From 7df0dc24dfc64cda43b18547d8d41e25fc404f53 Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Sun, 7 Jan 2024 08:48:00 -0800 Subject: [PATCH 1/6] more adjustable camera movement speed. --- .../viewporttools/move/MoveCameraTool.java | 195 ------------------ .../render/viewporttools/move/ScaleTool.java | 111 ---------- 2 files changed, 306 deletions(-) delete mode 100644 src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveCameraTool.java delete mode 100644 src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/ScaleTool.java diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveCameraTool.java b/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveCameraTool.java deleted file mode 100644 index 871323ff3..000000000 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveCameraTool.java +++ /dev/null @@ -1,195 +0,0 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; - -import com.jogamp.opengl.GL3; -import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; -import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.node.nodes.Camera; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; - -import javax.swing.*; -import javax.vecmath.Point3d; -import java.awt.event.KeyEvent; -import java.awt.event.MouseEvent; -import java.awt.event.MouseWheelEvent; -import java.util.List; - -/** - * Moves the active camera around the scene based on mouse and keyboard input. - * Hold the middle mouse button to move the camera. - * Hold the SHIFT key to move the camera in the XY plane (strafe aka truck/pedestal relative to camera). - * Hold the CTRL key to move the camera in the Z direction (dolly). - * @author Dan Royer - * @since 2.5.0 - */ -@Deprecated -public class MoveCameraTool implements ViewportTool { - private Viewport viewport; - - /** - * Must be greater than or equal to zero. - */ - private final double snapDeadZone = 100; - - /** - * Must be greater than or equal to zero. - */ - private final double snapDegrees = 45; - - /** - * Must be greater than one. - */ - private final double wheelScale = 1.25; - - private boolean isMoving=false; - private boolean isControlDown =false; - private boolean isShiftDown =false; - private double previousX, previousY; - - - @Override - public void activate(List list) {} - - @Override - public void deactivate() {} - - @Override - public void handleMouseEvent(MouseEvent event) { - if (event.getID() == MouseEvent.MOUSE_PRESSED) { - mousePressed(event); - } else if(event.getID() == MouseEvent.MOUSE_RELEASED) { - mouseReleased(event); - } else if(event.getID() == MouseEvent.MOUSE_DRAGGED) { - mouseDragged(event); - } else if(event.getID() == MouseEvent.MOUSE_WHEEL) { - mouseWheelMoved((MouseWheelEvent)event); - } - } - - private void updatePrevious(MouseEvent event) { - previousX = event.getX(); - previousY = event.getY(); - } - - @Override - public void mouseMoved(MouseEvent event) {} - - @Override - public void mousePressed(MouseEvent event) { - if (SwingUtilities.isMiddleMouseButton(event)) { - isMoving = true; - updatePrevious(event); - } - } - @Override - public void mouseDragged(MouseEvent event) { - if(!SwingUtilities.isMiddleMouseButton(event)) return; - - Camera cameraComponent = Registry.getActiveCamera(); - if(cameraComponent==null) return; - if(!isMoving) return; - - double dx = event.getX() - previousX; - double dy = event.getY() - previousY; - if(dx==0 && dy==0) return; - - updatePrevious(event); - - if(isShiftDown) { - cameraComponent.pedestal(dy); - cameraComponent.truck(dx); - } else if(isControlDown) { - cameraComponent.dolly(dy); - } else { - cameraComponent.orbit(dx,dy); - } - } - - @Override - public void mouseReleased(MouseEvent event) { - if(SwingUtilities.isMiddleMouseButton(event)) { - isMoving=false; - } - } - - public void mouseWheelMoved(MouseWheelEvent e) { - Camera camera = Registry.getActiveCamera(); - if(camera==null) return; - - if(e.getWheelRotation()>0) { - camera.setOrbitRadius(camera.getOrbitRadius() / wheelScale); - } else { - camera.setOrbitRadius(camera.getOrbitRadius() * wheelScale); - } - } - - @Override - public void update(double deltaTime) {} - - /** - * Renders any tool-specific visuals to the 3D scene. - * - * @param gl - */ - @Override - public void render(GL3 gl, ShaderProgram shaderProgram) {} - - @Override - public void handleKeyEvent(KeyEvent event) { - if(event.getID() == KeyEvent.KEY_PRESSED) { - // remember if SHIFT is down - if (event.getKeyCode() == KeyEvent.VK_SHIFT) { - isShiftDown = true; - } - // remember if CTRL is down - if (event.getKeyCode() == KeyEvent.VK_CONTROL) { - isControlDown = true; - } - } else if(event.getID() == KeyEvent.KEY_RELEASED) { - // remember if SHIFT is down - if (event.getKeyCode() == KeyEvent.VK_SHIFT) { - isShiftDown = false; - } - // remember if CTRL is down - if (event.getKeyCode() == KeyEvent.VK_CONTROL) { - isControlDown = false; - } - } - } - - @Override - public void setViewport(Viewport viewport) { - this.viewport = viewport; - } - - @Override - public boolean isInUse() { - return isMoving; - } - - @Override - public void cancelUse() { - isMoving=false; - } - - @Override - public Point3d getStartPoint() { - return null; - } - - /** - * Sets the frame of reference for the tool. - * - * @param index 0 for world, 1 for local, 2 for camera. - */ - @Override - public void setFrameOfReference(int index) { - - } - @Override - public void init(GL3 gl3) {} - - @Override - public void dispose(GL3 gl3) {} -} diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/ScaleTool.java b/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/ScaleTool.java deleted file mode 100644 index b661f6ed9..000000000 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/ScaleTool.java +++ /dev/null @@ -1,111 +0,0 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; - -import com.jogamp.opengl.GL3; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; -import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import javax.vecmath.Point3d; -import java.awt.event.KeyEvent; -import java.awt.event.MouseEvent; -import java.util.List; - -/** - * A tool to scale {@link com.marginallyclever.ro3.node.nodes.Pose} nodes in the Viewport. - * - * @author Dan Royer - * @since 2.5.0 - */ -@Deprecated -public class ScaleTool implements ViewportTool { - private static final Logger logger = LoggerFactory.getLogger(ScaleTool.class); - - /** - * This method is called when the tool is activated. It receives the SelectedItems object containing the selected - * entities and their initial world poses. - * - * @param list The selected items to be manipulated by the tool. - */ - @Override - public void activate(List list) {} - - /** - * This method is called when the tool is deactivated. It allows the tool to perform any necessary cleanup - * actions before another tool takes over. - */ - @Override - public void deactivate() {} - - @Override - public void handleMouseEvent(MouseEvent event) {} - - @Override - public void handleKeyEvent(KeyEvent event) {} - - /** - * Updates the tool's internal state, if necessary. - * - * @param deltaTime Time elapsed since the last update. - */ - @Override - public void update(double deltaTime) {} - - /** - * Renders any tool-specific visuals to the 3D scene. - * - * @param gl - */ - @Override - public void render(GL3 gl, ShaderProgram shaderProgram) {} - - @Override - public void setViewport(Viewport viewport) {} - - @Override - public boolean isInUse() { - return false; - } - - @Override - public void cancelUse() {} - - @Override - public Point3d getStartPoint() { - return null; - } - - @Override - public void mouseMoved(MouseEvent event) {} - - @Override - public void mousePressed(MouseEvent event) {} - - @Override - public void mouseDragged(MouseEvent event) {} - - @Override - public void mouseReleased(MouseEvent event) {} - - /** - * Sets the frame of reference for the tool. - * - * @param index 0 for world, 1 for local, 2 for camera. - */ - @Override - public void setFrameOfReference(int index) {} - - @Override - public void init(GL3 gl3) { - // TODO - logger.error("Not finished."); - } - - @Override - public void dispose(GL3 gl3) { - // TODO - logger.error("Not finished."); - } -} From 6657859e319439d5745e5d846d08e1b121907154 Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Sun, 7 Jan 2024 08:49:23 -0800 Subject: [PATCH 2/6] :truck: apps/render -> apss/viewport --- .../convenience/helpers/MatrixHelper.java | 4 +-- .../marginallyclever/ro3/apps/RO3Frame.java | 4 +-- .../{render => viewport}/OpenGLPanel.java | 3 +- .../apps/{render => viewport}/RenderPass.java | 4 +-- .../{render => viewport}/ShaderProgram.java | 4 +-- .../apps/{render => viewport}/Viewport.java | 29 +++++++++--------- .../renderpasses/AbstractRenderPass.java | 6 ++-- .../renderpasses/DrawBackground.java | 10 +++--- .../renderpasses/DrawBoundingBoxes.java | 11 +++---- .../renderpasses/DrawCameras.java | 10 +++--- .../renderpasses/DrawDHParameters.java | 10 +++--- .../renderpasses/DrawGroundPlane.java | 10 +++--- .../renderpasses/DrawHingeJoints.java | 11 +++---- .../renderpasses/DrawMeshes.java | 10 +++--- .../renderpasses/DrawPoses.java | 11 +++---- .../viewporttools/Compass3D.java | 8 ++--- .../viewporttools/SelectedItems.java | 4 +-- .../viewporttools/SelectionTool.java | 7 ++--- .../viewporttools/ViewportTool.java | 6 ++-- .../viewporttools/move/MoveUtils.java | 8 ++--- .../viewporttools/move/RotateToolMulti.java | 10 +++--- .../viewporttools/move/RotateToolOneAxis.java | 10 +++--- .../move/TranslateToolMulti.java | 10 +++--- .../move/TranslateToolOneAxis.java | 10 +++--- .../move/TranslateToolTwoAxis.java | 10 +++--- .../com/marginallyclever/ro3/mesh/Mesh.java | 4 +-- .../ro3/node/nodes/Camera.java | 7 ++--- .../ro3/texture/TextureWithMetadata.java | 6 ++-- .../components/LinearPatternComponent.java | 2 +- .../renderpanel/MatrixMaterialRender.java | 2 +- .../renderpanel/OpenGLRenderPanel.java | 16 +++++----- .../systems/render/ShaderProgram.java | 2 +- .../systems/render/mesh/Mesh.java | 4 +-- .../apps/{render => viewport}/default.frag | 0 .../apps/{render => viewport}/default.vert | 0 .../{render => viewport}/icons8-add-16.png | Bin .../{render => viewport}/icons8-move-16.png | Bin .../{render => viewport}/icons8-rotate-16.png | Bin .../{render => viewport}/icons8-select-16.png | Bin .../renderpasses/center-of-mass.png | Bin .../renderpasses/mesh.frag | 0 .../renderpasses/mesh.vert | 0 .../renderpasses/shadow.frag | 0 .../renderpasses/shadow.vert | 0 .../unused/debugTexture_330.vert | 0 .../unused/default_330.frag | 0 .../unused/default_330.vert | 0 .../unused/givenColor_330.frag | 0 .../{render => viewport}/unused/jfa_330.frag | 0 .../{render => viewport}/unused/jfa_330.vert | 0 .../unused/notransform_330.vert | 0 .../unused/outline2_330.frag | 0 .../unused/outline2_330.vert | 0 .../unused/outline_330.frag | 0 .../unused/outline_330.vert | 0 .../{render => viewport}/unused/red_330.frag | 0 .../unused/testTextureDepth1_330.frag | 0 .../unused/testTextureDepth2_330.frag | 0 .../unused/testTextureUV_330.frag | 0 .../viewporttools/axisLetters.png | Bin .../{render => viewport}/OpenGLPanelTest.java | 2 +- .../{render => viewport}/ViewportTest.java | 2 +- .../renderpanel/OpenGLTestStencil.java | 2 +- 63 files changed, 131 insertions(+), 138 deletions(-) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/OpenGLPanel.java (98%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/RenderPass.java (91%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/ShaderProgram.java (98%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/Viewport.java (95%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/AbstractRenderPass.java (89%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawBackground.java (95%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawBoundingBoxes.java (94%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawCameras.java (95%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawDHParameters.java (94%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawGroundPlane.java (91%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawHingeJoints.java (94%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawMeshes.java (97%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/DrawPoses.java (92%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/Compass3D.java (97%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/SelectedItems.java (95%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/SelectionTool.java (97%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/ViewportTool.java (94%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/move/MoveUtils.java (93%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/move/RotateToolMulti.java (96%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/move/RotateToolOneAxis.java (98%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/move/TranslateToolMulti.java (96%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/move/TranslateToolOneAxis.java (96%) rename src/main/java/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/move/TranslateToolTwoAxis.java (96%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/default.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/default.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/icons8-add-16.png (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/icons8-move-16.png (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/icons8-rotate-16.png (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/icons8-select-16.png (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/center-of-mass.png (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/mesh.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/mesh.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/shadow.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/renderpasses/shadow.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/debugTexture_330.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/default_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/default_330.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/givenColor_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/jfa_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/jfa_330.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/notransform_330.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/outline2_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/outline2_330.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/outline_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/outline_330.vert (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/red_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/testTextureDepth1_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/testTextureDepth2_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/unused/testTextureUV_330.frag (100%) rename src/main/resources/com/marginallyclever/ro3/apps/{render => viewport}/viewporttools/axisLetters.png (100%) rename src/test/java/com/marginallyclever/ro3/apps/{render => viewport}/OpenGLPanelTest.java (91%) rename src/test/java/com/marginallyclever/ro3/apps/{render => viewport}/ViewportTest.java (93%) diff --git a/src/main/java/com/marginallyclever/convenience/helpers/MatrixHelper.java b/src/main/java/com/marginallyclever/convenience/helpers/MatrixHelper.java index 6318f0ccd..98d3d4200 100644 --- a/src/main/java/com/marginallyclever/convenience/helpers/MatrixHelper.java +++ b/src/main/java/com/marginallyclever/convenience/helpers/MatrixHelper.java @@ -88,7 +88,7 @@ static public void createMesh(GL3 gl, Vector3d p, Vector3d u, Vector3d v, Vector /** * Draw the three vectors of a matrix at a point - * @param gl render context + * @param gl viewport context * @param p position at which to draw * @param u in yellow (1,1,0) * @param v in teal (0,1,1) @@ -915,7 +915,7 @@ public static FloatBuffer matrixToFloatBuffer(Matrix4d m) { /** * - * @param gl render context + * @param gl viewport context * @param type either GL3.GL_MODELVIEW_MATRIX or GL3.GL_PROJECTION_MATRIX * @return */ diff --git a/src/main/java/com/marginallyclever/ro3/apps/RO3Frame.java b/src/main/java/com/marginallyclever/ro3/apps/RO3Frame.java index 637571b9b..8ac56cd21 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/RO3Frame.java +++ b/src/main/java/com/marginallyclever/ro3/apps/RO3Frame.java @@ -20,8 +20,8 @@ import com.marginallyclever.ro3.apps.nodetreeview.NodeTreeView; import com.marginallyclever.ro3.apps.shared.PersistentJFileChooser; import com.marginallyclever.ro3.apps.webcampanel.WebCamPanel; -import com.marginallyclever.ro3.apps.render.OpenGLPanel; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.OpenGLPanel; +import com.marginallyclever.ro3.apps.viewport.Viewport; import org.slf4j.Logger; import org.slf4j.LoggerFactory; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/OpenGLPanel.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanel.java similarity index 98% rename from src/main/java/com/marginallyclever/ro3/apps/render/OpenGLPanel.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanel.java index 9bbb3bda0..6327cb593 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/OpenGLPanel.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanel.java @@ -1,10 +1,9 @@ -package com.marginallyclever.ro3.apps.render; +package com.marginallyclever.ro3.apps.viewport; import com.jogamp.opengl.*; import com.jogamp.opengl.awt.GLJPanel; import com.jogamp.opengl.util.FPSAnimator; import com.marginallyclever.ro3.apps.App; -import com.marginallyclever.ro3.apps.DockingPanel; import com.marginallyclever.ro3.Registry; import org.slf4j.Logger; import org.slf4j.LoggerFactory; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/RenderPass.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/RenderPass.java similarity index 91% rename from src/main/java/com/marginallyclever/ro3/apps/render/RenderPass.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/RenderPass.java index 0653c28e0..a5cf7d43e 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/RenderPass.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/RenderPass.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render; +package com.marginallyclever.ro3.apps.viewport; import com.jogamp.opengl.GLEventListener; import com.marginallyclever.ro3.Registry; @@ -30,7 +30,7 @@ public interface RenderPass extends GLEventListener { String getName(); /** - * Draw this render pass. + * Draw this viewport pass. * @param viewport the viewport to draw into */ void draw(Viewport viewport); diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/ShaderProgram.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/ShaderProgram.java similarity index 98% rename from src/main/java/com/marginallyclever/ro3/apps/render/ShaderProgram.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/ShaderProgram.java index 79b0f3144..42d294d54 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/ShaderProgram.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/ShaderProgram.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render; +package com.marginallyclever.ro3.apps.viewport; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.helpers.MatrixHelper; @@ -127,7 +127,7 @@ public void setVector3d(GL3 gl, String name, Vector3d value) { /** * Set a matrix in the shader. OpenGL uses column-major order, where Java and DirectX use row-major order. * Don't forget to transpose! - * @param gl the render context + * @param gl the viewport context * @param name the name of the uniform variable * @param value the matrix to set */ diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/Viewport.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/Viewport.java similarity index 95% rename from src/main/java/com/marginallyclever/ro3/apps/render/Viewport.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/Viewport.java index 143213aaa..e7c565267 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/Viewport.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/Viewport.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render; +package com.marginallyclever.ro3.apps.viewport; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -8,12 +8,12 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.renderpasses.*; -import com.marginallyclever.ro3.apps.render.viewporttools.Compass3D; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectionTool; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; -import com.marginallyclever.ro3.apps.render.viewporttools.move.RotateToolMulti; -import com.marginallyclever.ro3.apps.render.viewporttools.move.TranslateToolMulti; +import com.marginallyclever.ro3.apps.viewport.renderpasses.*; +import com.marginallyclever.ro3.apps.viewport.viewporttools.Compass3D; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectionTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.move.RotateToolMulti; +import com.marginallyclever.ro3.apps.viewport.viewporttools.move.TranslateToolMulti; import com.marginallyclever.ro3.listwithevents.ListWithEvents; import com.marginallyclever.ro3.node.nodes.Camera; import org.slf4j.Logger; @@ -51,6 +51,7 @@ public class Viewport extends OpenGLPanel implements GLEventListener { private final List viewportTools = new ArrayList<>(); private int activeToolIndex = -1; private ShaderProgram toolShader; + private final double userMovementScale = 1.0; public Viewport() { @@ -138,7 +139,7 @@ private void addRenderPasses() { } /** - * Load the render pass state from the {@link java.util.prefs.Preferences}. + * Load the viewport pass state from the {@link java.util.prefs.Preferences}. */ private void loadRenderPassState() { Preferences pref = Preferences.userNodeForPackage(this.getClass()); @@ -151,7 +152,7 @@ private void loadRenderPassState() { } /** - * Save the render pass state to the {@link java.util.prefs.Preferences}. + * Save the viewport pass state to the {@link java.util.prefs.Preferences}. */ public void saveRenderPassState() { Preferences pref = Preferences.userNodeForPackage(this.getClass()); @@ -196,7 +197,7 @@ private void addRenderPassSelection() { toolBar.add(button); // Add an ActionListener to the JButton to show the JPopupMenu when clicked button.addActionListener(e -> renderPassMenu.show(button, button.getWidth()/2, button.getHeight()/2)); - button.setToolTipText("Select the render passes to use."); + button.setToolTipText("Select the viewport passes to use."); updateRenderPassMenu(); } @@ -237,7 +238,7 @@ private void removeRenderPass(Object source,RenderPass renderPass) { } /** - * Refreshes the entire contents of the render pass menu. + * Refreshes the entire contents of the viewport pass menu. */ private void updateRenderPassMenu() { renderPassMenu.removeAll(); @@ -319,8 +320,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { toolShader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } @@ -432,7 +433,7 @@ public void mouseDragged(MouseEvent e) { assert camera != null; // scale based on orbit distance - smaller orbits need smaller movements - double scale = camera.getOrbitRadius() / 50d; + double scale = camera.getOrbitRadius() * userMovementScale / 50d; dx *= scale; dy *= scale; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/AbstractRenderPass.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/AbstractRenderPass.java similarity index 89% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/AbstractRenderPass.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/AbstractRenderPass.java index 813bf7021..d6c8642b4 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/AbstractRenderPass.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/AbstractRenderPass.java @@ -1,8 +1,8 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GLAutoDrawable; -import com.marginallyclever.ro3.apps.render.RenderPass; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.RenderPass; +import com.marginallyclever.ro3.apps.viewport.Viewport; /** * {@link AbstractRenderPass} handles common methods for all {@link RenderPass}. diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBackground.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBackground.java similarity index 95% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBackground.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBackground.java index b327ee398..193d06c18 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBackground.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBackground.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL; import com.jogamp.opengl.GL3; @@ -8,10 +8,10 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.texture.TextureWithMetadata; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -95,8 +95,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBoundingBoxes.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java similarity index 94% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBoundingBoxes.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java index 6eb7448d7..da4c2f10e 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawBoundingBoxes.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -7,11 +7,11 @@ import com.marginallyclever.convenience.helpers.OpenGLHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.MeshInstance; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import com.marginallyclever.ro3.mesh.AABB; import org.slf4j.Logger; @@ -22,7 +22,6 @@ import javax.vecmath.Vector3d; import java.awt.*; import java.util.ArrayList; -import java.util.List; /** * Draw the bounding box of each {@link MeshInstance} in the scene. @@ -67,8 +66,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawCameras.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawCameras.java similarity index 95% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawCameras.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawCameras.java index 1b322d2d4..2108877f1 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawCameras.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawCameras.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -7,9 +7,9 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.nodes.Camera; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -79,8 +79,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawDHParameters.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawDHParameters.java similarity index 94% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawDHParameters.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawDHParameters.java index aae6b1bb3..677dbfb2b 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawDHParameters.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawDHParameters.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -7,12 +7,12 @@ import com.marginallyclever.convenience.helpers.OpenGLHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.DHParameter; import com.marginallyclever.ro3.node.nodes.Pose; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -50,8 +50,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(IOException e) { logger.error("Failed to create default shader.",e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawGroundPlane.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawGroundPlane.java similarity index 91% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawGroundPlane.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawGroundPlane.java index 20c2de99b..4c014c496 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawGroundPlane.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawGroundPlane.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -6,9 +6,9 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.nodes.Camera; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -45,8 +45,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawHingeJoints.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawHingeJoints.java similarity index 94% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawHingeJoints.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawHingeJoints.java index 1cee372df..5eea8275d 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawHingeJoints.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawHingeJoints.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -6,13 +6,13 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.mesh.shapes.CircleXY; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.HingeJoint; import com.marginallyclever.ro3.node.nodes.Pose; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -21,7 +21,6 @@ import javax.vecmath.Vector3d; import java.awt.*; import java.util.ArrayList; -import java.util.List; /** *

Draw a ring around each hinge joint to show the range of motion.

@@ -47,8 +46,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawMeshes.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java similarity index 97% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawMeshes.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java index 876523f33..39bc616d3 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawMeshes.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -7,13 +7,13 @@ import com.marginallyclever.convenience.helpers.OpenGLHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Material; import com.marginallyclever.ro3.node.nodes.MeshInstance; import com.marginallyclever.ro3.texture.TextureWithMetadata; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -105,7 +105,7 @@ private void generateDepthMap(GL3 gl3, List meshes) { // before, set up the shadow FBO gl3.glViewport(0,0,SHADOW_WIDTH,SHADOW_HEIGHT); gl3.glBindFramebuffer(GL3.GL_FRAMEBUFFER, shadowFBO[0]); - // setup shader and render to depth map + // setup shader and viewport to depth map gl3.glClear(GL3.GL_DEPTH_BUFFER_BIT); gl3.glEnable(GL3.GL_DEPTH_TEST); gl3.glCullFace(GL3.GL_FRONT); @@ -119,7 +119,7 @@ private void generateDepthMap(GL3 gl3, List meshes) { shadowShader.setMatrix4d(gl3,"modelMatrix",w); meshInstance.getMesh().render(gl3); } - // render scene as normal with shadow mapping (using depth map) + // viewport scene as normal with shadow mapping (using depth map) gl3.glCullFace(GL3.GL_BACK); gl3.glBindFramebuffer(GL3.GL_FRAMEBUFFER,0); gl3.glViewport(0,0,canvasWidth,canvasHeight); diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawPoses.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawPoses.java similarity index 92% rename from src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawPoses.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawPoses.java index 8772c55d7..d75ff0a30 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/renderpasses/DrawPoses.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawPoses.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.renderpasses; +package com.marginallyclever.ro3.apps.viewport.renderpasses; import com.jogamp.opengl.GL3; import com.jogamp.opengl.GLAutoDrawable; @@ -6,11 +6,11 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.ResourceHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Pose; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -19,7 +19,6 @@ import javax.vecmath.Vector3d; import java.awt.*; import java.util.ArrayList; -import java.util.List; /** * Draw each {@link Pose} as RGB lines from the origin to the X,Y,Z axes. @@ -38,8 +37,8 @@ public void init(GLAutoDrawable glAutoDrawable) { GL3 gl3 = glAutoDrawable.getGL().getGL3(); try { shader = new ShaderProgram(gl3, - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.vert"), - ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/render/default.frag")); + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.vert"), + ResourceHelper.readResource(this.getClass(), "/com/marginallyclever/ro3/apps/viewport/default.frag")); } catch(Exception e) { logger.error("Failed to load shader", e); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/Compass3D.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/Compass3D.java similarity index 97% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/Compass3D.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/Compass3D.java index 3b6209a6c..9455dab25 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/Compass3D.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/Compass3D.java @@ -1,12 +1,12 @@ -package com.marginallyclever.ro3.apps.render.viewporttools; +package com.marginallyclever.ro3.apps.viewport.viewporttools; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.Ray; import com.marginallyclever.convenience.helpers.IntersectionHelper; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.mesh.Mesh; import com.marginallyclever.ro3.mesh.shapes.CircleXY; import com.marginallyclever.ro3.node.Node; @@ -50,7 +50,7 @@ public class Compass3D implements ViewportTool { public Compass3D() { super(); - texture = Registry.textureFactory.load("/com/marginallyclever/ro3/apps/render/viewporttools/axisLetters.png"); + texture = Registry.textureFactory.load("/com/marginallyclever/ro3/apps/viewport/viewporttools/axisLetters.png"); createQuadMesh(); } diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/SelectedItems.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/SelectedItems.java similarity index 95% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/SelectedItems.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/SelectedItems.java index ef3b55c41..83817c475 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/SelectedItems.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/SelectedItems.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.viewporttools; +package com.marginallyclever.ro3.apps.viewport.viewporttools; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.node.nodes.Pose; @@ -11,7 +11,7 @@ import java.util.Map; /** - * A list of {@link Node}s selected in the {@link com.marginallyclever.ro3.apps.render.Viewport}. + * A list of {@link Node}s selected in the {@link com.marginallyclever.ro3.apps.viewport.Viewport}. * * @author Dan Royer * @since 2.5.0 diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/SelectionTool.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/SelectionTool.java similarity index 97% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/SelectionTool.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/SelectionTool.java index dae335b31..a1b0321d9 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/SelectionTool.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/SelectionTool.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render.viewporttools; +package com.marginallyclever.ro3.apps.viewport.viewporttools; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.Ray; @@ -9,13 +9,12 @@ import com.marginallyclever.ro3.node.nodes.Pose; import com.marginallyclever.ro3.raypicking.RayHit; import com.marginallyclever.ro3.raypicking.RayPickSystem; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import javax.vecmath.*; -import java.awt.*; import java.awt.event.KeyEvent; import java.awt.event.MouseAdapter; import java.awt.event.MouseEvent; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/ViewportTool.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/ViewportTool.java similarity index 94% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/ViewportTool.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/ViewportTool.java index 9e13cac52..7466152b0 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/ViewportTool.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/ViewportTool.java @@ -1,9 +1,9 @@ -package com.marginallyclever.ro3.apps.render.viewporttools; +package com.marginallyclever.ro3.apps.viewport.viewporttools; import com.jogamp.opengl.GL3; import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import javax.vecmath.Point3d; import java.awt.event.KeyEvent; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveUtils.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/MoveUtils.java similarity index 93% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveUtils.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/MoveUtils.java index dcb2df914..231d1589e 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/MoveUtils.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/MoveUtils.java @@ -1,16 +1,16 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; +package com.marginallyclever.ro3.apps.viewport.viewporttools.move; import com.marginallyclever.convenience.Plane; import com.marginallyclever.convenience.Ray; import com.marginallyclever.convenience.helpers.IntersectionHelper; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectedItems; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectedItems; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Pose; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.Viewport; import javax.vecmath.Matrix4d; import javax.vecmath.Point3d; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/RotateToolMulti.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolMulti.java similarity index 96% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/RotateToolMulti.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolMulti.java index 4bb8cdd15..c10475005 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/RotateToolMulti.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolMulti.java @@ -1,15 +1,15 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; +package com.marginallyclever.ro3.apps.viewport.viewporttools.move; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.ColorRGB; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectedItems; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectedItems; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import javax.vecmath.Matrix4d; import javax.vecmath.Point3d; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/RotateToolOneAxis.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolOneAxis.java similarity index 98% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/RotateToolOneAxis.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolOneAxis.java index 6a60ddc9a..6554cdf4b 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/RotateToolOneAxis.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolOneAxis.java @@ -1,17 +1,17 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; +package com.marginallyclever.ro3.apps.viewport.viewporttools.move; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.ColorRGB; import com.marginallyclever.convenience.PrimitiveSolids; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectedItems; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectedItems; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; import com.marginallyclever.ro3.mesh.Mesh; import com.marginallyclever.ro3.mesh.shapes.Box; import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Pose; import org.slf4j.Logger; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolMulti.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolMulti.java similarity index 96% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolMulti.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolMulti.java index a03af04ae..34a85cd26 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolMulti.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolMulti.java @@ -1,15 +1,15 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; +package com.marginallyclever.ro3.apps.viewport.viewporttools.move; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.ColorRGB; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectedItems; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectedItems; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import javax.vecmath.Matrix4d; import javax.vecmath.Point3d; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolOneAxis.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolOneAxis.java similarity index 96% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolOneAxis.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolOneAxis.java index 00e44e257..c793c8acd 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolOneAxis.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolOneAxis.java @@ -1,18 +1,18 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; +package com.marginallyclever.ro3.apps.viewport.viewporttools.move; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.ColorRGB; import com.marginallyclever.convenience.Plane; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectedItems; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectedItems; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Pose; import com.marginallyclever.ro3.mesh.shapes.Sphere; import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; diff --git a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolTwoAxis.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolTwoAxis.java similarity index 96% rename from src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolTwoAxis.java rename to src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolTwoAxis.java index 30730ec0f..2a554409c 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/render/viewporttools/move/TranslateToolTwoAxis.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/TranslateToolTwoAxis.java @@ -1,17 +1,17 @@ -package com.marginallyclever.ro3.apps.render.viewporttools.move; +package com.marginallyclever.ro3.apps.viewport.viewporttools.move; import com.jogamp.opengl.GL3; import com.marginallyclever.convenience.ColorRGB; import com.marginallyclever.convenience.Plane; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.viewporttools.SelectedItems; -import com.marginallyclever.ro3.apps.render.viewporttools.ViewportTool; +import com.marginallyclever.ro3.apps.viewport.viewporttools.SelectedItems; +import com.marginallyclever.ro3.apps.viewport.viewporttools.ViewportTool; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Pose; import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.apps.render.ShaderProgram; -import com.marginallyclever.ro3.apps.render.Viewport; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.mesh.Mesh; import org.slf4j.Logger; import org.slf4j.LoggerFactory; diff --git a/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java b/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java index 2a2616539..930c52de2 100644 --- a/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java +++ b/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java @@ -207,8 +207,8 @@ public void render(GL3 gl) { /** * Render a portion of the mesh. * @param gl the OpenGL context - * @param startIndex index of the first vertex to render - * @param count number of vertices to render + * @param startIndex index of the first vertex to viewport + * @param count number of vertices to viewport */ public void render(GL3 gl,int startIndex,int count) { if(!isLoaded) { diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/Camera.java b/src/main/java/com/marginallyclever/ro3/node/nodes/Camera.java index 5924f7472..e846a4258 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/Camera.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/Camera.java @@ -3,22 +3,19 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.swing.NumberFormatHelper; import com.marginallyclever.ro3.Registry; -import com.marginallyclever.ro3.apps.render.Viewport; import javax.swing.*; -import javax.swing.text.NumberFormatter; import javax.vecmath.Matrix3d; import javax.vecmath.Matrix4d; import javax.vecmath.Vector3d; import java.awt.*; import java.security.InvalidParameterException; -import java.text.NumberFormat; import java.util.List; /** - *

The Camera class is a subclass of the Pose class and is used by a Viewport to render the scene in a 3D graphics or game engine. This class provides several functionalities:

+ *

The Camera class is a subclass of the Pose class and is used by a Viewport to viewport the scene in a 3D graphics or game engine. This class provides several functionalities:

*
    - *
  • It can be set to render in orthographic projection.
    • + *
  • It can be set to viewport in orthographic projection.
    • *
  • It has a vertical field of view, a near and far clipping plane for perspective rendering.
    • *
  • It can translate and rotate relative to its current orientation.
    • *
  • It can look at a specific point in the scene.
    • diff --git a/src/main/java/com/marginallyclever/ro3/texture/TextureWithMetadata.java b/src/main/java/com/marginallyclever/ro3/texture/TextureWithMetadata.java index 8573a5b30..e11616c47 100644 --- a/src/main/java/com/marginallyclever/ro3/texture/TextureWithMetadata.java +++ b/src/main/java/com/marginallyclever/ro3/texture/TextureWithMetadata.java @@ -5,7 +5,7 @@ import com.jogamp.opengl.GLProfile; import com.jogamp.opengl.util.texture.Texture; import com.jogamp.opengl.util.texture.awt.AWTTextureIO; -import com.marginallyclever.ro3.apps.render.ShaderProgram; +import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import java.awt.image.BufferedImage; @@ -38,7 +38,7 @@ public BufferedImage getImage() { } /** - * Must only be called when there is a valid OpenGL render context, likely from within + * Must only be called when there is a valid OpenGL viewport context, likely from within * a {@link com.jogamp.opengl.GLAutoDrawable}. * @param shader the shader to use. */ @@ -66,7 +66,7 @@ public void use(ShaderProgram shader) { } /** - * Must only be called when there is a valid OpenGL render context, likely from within + * Must only be called when there is a valid OpenGL viewport context, likely from within * a {@link com.jogamp.opengl.GLAutoDrawable}. */ public void unload() { diff --git a/src/main/java/com/marginallyclever/robotoverlord/components/LinearPatternComponent.java b/src/main/java/com/marginallyclever/robotoverlord/components/LinearPatternComponent.java index 4601c16e4..558943b92 100644 --- a/src/main/java/com/marginallyclever/robotoverlord/components/LinearPatternComponent.java +++ b/src/main/java/com/marginallyclever/robotoverlord/components/LinearPatternComponent.java @@ -5,7 +5,7 @@ import com.marginallyclever.robotoverlord.parameters.IntParameter; /** - * A component that should render a child component in a linear pattern. + * A component that should viewport a child component in a linear pattern. * * @since 2.6.0 * @author Dan Royer diff --git a/src/main/java/com/marginallyclever/robotoverlord/renderpanel/MatrixMaterialRender.java b/src/main/java/com/marginallyclever/robotoverlord/renderpanel/MatrixMaterialRender.java index 486387e66..fb36248a4 100644 --- a/src/main/java/com/marginallyclever/robotoverlord/renderpanel/MatrixMaterialRender.java +++ b/src/main/java/com/marginallyclever/robotoverlord/renderpanel/MatrixMaterialRender.java @@ -6,7 +6,7 @@ import javax.vecmath.Matrix4d; /** - * A matrix, a material, and a render component. + * A matrix, a material, and a viewport component. */ public class MatrixMaterialRender { public Matrix4d matrix = new Matrix4d(); diff --git a/src/main/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLRenderPanel.java b/src/main/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLRenderPanel.java index 48e63bd96..091488fcd 100644 --- a/src/main/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLRenderPanel.java +++ b/src/main/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLRenderPanel.java @@ -306,7 +306,7 @@ public void display( GLAutoDrawable drawable ) { try { renderStep(getGL3(drawable)); } catch(Exception e) { - logger.error("Exception during render",e); + logger.error("Exception during viewport",e); } } @@ -383,14 +383,14 @@ public void keyReleased(KeyEvent e) { private void createShaderPrograms(GL3 gl3) { shaderDefault = new ShaderProgram(gl3, - readResource("/com/marginallyclever/ro3/apps/render/unused/default_330.vert"), - readResource("/com/marginallyclever/ro3/apps/render/unused/default_330.frag")); + readResource("/com/marginallyclever/ro3/apps/viewport/unused/default_330.vert"), + readResource("/com/marginallyclever/ro3/apps/viewport/unused/default_330.frag")); shaderOutline = new ShaderProgram(gl3, - readResource("/com/marginallyclever/ro3/apps/render/unused/outline_330.vert"), - readResource("/com/marginallyclever/ro3/apps/render/unused/outline_330.frag")); + readResource("/com/marginallyclever/ro3/apps/viewport/unused/outline_330.vert"), + readResource("/com/marginallyclever/ro3/apps/viewport/unused/outline_330.frag")); shaderHUD = new ShaderProgram(gl3, - readResource("/com/marginallyclever/ro3/apps/render/unused/default_330.vert"), - readResource("/com/marginallyclever/ro3/apps/render/unused/givenColor_330.frag")); + readResource("/com/marginallyclever/ro3/apps/viewport/unused/default_330.vert"), + readResource("/com/marginallyclever/ro3/apps/viewport/unused/givenColor_330.frag")); } private void destroyShaderPrograms(GL3 gl) { @@ -668,7 +668,7 @@ private void renderAllEntities(GL3 gl3,ShaderProgram shaderProgram) { /** * Render all the lists in an {@link MatrixMaterialRenderSet} in the correct order. * @param gl the OpenGL context - * @param mmrSet the set to render + * @param mmrSet the set to viewport * @param shaderProgram the shader to use */ private void renderMMRSet(GL3 gl, MatrixMaterialRenderSet mmrSet, ShaderProgram shaderProgram) { diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/render/ShaderProgram.java b/src/main/java/com/marginallyclever/robotoverlord/systems/render/ShaderProgram.java index c7871e344..99390c9e1 100644 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/render/ShaderProgram.java +++ b/src/main/java/com/marginallyclever/robotoverlord/systems/render/ShaderProgram.java @@ -139,7 +139,7 @@ public void setVector3d(GL3 gl, String name, Vector3d value) { /** * Set a matrix in the shader. OpenGL uses column-major order, where Java and DirectX use row-major order. * Don't forget to transpose! - * @param gl the render context + * @param gl the viewport context * @param name the name of the uniform variable * @param value the matrix to set */ diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java b/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java index c50838023..5a6ae4c57 100644 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java +++ b/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java @@ -199,8 +199,8 @@ public void render(GL3 gl) { /** * Render a portion of the mesh. * @param gl the OpenGL context - * @param count number of vertices to render - * @param startIndex index of the first vertex to render + * @param count number of vertices to viewport + * @param startIndex index of the first vertex to viewport */ public void render(GL3 gl,int count,int startIndex) { if(!isLoaded) { diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/default.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/default.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/default.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/default.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/default.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/default.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/default.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/default.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/icons8-add-16.png b/src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-add-16.png similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/icons8-add-16.png rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-add-16.png diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/icons8-move-16.png b/src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-move-16.png similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/icons8-move-16.png rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-move-16.png diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/icons8-rotate-16.png b/src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-rotate-16.png similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/icons8-rotate-16.png rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-rotate-16.png diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/icons8-select-16.png b/src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-select-16.png similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/icons8-select-16.png rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/icons8-select-16.png diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/center-of-mass.png b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/center-of-mass.png similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/center-of-mass.png rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/center-of-mass.png diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/mesh.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/mesh.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/mesh.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/mesh.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/shadow.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/shadow.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/shadow.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/shadow.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/shadow.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/shadow.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/renderpasses/shadow.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/shadow.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/debugTexture_330.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/debugTexture_330.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/debugTexture_330.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/debugTexture_330.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/default_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/default_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/default_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/default_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/default_330.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/default_330.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/default_330.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/default_330.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/givenColor_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/givenColor_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/givenColor_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/givenColor_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/jfa_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/jfa_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/jfa_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/jfa_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/jfa_330.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/jfa_330.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/jfa_330.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/jfa_330.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/notransform_330.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/notransform_330.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/notransform_330.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/notransform_330.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline2_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline2_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline2_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline2_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline2_330.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline2_330.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline2_330.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline2_330.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline_330.vert b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline_330.vert similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/outline_330.vert rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/outline_330.vert diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/red_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/red_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/red_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/red_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/testTextureDepth1_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/testTextureDepth1_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/testTextureDepth1_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/testTextureDepth1_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/testTextureDepth2_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/testTextureDepth2_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/testTextureDepth2_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/testTextureDepth2_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/unused/testTextureUV_330.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/testTextureUV_330.frag similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/unused/testTextureUV_330.frag rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/unused/testTextureUV_330.frag diff --git a/src/main/resources/com/marginallyclever/ro3/apps/render/viewporttools/axisLetters.png b/src/main/resources/com/marginallyclever/ro3/apps/viewport/viewporttools/axisLetters.png similarity index 100% rename from src/main/resources/com/marginallyclever/ro3/apps/render/viewporttools/axisLetters.png rename to src/main/resources/com/marginallyclever/ro3/apps/viewport/viewporttools/axisLetters.png diff --git a/src/test/java/com/marginallyclever/ro3/apps/render/OpenGLPanelTest.java b/src/test/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanelTest.java similarity index 91% rename from src/test/java/com/marginallyclever/ro3/apps/render/OpenGLPanelTest.java rename to src/test/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanelTest.java index 99e8e6c09..2b2284c47 100644 --- a/src/test/java/com/marginallyclever/ro3/apps/render/OpenGLPanelTest.java +++ b/src/test/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanelTest.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render; +package com.marginallyclever.ro3.apps.viewport; import com.marginallyclever.ro3.Registry; diff --git a/src/test/java/com/marginallyclever/ro3/apps/render/ViewportTest.java b/src/test/java/com/marginallyclever/ro3/apps/viewport/ViewportTest.java similarity index 93% rename from src/test/java/com/marginallyclever/ro3/apps/render/ViewportTest.java rename to src/test/java/com/marginallyclever/ro3/apps/viewport/ViewportTest.java index 2b21f16cc..720f8ead2 100644 --- a/src/test/java/com/marginallyclever/ro3/apps/render/ViewportTest.java +++ b/src/test/java/com/marginallyclever/ro3/apps/viewport/ViewportTest.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.apps.render; +package com.marginallyclever.ro3.apps.viewport; import com.marginallyclever.ro3.Registry; diff --git a/src/test/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLTestStencil.java b/src/test/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLTestStencil.java index bfa0683c2..0da0226d5 100644 --- a/src/test/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLTestStencil.java +++ b/src/test/java/com/marginallyclever/robotoverlord/renderpanel/OpenGLTestStencil.java @@ -155,7 +155,7 @@ private void checkFrameBufferStatus(GL3 gl3,String name) { /** * Render the given texture to the screen, for debugging purposes. * @param gl3 The OpenGL state - * @param textureID The texture to render + * @param textureID The texture to viewport */ private void debugTexture(GL3 gl3,int textureID, ShaderProgram program) { // Use the debug texture shader From de44f4bf752170a6aa856d658f6bae1fb5786130 Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Sun, 7 Jan 2024 11:44:16 -0800 Subject: [PATCH 3/6] Move MeshInstance and LookAt into node/nodes/Pose --- .../com/marginallyclever/ro3/apps/RO3FrameDropTarget.java | 2 +- .../ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java | 2 +- .../ro3/apps/viewport/renderpasses/DrawMeshes.java | 2 +- .../java/com/marginallyclever/ro3/node/nodes/DHParameter.java | 3 +-- .../marginallyclever/ro3/node/nodes/{ => pose}/LookAt.java | 4 ++-- .../ro3/node/nodes/{ => pose}/MeshInstance.java | 3 ++- src/main/java/com/marginallyclever/ro3/raypicking/RayHit.java | 2 +- .../com/marginallyclever/ro3/raypicking/RayPickSystem.java | 3 +-- 8 files changed, 10 insertions(+), 11 deletions(-) rename src/main/java/com/marginallyclever/ro3/node/nodes/{ => pose}/LookAt.java (96%) rename src/main/java/com/marginallyclever/ro3/node/nodes/{ => pose}/MeshInstance.java (98%) diff --git a/src/main/java/com/marginallyclever/ro3/apps/RO3FrameDropTarget.java b/src/main/java/com/marginallyclever/ro3/apps/RO3FrameDropTarget.java index d965aebe6..6815a66c0 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/RO3FrameDropTarget.java +++ b/src/main/java/com/marginallyclever/ro3/apps/RO3FrameDropTarget.java @@ -2,7 +2,7 @@ import com.marginallyclever.ro3.Registry; import com.marginallyclever.ro3.apps.commands.ImportScene; -import com.marginallyclever.ro3.node.nodes.MeshInstance; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import org.slf4j.Logger; import org.slf4j.LoggerFactory; diff --git a/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java index da4c2f10e..4ba6a7d8f 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawBoundingBoxes.java @@ -10,7 +10,7 @@ import com.marginallyclever.ro3.apps.viewport.Viewport; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; -import com.marginallyclever.ro3.node.nodes.MeshInstance; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; import com.marginallyclever.ro3.mesh.AABB; diff --git a/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java index 39bc616d3..c693ecac3 100644 --- a/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java +++ b/src/main/java/com/marginallyclever/ro3/apps/viewport/renderpasses/DrawMeshes.java @@ -11,7 +11,7 @@ import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.Camera; import com.marginallyclever.ro3.node.nodes.Material; -import com.marginallyclever.ro3.node.nodes.MeshInstance; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import com.marginallyclever.ro3.texture.TextureWithMetadata; import com.marginallyclever.ro3.apps.viewport.ShaderProgram; import com.marginallyclever.ro3.mesh.Mesh; diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java b/src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java index fff77c120..6270df146 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java @@ -2,15 +2,14 @@ import com.marginallyclever.convenience.swing.NumberFormatHelper; import com.marginallyclever.ro3.node.Node; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import org.json.JSONObject; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import javax.swing.*; -import javax.swing.text.NumberFormatter; import javax.vecmath.Matrix4d; import java.awt.*; -import java.text.NumberFormat; import java.util.ArrayList; import java.util.List; diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/LookAt.java b/src/main/java/com/marginallyclever/ro3/node/nodes/pose/LookAt.java similarity index 96% rename from src/main/java/com/marginallyclever/ro3/node/nodes/LookAt.java rename to src/main/java/com/marginallyclever/ro3/node/nodes/pose/LookAt.java index d1d0b0d99..0e5c518fd 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/LookAt.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/pose/LookAt.java @@ -1,10 +1,10 @@ -package com.marginallyclever.ro3.node.nodes; +package com.marginallyclever.ro3.node.nodes.pose; import com.marginallyclever.convenience.PathCalculator; import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.apps.nodeselector.NodeSelector; -import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.NodePath; +import com.marginallyclever.ro3.node.nodes.Pose; import org.json.JSONObject; import javax.swing.*; diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/MeshInstance.java b/src/main/java/com/marginallyclever/ro3/node/nodes/pose/MeshInstance.java similarity index 98% rename from src/main/java/com/marginallyclever/ro3/node/nodes/MeshInstance.java rename to src/main/java/com/marginallyclever/ro3/node/nodes/pose/MeshInstance.java index 4e3d31ec5..94d23c8c0 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/MeshInstance.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/pose/MeshInstance.java @@ -1,4 +1,4 @@ -package com.marginallyclever.ro3.node.nodes; +package com.marginallyclever.ro3.node.nodes.pose; import com.marginallyclever.convenience.Ray; import com.marginallyclever.convenience.helpers.MatrixHelper; @@ -6,6 +6,7 @@ import com.marginallyclever.ro3.apps.dialogs.MeshChooserDialog; import com.marginallyclever.ro3.mesh.Mesh; import com.marginallyclever.ro3.mesh.MeshSmoother; +import com.marginallyclever.ro3.node.nodes.Pose; import com.marginallyclever.ro3.raypicking.RayHit; import org.json.JSONObject; diff --git a/src/main/java/com/marginallyclever/ro3/raypicking/RayHit.java b/src/main/java/com/marginallyclever/ro3/raypicking/RayHit.java index b200caf2d..f66b61cda 100644 --- a/src/main/java/com/marginallyclever/ro3/raypicking/RayHit.java +++ b/src/main/java/com/marginallyclever/ro3/raypicking/RayHit.java @@ -1,6 +1,6 @@ package com.marginallyclever.ro3.raypicking; -import com.marginallyclever.ro3.node.nodes.MeshInstance; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import javax.vecmath.Vector3d; diff --git a/src/main/java/com/marginallyclever/ro3/raypicking/RayPickSystem.java b/src/main/java/com/marginallyclever/ro3/raypicking/RayPickSystem.java index 82c2378ba..ba5382064 100644 --- a/src/main/java/com/marginallyclever/ro3/raypicking/RayPickSystem.java +++ b/src/main/java/com/marginallyclever/ro3/raypicking/RayPickSystem.java @@ -3,11 +3,10 @@ import com.marginallyclever.convenience.Ray; import com.marginallyclever.ro3.Registry; import com.marginallyclever.ro3.node.Node; -import com.marginallyclever.ro3.node.nodes.MeshInstance; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import javax.vecmath.Matrix4d; import java.util.*; /** From b1c585aafb558a34a4cab2fd09bd5804640000a1 Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Sun, 7 Jan 2024 11:44:45 -0800 Subject: [PATCH 4/6] create Limb and LimbSolver --- .../com/marginallyclever/ro3/Registry.java | 6 +- .../com/marginallyclever/ro3/node/Node.java | 7 + .../ro3/node/nodes/LimbSolver.java | 273 +++++++++++++ .../ro3/node/nodes/Motor.java | 2 +- .../ApproximateJacobianFiniteDifferences.java | 3 +- .../ApproximateJacobianScrewTheory.java | 3 +- .../nodes/marlinrobotarm/MarlinRobotArm.java | 384 +++--------------- .../ro3/node/nodes/pose/Limb.java | 249 ++++++++++++ .../ApproximateJacobianTest.java | 7 +- 9 files changed, 590 insertions(+), 344 deletions(-) create mode 100644 src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java create mode 100644 src/main/java/com/marginallyclever/ro3/node/nodes/pose/Limb.java diff --git a/src/main/java/com/marginallyclever/ro3/Registry.java b/src/main/java/com/marginallyclever/ro3/Registry.java index 8e04deb14..46d082cfc 100644 --- a/src/main/java/com/marginallyclever/ro3/Registry.java +++ b/src/main/java/com/marginallyclever/ro3/Registry.java @@ -5,6 +5,9 @@ import com.marginallyclever.ro3.node.nodes.*; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.nodes.marlinrobotarm.MarlinRobotArm; +import com.marginallyclever.ro3.node.nodes.pose.Limb; +import com.marginallyclever.ro3.node.nodes.pose.LookAt; +import com.marginallyclever.ro3.node.nodes.pose.MeshInstance; import com.marginallyclever.ro3.texture.TextureFactory; import javax.swing.event.EventListenerList; @@ -34,6 +37,7 @@ public static void start() { Factory.Category nodule = nodeFactory.getRoot().add("Node", Node::new); nodule.add("DHParameter", DHParameter::new); nodule.add("HingeJoint", HingeJoint::new); + nodule.add("LimbSolver", LimbSolver::new); nodule.add("MarlinRobotArm", MarlinRobotArm::new); nodule.add("Material", Material::new); nodule.add("MeshInstance", MeshInstance::new); @@ -41,7 +45,7 @@ public static void start() { Factory.Category pose = nodule.add("Pose", Pose::new); pose.add("Camera", Camera::new); pose.add("LookAt", LookAt::new); - + pose.add("Limb", Limb::new); reset(); } diff --git a/src/main/java/com/marginallyclever/ro3/node/Node.java b/src/main/java/com/marginallyclever/ro3/node/Node.java index caf727a1d..e672af3cd 100644 --- a/src/main/java/com/marginallyclever/ro3/node/Node.java +++ b/src/main/java/com/marginallyclever/ro3/node/Node.java @@ -2,6 +2,7 @@ import com.marginallyclever.convenience.PathCalculator; import com.marginallyclever.ro3.Registry; +import com.marginallyclever.ro3.apps.nodeselector.NodeSelector; import com.marginallyclever.ro3.node.nodes.Pose; import org.json.JSONArray; import org.json.JSONObject; @@ -391,6 +392,12 @@ protected void addLabelAndComponent(JPanel pane, String labelText, JComponent co pane.add(component); } + protected void addNodeSelector(JPanel pane, String label, NodePath nodePath, Class clazz, GridBagConstraints gbc) { + NodeSelector selector = new NodeSelector<>(clazz, nodePath.getSubject()); + selector.addPropertyChangeListener("subject", (e) -> nodePath.setRelativePath(this, (T) e.getNewValue())); + addLabelAndComponent(pane, label, selector, gbc); + } + /** * Find the first child of the given type. The type must be an exact match - it will not match subclasses. * @param type the type of node to find diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java b/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java new file mode 100644 index 000000000..a52e38d4a --- /dev/null +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java @@ -0,0 +1,273 @@ +package com.marginallyclever.ro3.node.nodes; + +import com.marginallyclever.convenience.helpers.MatrixHelper; +import com.marginallyclever.ro3.node.Node; +import com.marginallyclever.ro3.node.NodePath; +import com.marginallyclever.ro3.node.nodes.marlinrobotarm.ApproximateJacobian; +import com.marginallyclever.ro3.node.nodes.marlinrobotarm.ApproximateJacobianFiniteDifferences; +import com.marginallyclever.ro3.node.nodes.pose.Limb; +import org.json.JSONArray; +import org.json.JSONObject; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import javax.swing.*; +import java.awt.*; +import java.awt.event.ActionEvent; +import java.util.List; +import java.util.Objects; + +/** + * {@link LimbSolver} calculates Inverse Kinematics for + * a {@link Limb}. Given a target and a linear velocity, {@link LimbSolver} will calculate and apply the + * joint velocities required to move the end effector towards the target in a straight line. + */ +public class LimbSolver extends Node { + private final NodePath limb = new NodePath<>(null,Limb.class); + private final NodePath target = new NodePath<>(this,Pose.class); + private double linearVelocity = 0; + + public LimbSolver() { + this("LimbSolver"); + } + + public LimbSolver(String name) { + super(name); + } + + public Pose getTarget() { + return target.getSubject(); + } + + public void setTarget(Pose target) { + this.target.setRelativePath(this,target); + } + + public void update(double dt) { + if(dt==0) return; + moveTowardsTarget(); + } + + public Limb getLimb() { + return limb.getSubject(); + } + + public void setLimb(Limb limb) { + this.limb.setRelativePath(this,limb); + } + + private Pose getEndEffector() { + Limb limb = getLimb(); + return limb!=null ? limb.getEndEffector() : null; + } + + private void moveTowardsTarget() { + if(getLimb()==null || getEndEffector()==null || getTarget()==null || linearVelocity<0.0001) { + return; + } + double[] cartesianVelocity = MatrixHelper.getCartesianBetweenTwoMatrices( + getEndEffector().getWorld(), + getTarget().getWorld()); + scaleVectorToMagnitude(cartesianVelocity,linearVelocity); + moveEndEffectorInCartesianDirection(cartesianVelocity); + } + + /** + * Attempts to move the robot arm such that the end effector travels in the direction of the cartesian velocity. + * @param cartesianVelocity three linear forces (mm) and three angular forces (degrees). + * @throws RuntimeException if the robot cannot be moved in the direction of the cartesian force. + */ + public void moveEndEffectorInCartesianDirection(double[] cartesianVelocity) { + // is it a tiny move? + double sum = sumCartesianVelocityComponents(cartesianVelocity); + if(sum<0.0001) return; + if(sum <= 1) { + setMotorVelocitiesFromCartesianVelocity(cartesianVelocity); + return; + } + + // set motor velocities. + setMotorVelocitiesFromCartesianVelocity(cartesianVelocity); + } + + /** + *

    Attempts to move the robot arm such that the end effector travels in the cartesian direction. This is + * achieved by setting the velocity of the motors.

    + * @param cartesianVelocity three linear forces (mm) and three angular forces (degrees). + * @throws RuntimeException if the robot cannot be moved in the direction of the cartesian force. + */ + private void setMotorVelocitiesFromCartesianVelocity(double[] cartesianVelocity) { + ApproximateJacobian aj = getJacobian(); + try { + double[] jointVelocity = aj.getJointFromCartesian(cartesianVelocity); // uses inverse jacobian + if(impossibleVelocity(jointVelocity)) return; // TODO: throw exception instead? + getLimb().setAllJointVelocities(jointVelocity); + } catch (Exception e) { + throw new RuntimeException(e); + } + } + + private ApproximateJacobian getJacobian() { + // option 1, use finite differences + return new ApproximateJacobianFiniteDifferences(getLimb()); + // option 2, use screw theory + //ApproximateJacobian aj = new ApproximateJacobianScrewTheory(getLimb()); + } + + /** + * @param jointVelocity the joint velocity to check + * @return true if the given joint velocity is impossible. + */ + private boolean impossibleVelocity(double[] jointVelocity) { + double maxV = 100; // RPM*60 TODO: get from robot per joint + for(double v : jointVelocity) { + if(Double.isNaN(v) || Math.abs(v) > maxV) return true; + } + return false; + } + + @Override + public JSONObject toJSON() { + JSONObject json = super.toJSON(); + JSONArray jointArray = new JSONArray(); + json.put("version",1); + + json.put("motors",jointArray); + if(getTarget()!=null) json.put("target",target.getPath()); + json.put("linearVelocity",linearVelocity); + return json; + } + + @Override + public void fromJSON(JSONObject from) { + super.fromJSON(from); + int version = from.has("version") ? from.getInt("version") : 0; + + Node root = this.getRootNode(); + + if(from.has("target")) { + String s = from.getString("target"); + if(version==1) { + target.setPath(s); + } else if(version==0) { + Pose goal = root.findNodeByID(s,Pose.class); + target.setRelativePath(this,goal); + } + } + if(from.has("limb")) { + Limb limb = root.findNodeByID(from.getString("limb"),Limb.class); + this.limb.setRelativePath(this,limb); + } + if(from.has("linearVelocity")) { + linearVelocity = from.getDouble("linearVelocity"); + } + } + + /** + * Make sure the given vector's length does not exceed maxLen. It can be less than the given magnitude. + * Store the results in the original array. + * @param vector the vector to cap + * @param maxLen the max length of the vector. + */ + public static void scaleVectorToMagnitude(double[] vector, double maxLen) { + // get the length of the vector + double len = 0; + for (double v : vector) { + len += v * v; + } + + len = Math.sqrt(len); + if(maxLen>len) maxLen=len; + + // scale the vector + double scale = len==0? 0 : maxLen / len; // catch len==0 + for(int i=0;i linearVelocity = slider.getValue()); + + // Make the slider fill the available horizontal space + slider.setMaximumSize(new Dimension(Integer.MAX_VALUE, slider.getPreferredSize().height)); + slider.setMinimumSize(new Dimension(50, slider.getPreferredSize().height)); + + container.add(new JLabel("Linear Vel"), BorderLayout.LINE_START); + container.add(slider, BorderLayout.CENTER); // Add slider to the center of the container + + return container; + } + + private void setTargetToEndEffector() { + if(getTarget()!=null && getEndEffector()!=null) { + getTarget().setWorld(getEndEffector().getWorld()); + } + } + + private void addMoveTargetToEndEffector(JPanel pane,GridBagConstraints gbc) { + // move target to end effector + JButton targetToEE = new JButton(new AbstractAction() { + { + putValue(Action.NAME,"Move"); + putValue(Action.SHORT_DESCRIPTION,"Move the Target Pose to the End Effector."); + putValue(Action.SMALL_ICON,new ImageIcon(Objects.requireNonNull(getClass().getResource( + "/com/marginallyclever/ro3/apps/shared/icons8-move-16.png")))); + } + @Override + public void actionPerformed(ActionEvent e) { + setTargetToEndEffector(); + } + }); + addLabelAndComponent(pane, "Target to EE", targetToEE,gbc); + } + + @Override + public void getComponents(List list) { + JPanel pane = new JPanel(new GridBagLayout()); + list.add(pane); + pane.setName(LimbSolver.class.getSimpleName()); + + GridBagConstraints gbc = new GridBagConstraints(); + gbc.weightx = 1.0; + gbc.weighty = 1.0; + gbc.fill = GridBagConstraints.BOTH; + gbc.gridx=0; + gbc.gridy=0; + gbc.gridwidth=2; + pane.add(createVelocitySlider(),gbc); + + gbc.gridy++; + gbc.gridwidth=1; + addMoveTargetToEndEffector(pane,gbc); + + gbc.gridy++; + addNodeSelector(pane, "Target", target, Pose.class, gbc); + + super.getComponents(list); + } + + public double getLinearVelocity() { + return linearVelocity; + } + + /** + * Set the linear velocity of the end effector in cm/s. + * @param linearVelocity must be >= 0 + */ + public void setLinearVelocity(double linearVelocity) { + if(linearVelocity<0) throw new IllegalArgumentException("linearVelocity must be >= 0"); + this.linearVelocity = linearVelocity; + } +} diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java b/src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java index d70a17453..b74351e19 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java @@ -87,6 +87,6 @@ public void setAxle(HingeJoint hinge) { } public boolean hasAxle() { - return hinge.getSubject()!=null; + return getHinge()!=null; } } diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianFiniteDifferences.java b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianFiniteDifferences.java index 8af63ad06..b72374c20 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianFiniteDifferences.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianFiniteDifferences.java @@ -1,6 +1,7 @@ package com.marginallyclever.ro3.node.nodes.marlinrobotarm; import com.marginallyclever.ro3.node.nodes.Pose; +import com.marginallyclever.ro3.node.nodes.pose.Limb; import javax.vecmath.Matrix3d; import javax.vecmath.Matrix4d; @@ -13,7 +14,7 @@ */ public class ApproximateJacobianFiniteDifferences extends ApproximateJacobian { public double ANGLE_STEP_SIZE_DEGREES = 0.1; // degrees - protected ApproximateJacobianFiniteDifferences(MarlinRobotArm arm) { + public ApproximateJacobianFiniteDifferences(Limb arm) { super(arm.getNumJoints()); Pose endEffector = arm.getEndEffector(); diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianScrewTheory.java b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianScrewTheory.java index 90f18457e..2a2870a7f 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianScrewTheory.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianScrewTheory.java @@ -2,6 +2,7 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.ro3.node.nodes.Pose; +import com.marginallyclever.ro3.node.nodes.pose.Limb; import javax.vecmath.Matrix4d; import javax.vecmath.Vector3d; @@ -19,7 +20,7 @@ public class ApproximateJacobianScrewTheory extends ApproximateJacobian { * Given the current pose of the robot, find the approximate jacobian. * @param arm the robot to analyze. */ - public ApproximateJacobianScrewTheory(MarlinRobotArm arm) { + public ApproximateJacobianScrewTheory(Limb arm) { super(arm.getNumJoints()); Pose parentPose = arm.findParent(Pose.class); diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java index e54022a16..651539928 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java @@ -2,16 +2,15 @@ import com.marginallyclever.convenience.helpers.MatrixHelper; import com.marginallyclever.convenience.helpers.StringHelper; -import com.marginallyclever.convenience.swing.Dial; import com.marginallyclever.convenience.swing.NumberFormatHelper; import com.marginallyclever.ro3.apps.nodedetailview.CollapsiblePanel; import com.marginallyclever.ro3.node.Node; import com.marginallyclever.ro3.node.NodePath; import com.marginallyclever.ro3.node.nodes.HingeJoint; +import com.marginallyclever.ro3.node.nodes.LimbSolver; import com.marginallyclever.ro3.node.nodes.Motor; import com.marginallyclever.ro3.node.nodes.Pose; -import com.marginallyclever.ro3.apps.nodeselector.NodeSelector; -import org.json.JSONArray; +import com.marginallyclever.ro3.node.nodes.pose.Limb; import org.json.JSONObject; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -23,8 +22,6 @@ import java.awt.event.ActionEvent; import java.awt.event.ActionListener; import java.awt.event.HierarchyEvent; -import java.util.ArrayList; -import java.util.Arrays; import java.util.List; import java.util.Objects; @@ -32,22 +29,17 @@ *

    {@link MarlinRobotArm} converts the state of a robot arm into GCode and back.

    *

    In order to work it requires references to:

    *
      - *
    • five or six {@link Motor}s, with names matching those in Marlin;
      • - *
    • a {@link Pose} end effector to obtain the inverse kinematic pose. The end effector should be at the end of - * the kinematic chain.
      • - *
    • a {@link Pose} target that the end effector will try to match. It will only do so when the linear velocity - * is greater than zero.
      • + *
    • a {@link Limb} of no more than six {@link Motor}s, whose names match those in Marlin;
      • + *
    • a {@link LimbSolver} to calculate the inverse kinematics;
      • *
    • an optional {@link Motor} for the tool on arm.
      • *
    */ public class MarlinRobotArm extends Node { private static final Logger logger = LoggerFactory.getLogger(MarlinRobotArm.class); - public static final int MAX_JOINTS = 6; - private final List> motors = new ArrayList<>(); + public final Limb limb = new Limb(); + public final LimbSolver solver = new LimbSolver(); private final NodePath gripperMotor = new NodePath<>(this,Motor.class); - private final NodePath endEffector = new NodePath<>(this,Pose.class); - private final NodePath target = new NodePath<>(this,Pose.class); - private double linearVelocity=0; + private double reportInterval=1.0; public MarlinRobotArm() { this("MarlinRobotArm"); @@ -55,25 +47,15 @@ public MarlinRobotArm() { public MarlinRobotArm(String name) { super(name); - for(int i=0;i(this,Motor.class)); - } } @Override public JSONObject toJSON() { JSONObject json = super.toJSON(); - JSONArray jointArray = new JSONArray(); - json.put("version",1); - - for(var motor : motors) { - jointArray.put(motor == null ? JSONObject.NULL : motor.getPath()); - } - json.put("motors",jointArray); - if(endEffector.getSubject()!=null) json.put("endEffector",endEffector.getPath()); - if(target.getSubject()!=null) json.put("target",target.getPath()); + json.put("version",2); + json.put("limb",limb.toJSON()); + json.put("solver",solver.toJSON()); if(gripperMotor.getSubject()!=null) json.put("gripperMotor",gripperMotor.getPath()); - json.put("linearVelocity",linearVelocity); return json; } @@ -81,53 +63,24 @@ public JSONObject toJSON() { public void fromJSON(JSONObject from) { super.fromJSON(from); int version = from.has("version") ? from.getInt("version") : 0; - - if(from.has("motors")) { - JSONArray motorArray = from.getJSONArray("motors"); - for(int i=0;i list) { gbc.gridx=0; gbc.gridy=0; - gbc.gridwidth=2; - pane.add(createVelocitySlider(),gbc); - - gbc.gridy++; gbc.gridwidth=1; - addMoveTargetToEndEffector(pane,gbc); - JButton M114 = new JButton("M114"); M114.addActionListener(e-> sendGCode("M114")); addLabelAndComponent(pane, "Get state", M114,gbc); gbc.gridwidth=1; gbc.gridy++; - - addNodeSelector(pane, "End Effector", endEffector, Pose.class, gbc); - addNodeSelector(pane, "Target", target, Pose.class, gbc); addNodeSelector(pane, "Gripper motor", gripperMotor, Motor.class, gbc); gbc.gridx=0; @@ -169,34 +113,13 @@ public void getComponents(List list) { pane.add(getSender(),gbc); gbc.gridy++; pane.add(createReportInterval(),gbc); - gbc.gridy++; - pane.add(createEasyFK(),gbc); - gbc.gridy++; - gbc.gridwidth=2; - pane.add(addMotorPanel(),gbc); + solver.getComponents(list); + limb.getComponents(list); super.getComponents(list); } - private JComponent createVelocitySlider() { - JPanel container = new JPanel(new BorderLayout()); - // add a slider to control linear velocity - JSlider slider = new JSlider(0,20,(int)linearVelocity); - slider.addChangeListener(e-> linearVelocity = slider.getValue()); - - // Make the slider fill the available horizontal space - slider.setMaximumSize(new Dimension(Integer.MAX_VALUE, slider.getPreferredSize().height)); - slider.setMinimumSize(new Dimension(50, slider.getPreferredSize().height)); - - container.add(new JLabel("Linear Vel"), BorderLayout.LINE_START); - container.add(slider, BorderLayout.CENTER); // Add slider to the center of the container - - return container; - } - - private double reportInterval=1.0; - private JComponent createReportInterval() { var containerPanel = new CollapsiblePanel("Report"); var outerPanel = containerPanel.getContentPane(); @@ -277,96 +200,6 @@ private void setReportInterval(double seconds) { reportInterval = Math.max(0.1,seconds); } - - private void addNodeSelector(JPanel pane, String label, NodePath nodePath, Class clazz, GridBagConstraints gbc) { - NodeSelector selector = new NodeSelector<>(clazz, nodePath.getSubject()); - selector.addPropertyChangeListener("subject", (e) -> nodePath.setRelativePath(this, (T) e.getNewValue())); - addLabelAndComponent(pane, label, selector, gbc); - } - - private void addMoveTargetToEndEffector(JPanel pane,GridBagConstraints gbc) { - // move target to end effector - JButton targetToEE = new JButton(new AbstractAction() { - { - putValue(Action.NAME,"Move"); - putValue(Action.SHORT_DESCRIPTION,"Move the Target Pose to the End Effector."); - putValue(Action.SMALL_ICON,new ImageIcon(Objects.requireNonNull(getClass().getResource( - "/com/marginallyclever/ro3/apps/shared/icons8-move-16.png")))); - } - @Override - public void actionPerformed(ActionEvent e) { - setTargetToEndEffector(); - } - }); - addLabelAndComponent(pane, "Target to EE", targetToEE,gbc); - } - - private void setTargetToEndEffector() { - if(target.getSubject()!=null && endEffector.getSubject()!=null) { - target.getSubject().setWorld(endEffector.getSubject().getWorld()); - } - } - - private JComponent addMotorPanel() { - var containerPanel = new CollapsiblePanel("Motors"); - var outerPanel = containerPanel.getContentPane(); - outerPanel.setLayout(new GridBagLayout()); - - GridBagConstraints gbc = new GridBagConstraints(); - gbc.weightx = 1.0; - gbc.weighty = 1.0; - gbc.gridx=0; - gbc.gridy=0; - gbc.fill = GridBagConstraints.BOTH; - - // add a selector for each motor - var motorSelector = new NodeSelector[MAX_JOINTS]; - for(int i=0;i(Motor.class, motors.get(i).getSubject()); - int j = i; - motorSelector[i].addPropertyChangeListener("subject",(e)-> { - motors.get(j).setRelativePath(this,(Motor)e.getNewValue()); - }); - addLabelAndComponent(outerPanel, "Motor "+i, motorSelector[i],gbc); - } - return containerPanel; - } - - private JComponent createEasyFK() { - var containerPanel = new CollapsiblePanel("Forward Kinematics"); - var outerPanel = containerPanel.getContentPane(); - outerPanel.setLayout(new GridLayout(0,3)); - - int count=0; - for(int i=0;i { - motor.getHinge().setAngle(dial.getValue()); - }); - // TODO subscribe to motor.getAxle().getAngle(), then dial.setValue() without triggering an action event. - - JLabel label = new JLabel(motor.getName()); - label.setLabelFor(dial); - label.setHorizontalAlignment(SwingConstants.CENTER); - innerPanel.add(label,BorderLayout.PAGE_START); - innerPanel.add(dial,BorderLayout.CENTER); - dial.setPreferredSize(new Dimension(80,80)); - - outerPanel.add(innerPanel); - count++; - } - } - count = 3-(count%3); - for(int i=0;i paths : this.motors) { + for(NodePath paths : limb.getMotors()) { Motor motor = paths.getSubject(); if(motor!=null && motor.hasAxle()) { sb.append(" ") @@ -422,7 +255,7 @@ private String getMotorsAndFeedrateAsString() { .append(StringHelper.formatDouble(gripperMotor.getHinge().getAngle())); } // feedrate - sb.append(" F").append(StringHelper.formatDouble(linearVelocity)); + sb.append(" F").append(StringHelper.formatDouble(solver.getLinearVelocity())); return sb.toString(); } @@ -444,7 +277,7 @@ public void sendGCode(String gcode) { } else if(gcode.equals("ik")) { fireMarlinMessage(getEndEffectorIK()); } else if(gcode.equals("aj")) { - ApproximateJacobianFiniteDifferences jacobian = new ApproximateJacobianFiniteDifferences(this); + ApproximateJacobianFiniteDifferences jacobian = new ApproximateJacobianFiniteDifferences(limb); fireMarlinMessage( "Ok: "+jacobian ); return; } else if(gcode.startsWith("G1")) { @@ -463,7 +296,7 @@ public void sendGCode(String gcode) { private String parseG0(String gcode) { String [] parts = gcode.split("\\s+"); try { - for (NodePath paths : this.motors) { + for (NodePath paths : limb.getMotors()) { Motor motor = paths.getSubject(); if (motor != null && motor.hasAxle()) { for (String p : parts) { @@ -499,24 +332,24 @@ private String parseG0(String gcode) { *

    G1 Linear move.

    *

    Parse gcode for names and values, then set the new target position. Names are XYZ for linear, UVW for * angular. Angular values should be in degrees.

    - *

    Movement will occur on {@link #update(double)} provided the {@link #linearVelocity} and the update time are - * greater than zero.

    + *

    Movement will occur on {@link #update(double)} provided the {@link LimbSolver} linear velocity and the update + * time are greater than zero.

    * @param gcode GCode command * @return response from robot arm */ private String parseG1(String gcode) { - if(target.getSubject()==null) { + if(solver.getTarget()==null) { logger.warn("no target"); return "Error: no target"; } - if(endEffector.getSubject()==null) { + if(limb.getEndEffector()==null) { logger.warn("no end effector"); return "Error: no end effector"; } String [] parts = gcode.split("\\s+"); - double [] cartesian = getCartesianFromWorld(endEffector.getSubject().getWorld()); + double [] cartesian = getCartesianFromWorld(limb.getEndEffector().getWorld()); for(String p : parts) { - if(p.startsWith("F")) setLinearVelocity(Double.parseDouble(p.substring(1))); + if(p.startsWith("F")) solver.setLinearVelocity(Double.parseDouble(p.substring(1))); if(p.startsWith("X")) cartesian[0] = Double.parseDouble(p.substring(1)); else if(p.startsWith("Y")) cartesian[1] = Double.parseDouble(p.substring(1)); else if(p.startsWith("Z")) cartesian[2] = Double.parseDouble(p.substring(1)); @@ -526,18 +359,18 @@ private String parseG1(String gcode) { else logger.warn("unknown G1 command: "+p); } // set the target position relative to the base of the robot arm - target.getSubject().setLocal(getReverseCartesianFromWorld(cartesian)); + solver.getTarget().setLocal(getReverseCartesianFromWorld(cartesian)); return "Ok"; } private String getEndEffectorIK() { - if(endEffector.getSubject()==null) { + if(limb.getEndEffector()==null) { return ( "Error: no end effector" ); } - double [] cartesian = getCartesianFromWorld(endEffector.getSubject().getWorld()); + double [] cartesian = getCartesianFromWorld(limb.getEndEffector().getWorld()); int i=0; String response = "G1" - +" F"+StringHelper.formatDouble(linearVelocity) + +" F"+StringHelper.formatDouble(solver.getLinearVelocity()) +" X"+StringHelper.formatDouble(cartesian[i++]) +" Y"+StringHelper.formatDouble(cartesian[i++]) +" Z"+StringHelper.formatDouble(cartesian[i++]) @@ -578,20 +411,16 @@ private double[] getCartesianFromWorld(Matrix4d world) { public int getNumJoints() { // count the number of motors such that motors.get(i).getSubject()!=null int count=0; - for(NodePath paths : motors) { + for(NodePath paths : limb.getMotors()) { if(paths.getSubject()!=null) count++; } return count; } - public Motor getJoint(int i) { - return motors.get(i).getSubject(); - } - public double[] getAllJointAngles() { double[] result = new double[getNumJoints()]; int i=0; - for(NodePath paths : motors) { + for(NodePath paths : limb.getMotors()) { Motor motor = paths.getSubject(); if(motor!=null) { result[i++] = motor.getHinge().getAngle(); @@ -606,7 +435,7 @@ public void setAllJointAngles(double[] values) { return; } int i=0; - for(NodePath paths : motors) { + for(NodePath paths : limb.getMotors()) { Motor motor = paths.getSubject(); if(motor!=null) { HingeJoint axle = motor.getHinge(); @@ -624,7 +453,7 @@ public void setAllJointVelocities(double[] values) { return; } int i=0; - for(NodePath paths : motors) { + for(NodePath paths : limb.getMotors()) { Motor motor = paths.getSubject(); if(motor!=null) { HingeJoint axle = motor.getHinge(); @@ -639,124 +468,14 @@ public void setAllJointVelocities(double[] values) { * @return the end effector pose or null if not set. */ public Pose getEndEffector() { - return endEffector.getSubject() == null ? null : endEffector.getSubject(); + return limb.getEndEffector(); } /** * @return the target pose or null if not set. */ public Pose getTarget() { - return target.getSubject() == null ? null : target.getSubject(); - } - - public void setTarget(Pose target) { - this.target.setRelativePath(this,target); - } - - @Override - public void update(double dt) { - super.update(dt); - if(dt==0) return; - moveTowardsTarget(dt); - } - - private void moveTowardsTarget(double dt) { - if(endEffector.getSubject()==null || target.getSubject()==null || linearVelocity<0.0001) { - double[] jointAnglesOriginal = getAllJointAngles(); - Arrays.fill(jointAnglesOriginal, 0); - setAllJointVelocities(jointAnglesOriginal); - return; - } - double[] cartesianVelocity = MatrixHelper.getCartesianBetweenTwoMatrices( - endEffector.getSubject().getWorld(), - target.getSubject().getWorld()); - scaleVectorToMagnitude(cartesianVelocity,linearVelocity); - moveEndEffectorInCartesianDirection(cartesianVelocity); - } - - /** - * Make sure the given vector's length does not exceed maxLen. It can be less than the given magnitude. - * Store the results in the original array. - * @param vector the vector to cap - * @param maxLen the max length of the vector. - */ - public static void scaleVectorToMagnitude(double[] vector, double maxLen) { - // get the length of the vector - double len = 0; - for (double v : vector) { - len += v * v; - } - - len = Math.sqrt(len); - if(maxLen>len) maxLen=len; - - // scale the vector - double scale = len==0? 0 : maxLen / len; // catch len==0 - for(int i=0;iAttempts to move the robot arm such that the end effector travels in the cartesian direction. This is - * achieved by setting the velocity of the motors.

    - * @param cartesianVelocity three linear forces (mm) and three angular forces (degrees). - * @throws RuntimeException if the robot cannot be moved in the direction of the cartesian force. - */ - private void setMotorVelocitiesFromCartesianVelocity(double[] cartesianVelocity) { - ApproximateJacobian aj = getJacobian(); - try { - double[] jointVelocity = aj.getJointFromCartesian(cartesianVelocity); // uses inverse jacobian - if(impossibleVelocity(jointVelocity)) return; // TODO: throw exception instead? - setAllJointVelocities(jointVelocity); - } catch (Exception e) { - throw new RuntimeException(e); - } - } - - private ApproximateJacobian getJacobian() { - // option 1, use finite differences - return new ApproximateJacobianFiniteDifferences(this); - // option 2, use screw theory - //ApproximateJacobian aj = new ApproximateJacobianScrewTheory(robotComponent); - } - - /** - * @param jointVelocity the joint velocity to check - * @return true if the given joint velocity is impossible. - */ - private boolean impossibleVelocity(double[] jointVelocity) { - double maxV = 100; // RPM*60 TODO: get from robot per joint - for(double v : jointVelocity) { - if(Double.isNaN(v) || Math.abs(v) > maxV) return true; - } - return false; - } - - private double sumCartesianVelocityComponents(double [] cartesianVelocity) { - double sum = 0; - for (double v : cartesianVelocity) { - sum += Math.abs(v); - } - return sum; + return solver.getTarget(); } public void addMarlinListener(MarlinListener editorPanel) { @@ -774,13 +493,4 @@ private void fireMarlinMessage(String message) { listener.messageFromMarlin(message); } } - - public double getLinearVelocity() { - return linearVelocity; - } - - public void setLinearVelocity(double linearVelocity) { - if(linearVelocity<0) throw new IllegalArgumentException("linearVelocity must be >= 0"); - this.linearVelocity = linearVelocity; - } } diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/pose/Limb.java b/src/main/java/com/marginallyclever/ro3/node/nodes/pose/Limb.java new file mode 100644 index 000000000..6f2e5662a --- /dev/null +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/pose/Limb.java @@ -0,0 +1,249 @@ +package com.marginallyclever.ro3.node.nodes.pose; + +import com.marginallyclever.convenience.swing.Dial; +import com.marginallyclever.ro3.apps.nodedetailview.CollapsiblePanel; +import com.marginallyclever.ro3.apps.nodeselector.NodeSelector; +import com.marginallyclever.ro3.node.Node; +import com.marginallyclever.ro3.node.NodePath; +import com.marginallyclever.ro3.node.nodes.HingeJoint; +import com.marginallyclever.ro3.node.nodes.Motor; +import com.marginallyclever.ro3.node.nodes.Pose; +import org.json.JSONArray; +import org.json.JSONObject; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import javax.swing.*; +import java.awt.*; +import java.util.ArrayList; +import java.util.List; + +/** + *

    {@link Limb} represents a linear chain of bones and muscles. Bones are represented by {@link Pose}s. Muscles are + * represented by {@link Motor}s. The end of the chain is represented by an {@link Pose} called the end effector.

    + *

    Limbs only perform Forward Kinematics - given the + * angle of each joint, they calculate the world space position of the end effector. For more sophisticated behavior, + * use a {@link com.marginallyclever.ro3.node.nodes.LimbSolver}.

    + */ +public class Limb extends Pose { + private static final Logger logger = LoggerFactory.getLogger(Limb.class); + public static final int MAX_JOINTS = 6; + private final List> motors = new ArrayList<>(); + private final NodePath endEffector = new NodePath<>(this,Pose.class); + + public Limb() { + this("Limb"); + } + + public Limb(String name) { + super(name); + + for(int i=0;i(this,Motor.class)); + } + } + + /** + * @return the end effector pose or null if not set. + */ + public Pose getEndEffector() { + return endEffector.getSubject() == null ? null : endEffector.getSubject(); + } + + public List> getMotors() { + return motors; + } + + public int getNumJoints() { + int count=0; + for(NodePath paths : motors) { + if(paths.getSubject()!=null) count++; + } + return count; + } + + public Motor getJoint(int i) { + return motors.get(i).getSubject(); + } + + public double[] getAllJointAngles() { + double[] result = new double[getNumJoints()]; + int i=0; + for(NodePath paths : motors) { + Motor motor = paths.getSubject(); + if(motor!=null) { + result[i++] = motor.getHinge().getAngle(); + } + } + return result; + } + + public void setAllJointAngles(double[] values) { + if(values.length != getNumJoints()) { + throw new IllegalArgumentException("setAllJointValues: one value for every motor"); + } + int i=0; + for(NodePath paths : motors) { + Motor motor = paths.getSubject(); + if(motor!=null) { + HingeJoint axle = motor.getHinge(); + if(axle!=null) { + axle.setAngle(values[i++]); + axle.update(0); + } + } + } + } + + public void setAllJointVelocities(double[] values) { + if(values.length!=getNumJoints()) { + throw new IllegalArgumentException("setAllJointValues: one value for every motor"); + } + int i=0; + for(NodePath paths : motors) { + Motor motor = paths.getSubject(); + if(motor!=null) { + HingeJoint axle = motor.getHinge(); + if(axle!=null) { + axle.setVelocity(values[i++]); + } + } + } + } + + @Override + public JSONObject toJSON() { + JSONObject json = super.toJSON(); + JSONArray jointArray = new JSONArray(); + json.put("version",1); + + for(var motor : motors) { + jointArray.put(motor == null ? JSONObject.NULL : motor.getPath()); + } + json.put("motors",jointArray); + if(endEffector.getSubject()!=null) json.put("endEffector",endEffector.getPath()); + return json; + } + + @Override + public void fromJSON(JSONObject from) { + super.fromJSON(from); + int version = from.has("version") ? from.getInt("version") : 0; + + if(from.has("motors")) { + JSONArray motorArray = from.getJSONArray("motors"); + for(int i=0;i list) { + JPanel pane = new JPanel(new GridBagLayout()); + list.add(pane); + pane.setName(Limb.class.getSimpleName()); + + GridBagConstraints gbc = new GridBagConstraints(); + gbc.weightx = 1.0; + gbc.weighty = 1.0; + gbc.fill = GridBagConstraints.BOTH; + gbc.gridx=0; + gbc.gridy=0; + gbc.gridwidth=1; + addNodeSelector(pane, "End Effector", endEffector, Pose.class, gbc); + + gbc.gridx=0; + gbc.gridwidth=2; + gbc.gridy++; + pane.add(createEasyFK(),gbc); + + gbc.gridy++; + pane.add(addMotorPanel(),gbc); + + super.getComponents(list); + } + + private JComponent createEasyFK() { + var containerPanel = new CollapsiblePanel("Forward Kinematics"); + var outerPanel = containerPanel.getContentPane(); + outerPanel.setLayout(new GridLayout(0,3)); + + int count=0; + for(int i=0;i { + if(motor.hasAxle()) { + motor.getHinge().setAngle(dial.getValue()); + } + }); + // TODO subscribe to motor.getAxle().getAngle(), then dial.setValue() without triggering an action event. + + JLabel label = new JLabel(motor.getName()); + label.setLabelFor(dial); + label.setHorizontalAlignment(SwingConstants.CENTER); + panel.add(label,BorderLayout.PAGE_START); + panel.add(dial,BorderLayout.CENTER); + dial.setPreferredSize(new Dimension(80,80)); + return panel; + } + + private JComponent addMotorPanel() { + var containerPanel = new CollapsiblePanel("Motors"); + var outerPanel = containerPanel.getContentPane(); + outerPanel.setLayout(new GridBagLayout()); + + GridBagConstraints gbc = new GridBagConstraints(); + gbc.weightx = 1.0; + gbc.weighty = 1.0; + gbc.gridx=0; + gbc.gridy=0; + gbc.fill = GridBagConstraints.BOTH; + + // add a selector for each motor + var motorSelector = new NodeSelector[MAX_JOINTS]; + for(int i=0;i(Motor.class, motors.get(i).getSubject()); + int j = i; + motorSelector[i].addPropertyChangeListener("subject",(e)-> { + motors.get(j).setRelativePath(this,(Motor)e.getNewValue()); + }); + addLabelAndComponent(outerPanel, "Motor "+i, motorSelector[i],gbc); + } + return containerPanel; + } +} diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java index f9a630471..19cfec6a4 100644 --- a/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java +++ b/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java @@ -2,6 +2,7 @@ import com.marginallyclever.ro3.Registry; import com.marginallyclever.ro3.apps.actions.LoadScene; +import com.marginallyclever.ro3.node.nodes.pose.Limb; import org.junit.jupiter.api.*; import java.io.File; @@ -19,13 +20,13 @@ public void setup() { Registry.start(); } - private MarlinRobotArm build6AxisArm() throws Exception { + private Limb build6AxisArm() throws Exception { // TODO load a robot from a file. var load = new LoadScene(null,null); // find file {project root}/src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO File file = new File("src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO"); load.commitLoad(file); - return (MarlinRobotArm) Registry.getScene().get("./Sixi3/MarlinRobotArm"); + return (Limb) Registry.getScene().get("./Sixi3/MarlinRobotArm"); } /** @@ -35,7 +36,7 @@ private MarlinRobotArm build6AxisArm() throws Exception { @Test @Disabled public void compare() throws Exception { - MarlinRobotArm robot = build6AxisArm(); + Limb robot = build6AxisArm(); ApproximateJacobian finite = new ApproximateJacobianFiniteDifferences(robot); ApproximateJacobian screw = new ApproximateJacobianScrewTheory(robot); From 79c1fd4b301945a3d40eac7a0b63915f77241aac Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Sun, 7 Jan 2024 12:12:57 -0800 Subject: [PATCH 5/6] setting up NodePaths --- .../ro3/node/nodes/LimbSolver.java | 2 +- .../nodes/marlinrobotarm/MarlinRobotArm.java | 157 +++++++----------- 2 files changed, 65 insertions(+), 94 deletions(-) diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java b/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java index a52e38d4a..9596f46dc 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java @@ -23,7 +23,7 @@ * joint velocities required to move the end effector towards the target in a straight line. */ public class LimbSolver extends Node { - private final NodePath limb = new NodePath<>(null,Limb.class); + private final NodePath limb = new NodePath<>(this,Limb.class); private final NodePath target = new NodePath<>(this,Pose.class); private double linearVelocity = 0; diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java index 651539928..8b5bbaa70 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java @@ -36,8 +36,8 @@ */ public class MarlinRobotArm extends Node { private static final Logger logger = LoggerFactory.getLogger(MarlinRobotArm.class); - public final Limb limb = new Limb(); - public final LimbSolver solver = new LimbSolver(); + public final NodePath limb = new NodePath<>(this,Limb.class); + public final NodePath solver = new NodePath<>(this,LimbSolver.class); private final NodePath gripperMotor = new NodePath<>(this,Motor.class); private double reportInterval=1.0; @@ -53,8 +53,6 @@ public MarlinRobotArm(String name) { public JSONObject toJSON() { JSONObject json = super.toJSON(); json.put("version",2); - json.put("limb",limb.toJSON()); - json.put("solver",solver.toJSON()); if(gripperMotor.getSubject()!=null) json.put("gripperMotor",gripperMotor.getPath()); return json; } @@ -63,13 +61,11 @@ public JSONObject toJSON() { public void fromJSON(JSONObject from) { super.fromJSON(from); int version = from.has("version") ? from.getInt("version") : 0; - if(version==2) { - limb.fromJSON(from.getJSONObject("limb")); - solver.fromJSON(from.getJSONObject("solver")); - return; - } else { - limb.fromJSON(from); - solver.fromJSON(from); + if(version<2) { + Limb limb1 = new Limb(); + LimbSolver solver1 = new LimbSolver(); + limb1.fromJSON(from); + solver1.fromJSON(from); Node root = this.getRootNode(); if (from.has("gripperMotor")) { String s = from.getString("gripperMotor"); @@ -80,6 +76,16 @@ public void fromJSON(JSONObject from) { gripperMotor.setRelativePath(this, goal); } } + + limb1.setName("Limb"); + getParent().addChild(limb1); + limb.setRelativePath(this,limb1); + + solver1.setName("LimbSolver"); + getParent().addChild(solver1); + solver.setRelativePath(this,solver1); + + solver1.setLimb(limb1); } } @@ -114,9 +120,6 @@ public void getComponents(List list) { gbc.gridy++; pane.add(createReportInterval(),gbc); - solver.getComponents(list); - limb.getComponents(list); - super.getComponents(list); } @@ -237,9 +240,18 @@ private String getM114() { return "M114"+getMotorsAndFeedrateAsString(); } + private Limb getLimb() { + return limb.getSubject(); + } + + private LimbSolver getSolver() { + return solver.getSubject(); + } + private String getMotorsAndFeedrateAsString() { + if(getLimb()==null || getSolver()==null) return ""; StringBuilder sb = new StringBuilder(); - for(NodePath paths : limb.getMotors()) { + for(NodePath paths : getLimb().getMotors()) { Motor motor = paths.getSubject(); if(motor!=null && motor.hasAxle()) { sb.append(" ") @@ -255,7 +267,7 @@ private String getMotorsAndFeedrateAsString() { .append(StringHelper.formatDouble(gripperMotor.getHinge().getAngle())); } // feedrate - sb.append(" F").append(StringHelper.formatDouble(solver.getLinearVelocity())); + sb.append(" F").append(StringHelper.formatDouble(getSolver().getLinearVelocity())); return sb.toString(); } @@ -277,7 +289,7 @@ public void sendGCode(String gcode) { } else if(gcode.equals("ik")) { fireMarlinMessage(getEndEffectorIK()); } else if(gcode.equals("aj")) { - ApproximateJacobianFiniteDifferences jacobian = new ApproximateJacobianFiniteDifferences(limb); + ApproximateJacobianFiniteDifferences jacobian = new ApproximateJacobianFiniteDifferences(getLimb()); fireMarlinMessage( "Ok: "+jacobian ); return; } else if(gcode.startsWith("G1")) { @@ -294,9 +306,13 @@ public void sendGCode(String gcode) { * @return response from robot arm */ private String parseG0(String gcode) { + if(getLimb()==null) { + logger.warn("no limb"); + return "Error: no limb"; + } String [] parts = gcode.split("\\s+"); try { - for (NodePath paths : limb.getMotors()) { + for (NodePath paths : getLimb().getMotors()) { Motor motor = paths.getSubject(); if (motor != null && motor.hasAxle()) { for (String p : parts) { @@ -338,18 +354,28 @@ private String parseG0(String gcode) { * @return response from robot arm */ private String parseG1(String gcode) { - if(solver.getTarget()==null) { + Limb myLimb = getLimb(); + if(myLimb==null) { + logger.warn("no limb"); + return "Error: no limb"; + } + LimbSolver mySolver = getSolver(); + if(mySolver==null) { + logger.warn("no solver"); + return "Error: no solver"; + } + if(mySolver.getTarget()==null) { logger.warn("no target"); return "Error: no target"; } - if(limb.getEndEffector()==null) { + if(myLimb.getEndEffector()==null) { logger.warn("no end effector"); return "Error: no end effector"; } String [] parts = gcode.split("\\s+"); - double [] cartesian = getCartesianFromWorld(limb.getEndEffector().getWorld()); + double [] cartesian = getCartesianFromWorld(myLimb.getEndEffector().getWorld()); for(String p : parts) { - if(p.startsWith("F")) solver.setLinearVelocity(Double.parseDouble(p.substring(1))); + if(p.startsWith("F")) mySolver.setLinearVelocity(Double.parseDouble(p.substring(1))); if(p.startsWith("X")) cartesian[0] = Double.parseDouble(p.substring(1)); else if(p.startsWith("Y")) cartesian[1] = Double.parseDouble(p.substring(1)); else if(p.startsWith("Z")) cartesian[2] = Double.parseDouble(p.substring(1)); @@ -359,18 +385,28 @@ private String parseG1(String gcode) { else logger.warn("unknown G1 command: "+p); } // set the target position relative to the base of the robot arm - solver.getTarget().setLocal(getReverseCartesianFromWorld(cartesian)); + mySolver.getTarget().setLocal(getReverseCartesianFromWorld(cartesian)); return "Ok"; } private String getEndEffectorIK() { - if(limb.getEndEffector()==null) { + Limb myLimb = getLimb(); + if(myLimb==null) { + logger.warn("no limb"); + return "Error: no limb"; + } + LimbSolver mySolver = getSolver(); + if(mySolver==null) { + logger.warn("no solver"); + return "Error: no solver"; + } + if(myLimb.getEndEffector()==null) { return ( "Error: no end effector" ); } - double [] cartesian = getCartesianFromWorld(limb.getEndEffector().getWorld()); + double [] cartesian = getCartesianFromWorld(myLimb.getEndEffector().getWorld()); int i=0; String response = "G1" - +" F"+StringHelper.formatDouble(solver.getLinearVelocity()) + +" F"+StringHelper.formatDouble(mySolver.getLinearVelocity()) +" X"+StringHelper.formatDouble(cartesian[i++]) +" Y"+StringHelper.formatDouble(cartesian[i++]) +" Z"+StringHelper.formatDouble(cartesian[i++]) @@ -405,77 +441,12 @@ private double[] getCartesianFromWorld(Matrix4d world) { return new double[] {translate.x,translate.y,translate.z,rotate.x,rotate.y,rotate.z}; } - /** - * @return the number of non-null motors. - */ - public int getNumJoints() { - // count the number of motors such that motors.get(i).getSubject()!=null - int count=0; - for(NodePath paths : limb.getMotors()) { - if(paths.getSubject()!=null) count++; - } - return count; - } - - public double[] getAllJointAngles() { - double[] result = new double[getNumJoints()]; - int i=0; - for(NodePath paths : limb.getMotors()) { - Motor motor = paths.getSubject(); - if(motor!=null) { - result[i++] = motor.getHinge().getAngle(); - } - } - return result; - } - - public void setAllJointAngles(double[] values) { - if(values.length != getNumJoints()) { - logger.error("setAllJointValues: one value for every motor"); - return; - } - int i=0; - for(NodePath paths : limb.getMotors()) { - Motor motor = paths.getSubject(); - if(motor!=null) { - HingeJoint axle = motor.getHinge(); - if(axle!=null) { - axle.setAngle(values[i++]); - axle.update(0); - } - } - } - } - - public void setAllJointVelocities(double[] values) { - if(values.length!=getNumJoints()) { - logger.error("setAllJointValues: one value for every motor"); - return; - } - int i=0; - for(NodePath paths : limb.getMotors()) { - Motor motor = paths.getSubject(); - if(motor!=null) { - HingeJoint axle = motor.getHinge(); - if(axle!=null) { - axle.setVelocity(values[i++]); - } - } - } - } - - /** - * @return the end effector pose or null if not set. - */ - public Pose getEndEffector() { - return limb.getEndEffector(); - } - /** * @return the target pose or null if not set. */ public Pose getTarget() { - return solver.getTarget(); + LimbSolver solver = getSolver(); + return solver == null ? null : solver.getTarget(); } public void addMarlinListener(MarlinListener editorPanel) { From a4cb7e6b9e91f5d9f7d14983883f78bcbb4e88eb Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Sun, 7 Jan 2024 12:29:27 -0800 Subject: [PATCH 6/6] prevent drift when linear velocity=0 --- .../java/com/marginallyclever/ro3/node/nodes/LimbSolver.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java b/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java index 9596f46dc..9ad7965b1 100644 --- a/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java +++ b/src/main/java/com/marginallyclever/ro3/node/nodes/LimbSolver.java @@ -63,6 +63,8 @@ private Pose getEndEffector() { private void moveTowardsTarget() { if(getLimb()==null || getEndEffector()==null || getTarget()==null || linearVelocity<0.0001) { + // no limb, no end effector, no target, or no velocity. Do nothing. + getLimb().setAllJointVelocities(new double[getLimb().getNumJoints()]); return; } double[] cartesianVelocity = MatrixHelper.getCartesianBetweenTwoMatrices(