com/c/Robot_Overlord_3).  It has pictures with arrows and everything!
 
 ## Icons
 

pom.xml

@@ -6,7 +6,7 @@
 
 	<groupId>com.marginallyclever</groupId>
 	<artifactId>RobotOverlord</artifactId>
-	<version>2.98.0</version>
+	<version>2.99.0</version>
 	<name>Robot Overlord</name>
 	<description>A friendly 3D user interface for controlling robots.</description>
 	<url>https://www.marginallyclever.com/</url>

src/main/java/com/marginallyclever/ro3/apps/actions/CheckForUpdateAction.java

@@ -1,8 +1,6 @@
 package com.marginallyclever.ro3.apps.actions;
 
-import com.marginallyclever.ro3.RO3;
 import com.marginallyclever.ro3.apps.RO3Frame;
-import com.marginallyclever.robotoverlord.RobotOverlord;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 

src/main/java/com/marginallyclever/ro3/apps/actions/LoadScene.java

@@ -94,8 +94,12 @@ public void commitLoad(File selectedFile) {
 
             // if the json is bad, this will throw an exception before removing the previous scene.
             JSONObject json = new JSONObject(content);
-            Registry.reset();
 
+            // reset everything
+            NewScene newScene = new NewScene();
+            newScene.commitNewScene();
+
+            // do it!
             String newCWD = selectedFile.getParent() + File.separator;
             String oldCWD = System.getProperty("user.dir");
             System.setProperty("user.dir",newCWD);
@@ -106,7 +110,7 @@ public void commitLoad(File selectedFile) {
 
             System.setProperty("user.dir",oldCWD);
 
-            menu.addPath(selectedFile.getAbsolutePath());
+            if(menu!=null) menu.addPath(selectedFile.getAbsolutePath());
         } catch (IOException e) {
             logger.error("Error loading file.", e);
         }

src/main/java/com/marginallyclever/ro3/apps/actions/UndoAction.java

@@ -1,9 +1,5 @@
 package com.marginallyclever.ro3.apps.actions;
 
-import com.marginallyclever.robotoverlord.swing.translator.Translator;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-
 import javax.swing.*;
 import javax.swing.undo.UndoManager;
 import java.awt.event.ActionEvent;

src/main/java/com/marginallyclever/ro3/apps/render/Viewport.java

@@ -383,9 +383,8 @@ private void renderViewportTools() {
     private void renderAllPasses() {
         // renderPasses that are always on
         for(RenderPass pass : renderPasses.getList()) {
-            if(pass.getActiveStatus()==RenderPass.ALWAYS) {
-                pass.draw(this);
-            }
+            if(pass.getActiveStatus()==RenderPass.NEVER) continue;
+            pass.draw(this);
         }
     }
 

src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBoundingBoxes.java

@@ -94,7 +94,6 @@ public void draw(Viewport viewport) {
         shader.setVector3d(gl3,"cameraPos",cameraWorldPos);  // Camera position in world space
         shader.setVector3d(gl3,"lightPos",cameraWorldPos);  // Light position in world space
         shader.setColor(gl3,"lightColor", Color.WHITE);
-        shader.setColor(gl3,"objectColor",new Color(255,255,255,64));
         shader.setColor(gl3,"specularColor",Color.GRAY);
         shader.setColor(gl3,"ambientColor",new Color(255/5,255/5,255/5,255));
         shader.set1i(gl3,"useVertexColor",0);
@@ -105,41 +104,46 @@ public void draw(Viewport viewport) {
         gl3.glDisable(GL3.GL_TEXTURE_2D);
         gl3.glDisable(GL3.GL_DEPTH_TEST);
 
-        // find all MeshInstance nodes in Registry
-        List<Node> toScan = new ArrayList<>(Registry.getScene().getChildren());
+        Color unselected = new Color(255,255,255,64);
+        Color selected = new Color(226, 115, 42,128);
+
+        var list = Registry.selection.getList();
+        var toScan = new ArrayList<>(Registry.getScene().getChildren());
         while(!toScan.isEmpty()) {
             Node node = toScan.remove(0);
-
-            if(node instanceof MeshInstance meshInstance) {
-                // if they have a mesh, draw it.
-                Mesh mesh2 = meshInstance.getMesh();
-                if(mesh2==null) continue;
-
-                AABB boundingBox = mesh2.getBoundingBox();
-                Point3d max = boundingBox.getBoundsTop();
-                Point3d min = boundingBox.getBoundsBottom();
-                mesh.setVertex(0, min.x, max.y, max.z);
-                mesh.setVertex(1, max.x, max.y, max.z);
-                mesh.setVertex(2, max.x, min.y, max.z);
-                mesh.setVertex(3, min.x, min.y, max.z);
-                mesh.setVertex(4, min.x, max.y, min.z);
-                mesh.setVertex(5, max.x, max.y, min.z);
-                mesh.setVertex(6, max.x, min.y, min.z);
-                mesh.setVertex(7, min.x, min.y, min.z);
-                mesh.updateVertexBuffers(gl3);
-
-                // set the model matrix
-                Matrix4d w = meshInstance.getWorld();
-                w.transpose();
-                shader.setMatrix4d(gl3,"modelMatrix",w);
-                // draw it
-                mesh.render(gl3);
-
-                OpenGLHelper.checkGLError(gl3,logger);
-            }
-
             toScan.addAll(node.getChildren());
+
+            if(!(node instanceof MeshInstance meshInstance)) continue;
+            if(getActiveStatus()==SOMETIMES && !list.contains(meshInstance)) continue;
+
+            // if they have a mesh, draw it.
+            Mesh mesh2 = meshInstance.getMesh();
+            if(mesh2==null) continue;
+
+            AABB boundingBox = mesh2.getBoundingBox();
+            Point3d max = boundingBox.getBoundsTop();
+            Point3d min = boundingBox.getBoundsBottom();
+            mesh.setVertex(0, min.x, max.y, max.z);
+            mesh.setVertex(1, max.x, max.y, max.z);
+            mesh.setVertex(2, max.x, min.y, max.z);
+            mesh.setVertex(3, min.x, min.y, max.z);
+            mesh.setVertex(4, min.x, max.y, min.z);
+            mesh.setVertex(5, max.x, max.y, min.z);
+            mesh.setVertex(6, max.x, min.y, min.z);
+            mesh.setVertex(7, min.x, min.y, min.z);
+            mesh.updateVertexBuffers(gl3);
+
+            // set the model matrix
+            Matrix4d w = meshInstance.getWorld();
+            w.transpose();
+            shader.setMatrix4d(gl3,"modelMatrix",w);
+
+            // highlight selected items
+            shader.setColor(gl3,"objectColor", list.contains(meshInstance) ? selected : unselected );
+            // draw it
+            mesh.render(gl3);
         }
+
         gl3.glEnable(GL3.GL_DEPTH_TEST);
     }
 }

src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawCameras.java

@@ -28,6 +28,8 @@ public class DrawCameras extends AbstractRenderPass {
     private final Mesh rayMesh = new Mesh();
     private ShaderProgram shader;
     private final double cameraConeRatio = 50;
+    private final double coneScale = cameraConeRatio * 0.0001;
+
 
     public DrawCameras() {
         super("Cameras");
@@ -37,8 +39,8 @@ public DrawCameras() {
 
     private void setupMeshRay() {
         rayMesh.setRenderStyle(GL3.GL_LINES);
-        rayMesh.addColor(1,1,1,1);        rayMesh.addVertex(0,0,0);
-        rayMesh.addColor(1,1,1,1);        rayMesh.addVertex(0,0,0);
+        rayMesh.addVertex(0,0,0);
+        rayMesh.addVertex(0,0,0);
     }
 
     private void setupMeshCone() {
@@ -48,11 +50,11 @@ private void setupMeshCone() {
         Vector3d b = new Vector3d( 1,-1,-1);
         Vector3d c = new Vector3d( 1, 1,-1);
         Vector3d d = new Vector3d(-1, 1,-1);
-        pyramidMesh.addColor(0,0,0,1);        pyramidMesh.addVertex(0,0,0);
-        pyramidMesh.addColor(0,0,0,1);        pyramidMesh.addVertex((float)a.x, (float)a.y, (float)a.z);
-        pyramidMesh.addColor(0,0,0,1);        pyramidMesh.addVertex((float)b.x, (float)b.y, (float)b.z);
-        pyramidMesh.addColor(0,0,0,1);        pyramidMesh.addVertex((float)c.x, (float)c.y, (float)c.z);
-        pyramidMesh.addColor(0,0,0,1);        pyramidMesh.addVertex((float)d.x, (float)d.y, (float)d.z);
+        pyramidMesh.addVertex(0,0,0);
+        pyramidMesh.addVertex((float)a.x, (float)a.y, (float)a.z);
+        pyramidMesh.addVertex((float)b.x, (float)b.y, (float)b.z);
+        pyramidMesh.addVertex((float)c.x, (float)c.y, (float)c.z);
+        pyramidMesh.addVertex((float)d.x, (float)d.y, (float)d.z);
 
         pyramidMesh.addIndex(0);
         pyramidMesh.addIndex(1);
@@ -105,29 +107,31 @@ public void draw(Viewport viewport) {
         shader.setVector3d(gl3,"cameraPos",cameraWorldPos);  // Camera position in world space
         shader.setVector3d(gl3,"lightPos",cameraWorldPos);  // Light position in world space
         shader.setColor(gl3,"lightColor", Color.WHITE);
-        shader.setColor(gl3,"objectColor",Color.GREEN);
         shader.setColor(gl3,"specularColor",Color.DARK_GRAY);
         shader.setColor(gl3,"ambientColor",Color.BLACK);
-        shader.set1i(gl3,"useVertexColor",1);
+        shader.set1i(gl3,"useVertexColor",0);
         shader.set1i(gl3,"useLighting",0);
         shader.set1i(gl3,"diffuseTexture",0);
         gl3.glDisable(GL3.GL_DEPTH_TEST);
         gl3.glDisable(GL3.GL_TEXTURE_2D);
 
-        double coneScale = cameraConeRatio *0.0001;
+        var list = Registry.selection.getList();
         var normalizedCoordinates = viewport.getCursorAsNormalized();
 
-        // position and draw the ray from the camera.
-        Matrix4d w = MatrixHelper.createIdentityMatrix4();
-        shader.setMatrix4d(gl3, "modelMatrix", w);
         for(Camera cam : Registry.cameras.getList() ) {
+            boolean selected = list.contains(cam);
+            if(getActiveStatus()==SOMETIMES && !selected) continue;
+
+            // position and draw the ray from the camera.
+            Matrix4d w = MatrixHelper.createIdentityMatrix4();
+            shader.setMatrix4d(gl3, "modelMatrix", w);
+            shader.setColor(gl3,"objectColor",selected ? Color.GREEN : Color.DARK_GRAY);
             Ray ray = viewport.getRayThroughPoint(cam,normalizedCoordinates.x,normalizedCoordinates.y);
             changeRayMesh(gl3, ray);
             rayMesh.render(gl3);
-        }
 
-        // scale and draw the view cones
-        for(Camera cam : Registry.cameras.getList() ) {
+            // scale and draw the view cones
+            shader.setColor(gl3,"objectColor",selected ? Color.WHITE : Color.BLACK);
             w = cam.getWorld();
             Matrix4d scale = MatrixHelper.createIdentityMatrix4();
             scale.m00 *= canvasWidth * coneScale;

src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawDHParameters.java

@@ -90,29 +90,34 @@ public void draw(Viewport viewport) {
         gl3.glDisable(GL3.GL_TEXTURE_2D);
         gl3.glDisable(GL3.GL_DEPTH_TEST);
 
+        var list = Registry.selection.getList();
+
         List<Node> toScan = new ArrayList<>();
         toScan.add(Registry.getScene());
         while(!toScan.isEmpty()) {
             Node node = toScan.remove(0);
             toScan.addAll(node.getChildren());
 
-            if(node instanceof DHParameter parameter) {
-                double d = parameter.getD();
-                mesh.setVertex(1,0,0,d);
-                mesh.setVertex(2,0,0,d);
-                double s = Math.sin(Math.toRadians(parameter.getTheta()));
-                double c = Math.cos(Math.toRadians(parameter.getTheta()));
-                double r = parameter.getR();
-                mesh.setVertex(3,c*r,s*r,d);
-                mesh.updateVertexBuffers(gl3);
-
-                // set modelView to world
-                Pose parentPose = parameter.findParent(Pose.class);
-                Matrix4d w = (parentPose==null) ? MatrixHelper.createIdentityMatrix4() : parentPose.getWorld();
-                w.transpose();
-                shader.setMatrix4d(gl3,"modelMatrix",w);
-                mesh.render(gl3);
-            }
+            if(!(node instanceof DHParameter parameter)) continue;
+            if(getActiveStatus()==SOMETIMES && !list.contains(parameter)) continue;
+
+            shader.setColor(gl3,"objectColor",list.contains(parameter) ? Color.WHITE : Color.GRAY);
+
+            double d = parameter.getD();
+            mesh.setVertex(1,0,0,d);
+            mesh.setVertex(2,0,0,d);
+            double s = Math.sin(Math.toRadians(parameter.getTheta()));
+            double c = Math.cos(Math.toRadians(parameter.getTheta()));
+            double r = parameter.getR();
+            mesh.setVertex(3,c*r,s*r,d);
+            mesh.updateVertexBuffers(gl3);
+
+            // set modelView to world
+            Pose parentPose = parameter.findParent(Pose.class);
+            Matrix4d w = (parentPose==null) ? MatrixHelper.createIdentityMatrix4() : parentPose.getWorld();
+            w.transpose();
+            shader.setMatrix4d(gl3,"modelMatrix",w);
+            mesh.render(gl3);
         }
 
         gl3.glEnable(GL3.GL_DEPTH_TEST);