added RobotArmToolComponent

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

@@ -76,4 +76,9 @@ public void setExpanded(boolean arg0) {
      * Called when this component is attached to an entity.
      */
     public void onAttach() {}
+
+    /**
+     * Called when this component is detached from an entity.
+     */
+    public void onDetach() {}
 }

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

@@ -15,7 +15,7 @@
  * @author Dan Royer
  * @since 2.11.0
  */
-public abstract class GripperComponentAbstract extends ShapeComponent {
+public abstract class GripperComponentAbstract extends RobotArmToolComponent {
     public static String [] names = new String[] {
             "Opening",
             "Open",
@@ -32,7 +32,6 @@ public abstract class GripperComponentAbstract extends ShapeComponent {
 
     protected GripperComponentAbstract() {
         super();
-        myMesh = new Mesh();
     }
 
     public int getMode() {

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

@@ -24,25 +24,4 @@ public class GripperComponentLinear extends GripperComponentAbstract {
     public GripperComponentLinear() {
         super();
     }
-
-
-    @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

@@ -26,12 +26,4 @@ public class GripperComponentRotary extends GripperComponentAbstract {
     public GripperComponentRotary() {
         super();
     }
-
-    @Override
-    public void render(GL3 gl) {
-        List<Entity> children = getEntity().getChildren();
-        if(children.size()<2) return;
-
-        // TODO draw arc of gripper movement
-    }
 }

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

@@ -0,0 +1,23 @@
+package com.marginallyclever.robotoverlord.components;
+
+public class RobotArmToolComponent extends Component {
+    @Override
+    public void onAttach() {
+        super.onAttach();
+
+        RobotComponent robot = getEntity().findFirstComponentInParents(RobotComponent.class);
+        if(robot!=null) {
+            robot.set(RobotComponent.TOOL_ENTITY,getEntity());
+        }
+    }
+
+    @Override
+    public void onDetach() {
+        super.onDetach();
+
+        RobotComponent robot = getEntity().findFirstComponentInParents(RobotComponent.class);
+        if(robot!=null) {
+            robot.set(RobotComponent.TOOL_ENTITY,null);
+        }
+    }
+}

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

@@ -92,6 +92,7 @@ public Object get(int property) {
             case JOINT_HOME: return getBone(activeJoint).getJointHome();
             case ALL_JOINT_VALUES: return getAllJointValues();
             case DESIRED_LINEAR_VELOCITY: return desiredLinearVelocity.get();
+            case TOOL_ENTITY: return getTool();
             case TOOL_ACTIVE: return false;
             default : {
                 logger.warn("invalid get() property {}", property);
@@ -112,11 +113,27 @@ public void set(int property, Object value) {
             case JOINT_HOME -> getBone(activeJoint).setJointHome((double) value);
             case ALL_JOINT_VALUES -> setAllJointValues((double[]) value);
             case DESIRED_LINEAR_VELOCITY -> desiredLinearVelocity.set((double) value);
+            case TOOL_ENTITY -> setTool((Entity)value);
             case TOOL_ACTIVE -> fireRobotEvent(new RobotEvent(RobotEvent.TOOL_ACTIVATE, this, value));
             default -> logger.warn("invalid set() property {}", property);
         }
     }
 
+    private Entity toolAttached;
+
+    private Object getTool() {
+        return toolAttached;
+    }
+
+    private void setTool(Entity value) {
+        toolAttached = value;
+        fireToolAttached();
+    }
+
+    private void fireToolAttached() {
+        fireRobotEvent(new RobotEvent(RobotEvent.TOOL_CHANGE, this, toolAttached));
+    }
+
     private Object getActiveJointValue() {
         DHComponent b = getBone(activeJoint);
         return b.getJointValue();

src/main/java/com/marginallyclever/robotoverlord/components/shapes/MeshFromFile.java

@@ -47,6 +47,12 @@ public void onAttach() {
         }
     }
 
+    @Override
+    public void onDetach() {
+        super.onDetach();
+        myMesh.clear();
+    }
+
     @Override
     public JSONObject toJSON(SerializationContext context) {
         JSONObject jo = super.toJSON(context);

src/main/java/com/marginallyclever/robotoverlord/entity/Entity.java

@@ -94,7 +94,6 @@ public void addChild(int index, Entity e) {
 	 * Use {@link EntityManager#addEntityToParent(Entity, Entity)} instead.
 	 * @param child the child to add
 	 */
-	@Deprecated
 	public void addChild(Entity child) {
 		//System.out.println("add "+child.getFullPath()+" to "+this.getFullPath());
 		children.add(child);
@@ -105,7 +104,6 @@ public void addChild(Entity child) {
 	 * Use {@link EntityManager#removeEntityFromParent(Entity, Entity)} instead.
 	 * @param child the child to remove
 	 */
-	@Deprecated
 	public void removeChild(Entity child) {
 		if (children.contains(child)) {
 			children.remove(child);
@@ -274,6 +272,7 @@ public Component getComponent(int i) {
 
 	public void removeComponent(Component c) {
 		components.remove(c);
+		c.onDetach();
 	}
 
 	/**

src/main/java/com/marginallyclever/robotoverlord/robots/Robot.java

@@ -1,7 +1,5 @@
 package com.marginallyclever.robotoverlord.robots;
 
-import com.marginallyclever.robotoverlord.entity.Entity;
-
 import javax.vecmath.Matrix4d;
 import javax.vecmath.Point3d;
 
@@ -29,7 +27,8 @@ public interface Robot {
     int END_EFFECTOR_TARGET_POSITION = 15;
     int ALL_JOINT_VALUES = 16;
     int DESIRED_LINEAR_VELOCITY = 17;
-    int TOOL_ACTIVE = 18;
+    int TOOL_ENTITY = 18;
+    int TOOL_ACTIVE = 19;
 
     /**
      * @param property can be any one of the following:
@@ -52,6 +51,7 @@ public interface Robot {
      *      <li>{@link #JOINT_HOME}: returns a double representing the degrees or millimeters of the active joint at its home position.</li>
      *      <li>{@link #ALL_JOINT_VALUES} returns a double array {@link #NUM_JOINTS} long containing the value of the active component in each joint.</li>
      *      <li>{@link #DESIRED_LINEAR_VELOCITY} returns a double.</li>
+     *      <li>{@link #TOOL_ENTITY} returns an Entity that contains a RobotToolComponent.</li>
      *      <li>{@link #TOOL_ACTIVE} returns a boolean.</li>
      * </ul>
      * @return the requested property or null.
@@ -74,6 +74,7 @@ public interface Robot {
      *      <li>{@link #JOINT_POSE}: a {@link Matrix4d} relative to the origin of this robot.</li>
      *      <li>{@link #ALL_JOINT_VALUES} a double array NUM_JOINTS long containing the value for the active component in each joint.</li>
      *      <li>{@link #DESIRED_LINEAR_VELOCITY} a positive, non-zero double in centimeters/s.</li>
+     *      <li>{@link #TOOL_ENTITY} an Entity that contains a RobotToolComponent.</li>
      *      <li>{@link #TOOL_ACTIVE} a boolean.</li>
      * </ul>
      */