make jaw position per-jaw, not per-gripper

src/main/java/com/marginallyclever/robotoverlord/components/ComponentFactory.java

@@ -34,10 +34,10 @@ public abstract class ComponentFactory {
 
 			MeshFromFile.class,
 			Box.class,
+			Cylinder.class,
+			Decal.class,
 			Grid.class,
 			Sphere.class,
-			Decal.class,
-			Cylinder.class,
 
 			Background.class,
 
@@ -56,8 +56,9 @@ public abstract class ComponentFactory {
 			ProgramComponent.class,
 			ProjectorComponent.class,
 
-			RobotGripperComponent.class,
-			RobotGripperJawComponent.class,
+			GripperComponentLinear.class,
+			GripperComponentRotary.class,
+			GripperComponentJaw.class,
 
 			DCMotorComponent.class,
 			ServoComponent.class,

src/main/java/com/marginallyclever/robotoverlord/components/GripperComponentAbstract.java

@@ -0,0 +1,66 @@
+package com.marginallyclever.robotoverlord.components;
+
+import com.marginallyclever.robotoverlord.SerializationContext;
+import com.marginallyclever.robotoverlord.entity.Entity;
+import com.marginallyclever.robotoverlord.parameters.IntParameter;
+import com.marginallyclever.robotoverlord.systems.render.mesh.Mesh;
+import org.json.JSONObject;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A gripper is a component that can grab and hold things.
+ * @author Dan Royer
+ * @since 2.11.0
+ */
+public abstract class GripperComponentAbstract extends ShapeComponent {
+    public static String [] names = new String[] {
+            "Opening",
+            "Open",
+            "Closing",
+            "Closed"
+    };
+
+    public static final int MODE_OPENING = 0;
+    public static final int MODE_OPEN = 1;
+    public static final int MODE_CLOSING = 2;
+    public static final int MODE_CLOSED = 3;
+
+    public final IntParameter mode = new IntParameter("Mode",MODE_OPEN);
+
+    protected GripperComponentAbstract() {
+        super();
+        myMesh = new Mesh();
+    }
+
+    public int getMode() {
+        return mode.get();
+    }
+
+    /**
+     * @return the {@link ShapeComponent} of all {@link GripperComponentJaw} children.
+     */
+    public List<GripperComponentJaw> getJaws() {
+        List<GripperComponentJaw> results = new ArrayList<>();
+        List<Entity> children = getEntity().getChildren();
+        for(Entity child : children) {
+            GripperComponentJaw jaw = child.getComponent(GripperComponentJaw.class);
+            if(jaw!=null) results.add(jaw);
+        }
+        return results;
+    }
+
+    @Override
+    public JSONObject toJSON(SerializationContext context) {
+        JSONObject jo = super.toJSON(context);
+        jo.put("mode",mode.toJSON(context));
+        return jo;
+    }
+
+    @Override
+    public void parseJSON(JSONObject json, SerializationContext context) {
+        mode.parseJSON(json.getJSONObject("mode"),context);
+        super.parseJSON(json,context);
+    }
+}

src/main/java/com/marginallyclever/robotoverlord/components/GripperComponentJaw.java

@@ -0,0 +1,35 @@
+package com.marginallyclever.robotoverlord.components;
+
+import com.jogamp.opengl.GL3;
+import com.marginallyclever.convenience.helpers.MatrixHelper;
+import com.marginallyclever.robotoverlord.SerializationContext;
+import com.marginallyclever.robotoverlord.entity.Entity;
+import com.marginallyclever.robotoverlord.parameters.DoubleParameter;
+import org.json.JSONObject;
+
+import javax.vecmath.Matrix4d;
+import javax.vecmath.Vector3d;
+import java.util.List;
+
+/**
+ * Identifier so that systems can find each child jaw of a gripper.
+ */
+public class GripperComponentJaw extends Component {
+    public DoubleParameter openDistance = new DoubleParameter("Open Distance",5.0);
+    public DoubleParameter closeDistance = new DoubleParameter("Close Distance",1.0);
+
+    @Override
+    public JSONObject toJSON(SerializationContext context) {
+        JSONObject jo = super.toJSON(context);
+        jo.put("openDistance",openDistance.toJSON(context));
+        jo.put("closeDistance",closeDistance.toJSON(context));
+        return jo;
+    }
+
+    @Override
+    public void parseJSON(JSONObject json, SerializationContext context) {
+        openDistance.parseJSON(json.getJSONObject("openDistance"),context);
+        if(json.has("closeDistance")) closeDistance.parseJSON(json.getJSONObject("closeDistance"),context);
+        super.parseJSON(json,context);
+    }
+}

src/main/java/com/marginallyclever/robotoverlord/components/GripperComponentLinear.java

@@ -0,0 +1,59 @@
+package com.marginallyclever.robotoverlord.components;
+
+import com.jogamp.opengl.GL3;
+import com.marginallyclever.convenience.helpers.MatrixHelper;
+import com.marginallyclever.robotoverlord.SerializationContext;
+import com.marginallyclever.robotoverlord.entity.Entity;
+import com.marginallyclever.robotoverlord.parameters.DoubleParameter;
+import org.json.JSONObject;
+
+import javax.vecmath.Matrix4d;
+import javax.vecmath.Point3d;
+import javax.vecmath.Vector3d;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A gripper is a component that can grab and hold things.  The jaws move in a straight line.
+ * @author Dan Royer
+ * @since 2.6.1
+ */
+public class GripperComponentLinear extends GripperComponentAbstract {
+    public GripperComponentLinear() {
+        super();
+    }
+
+    /**
+     * @return the center of the {@link GripperComponentJaw} child entities in world space.
+     */
+    public List<Point3d> getPoints() {
+        List<Entity> children = getEntity().getChildren();
+        List<Point3d> results = new ArrayList<>();
+        for(Entity child : children) {
+            if(child.getComponent(GripperComponentJaw.class)==null) continue;
+            Matrix4d pose = child.getComponent(PoseComponent.class).getWorld();
+            results.add(new Point3d(MatrixHelper.getPosition(pose)));
+        }
+        return results;
+    }
+
+    @Override
+    public void render(GL3 gl) {
+        List<Entity> children = getEntity().getChildren();
+        if(children.size()<2) return;
+
+        myMesh.setRenderStyle(GL3.GL_LINES);
+        myMesh.clear();
+        for(GripperComponentJaw jaw : getJaws()) {
+            Matrix4d m = jaw.getEntity().getComponent(PoseComponent.class).getLocal();
+            Vector3d p = MatrixHelper.getPosition(m);
+            Vector3d z = MatrixHelper.getZAxis(m);
+            double d = (jaw.openDistance.get() - jaw.closeDistance.get());
+            z.scaleAdd(d,z,p);
+
+            myMesh.addColor(1.0f,0.0f,0.5f,1.0f);  myMesh.addVertex((float)p.x,(float)p.y,(float)p.z);
+            myMesh.addColor(1.0f,0.5f,1.0f,1.0f);  myMesh.addVertex((float)z.x,(float)z.y,(float)z.z);
+        }
+        myMesh.render(gl);
+    }
+}

src/main/java/com/marginallyclever/robotoverlord/components/GripperComponentRotary.java

@@ -0,0 +1,60 @@
+package com.marginallyclever.robotoverlord.components;
+
+import com.jogamp.opengl.GL3;
+import com.marginallyclever.convenience.helpers.MatrixHelper;
+import com.marginallyclever.robotoverlord.SerializationContext;
+import com.marginallyclever.robotoverlord.entity.Entity;
+import com.marginallyclever.robotoverlord.parameters.DoubleParameter;
+import com.marginallyclever.robotoverlord.parameters.IntParameter;
+import org.json.JSONObject;
+
+import javax.vecmath.Matrix4d;
+import javax.vecmath.Point3d;
+import javax.vecmath.Vector3d;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A gripper is a component that can grab and hold things.  The jaws rotate around a point.
+ * @author Dan Royer
+ * @since 2.11.0
+ */
+public class GripperComponentRotary extends GripperComponentAbstract {
+    public GripperComponentRotary() {
+        super();
+    }
+
+    /**
+     * @return the center of the {@link GripperComponentJaw} child entities in world space.
+     */
+    public List<Point3d> getPoints() {
+        List<Entity> children = getEntity().getChildren();
+        List<Point3d> results = new ArrayList<>();
+        for(Entity child : children) {
+            if(child.getComponent(GripperComponentJaw.class)==null) continue;
+            Matrix4d pose = child.getComponent(PoseComponent.class).getWorld();
+            results.add(new Point3d(MatrixHelper.getPosition(pose)));
+        }
+        return results;
+    }
+
+    @Override
+    public void render(GL3 gl) {
+        List<Entity> children = getEntity().getChildren();
+        if(children.size()<2) return;
+
+        myMesh.setRenderStyle(GL3.GL_LINES);
+        myMesh.clear();
+        for(GripperComponentJaw jaw : getJaws()) {
+            Matrix4d m = jaw.getEntity().getComponent(PoseComponent.class).getLocal();
+            Vector3d p = MatrixHelper.getPosition(m);
+            Vector3d z = MatrixHelper.getZAxis(m);
+            double d = (jaw.openDistance.get() - jaw.closeDistance.get());
+            z.scaleAdd(d,z,p);
+
+            myMesh.addColor(1.0f,0.0f,0.5f,1.0f);  myMesh.addVertex((float)p.x,(float)p.y,(float)p.z);
+            myMesh.addColor(1.0f,0.5f,1.0f,1.0f);  myMesh.addVertex((float)z.x,(float)z.y,(float)z.z);
+        }
+        myMesh.render(gl);
+    }
+}

src/main/java/com/marginallyclever/robotoverlord/components/PoseComponent.java

@@ -95,7 +95,7 @@ public void setLocalMatrix4(Matrix4d m) {
 
     /**
      * Convert a matrix to Euler rotations.  There are many valid solutions.
-     * See also <a href="https://www.learnopencv.com/rotation-matrix-to-euler-angles/">...</a>
+     * See also <a href="https://www.learnopencv.com/rotation-matrix-to-euler-angles/">learnopencv.com</a>
      * Euler rotations are using the ZYX convention.
      * @return a {@link Vector3d} with degree rotations.
      */