ODE4J nodes and sample application (#282)

![2024-04-30-01](https://github.com/MarginallyClever/Robot-Overlord-App/assets/1464454/8d3c77f4-4c67-4261-9766-426ed7c4cf75) ![image](https://github.com/MarginallyClever/Robot-Overlord-App/assets/1464454/e43407ba-c464-4bb0-b49c-bae9fe41cf2b) - Build and run latest. - Download [dog3.zip](https://github.com/MarginallyClever/Robot-Overlord-App/files/15173103/dog3.zip) - Unzip this file to a folder `dog3` and open `dog3/dog3.ro` in latest app. - Open `Windows > ODE4J`. (1) - In `ODE4J` tab (2), click on start icon (3).
MarginallyClever · Jun 4, 2024 · e701901 · e701901
2 parents 2ad5ef2 + f1efeb1
commit e701901
Show file tree

Hide file tree

Showing 88 changed files with 3,868 additions and 500 deletions.
diff --git a/.github/badges/branches.svg b/.github/badges/branches.svg
diff --git a/.github/badges/jacoco.svg b/.github/badges/jacoco.svg
diff --git a/pom.xml b/pom.xml
@@ -6,7 +6,7 @@
 
 	<groupId>com.marginallyclever</groupId>
 	<artifactId>RobotOverlord</artifactId>
-	<version>2.110.2</version>
+	<version>2.113.0</version>
 	<name>Robot Overlord</name>
 	<description>A friendly 3D user interface for controlling robots.</description>
 	<url>https://www.marginallyclever.com/</url>
@@ -81,6 +81,11 @@
 			<name>jogamp test mirror</name>
 			<url>https://www.jogamp.org/deployment/maven/</url>
 			<layout>default</layout>
+		</repository>
+		<repository>
+			<id>maven_central</id>
+			<name>Maven Central</name>
+			<url>https://repo.maven.apache.org/maven2/</url>
 		</repository><!--
 		<repository>
 			<id>snapshots-repo</id>
@@ -476,7 +481,7 @@
 		<dependency>
 		    <groupId>org.ode4j</groupId>
 		    <artifactId>core</artifactId>
-		    <version>0.4.2</version>
+		    <version>0.5.3</version>
 		</dependency>
 
 		<!-- for making http requests -->
@@ -525,6 +530,7 @@
 			<version>0.3.12</version>
 		</dependency>
 
+		<!-- dockable windows -->
 		<dependency>
 			<groupId>io.github.andrewauclair</groupId>
 			<artifactId>modern-docking-api</artifactId>
@@ -540,6 +546,7 @@
 			<artifactId>modern-docking-ui</artifactId>
 			<version>0.11.1</version>
 		</dependency>
+
 		<!-- https://mvnrepository.com/artifact/com.formdev/flatlaf -->
 		<dependency>
 			<groupId>com.formdev</groupId>
@@ -558,6 +565,13 @@
 			<artifactId>reflections</artifactId>
 			<version>0.10.2</version>
 		</dependency>
+
+		<!-- for zip file extracting in bulk -->
+		<dependency>
+			<groupId>net.lingala.zip4j</groupId>
+			<artifactId>zip4j</artifactId>
+			<version>2.11.5</version>
+		</dependency>
 	</dependencies>
 
 	<properties>

diff --git a/src/main/java/com/marginallyclever/convenience/helpers/FileHelper.java b/src/main/java/com/marginallyclever/convenience/helpers/FileHelper.java
@@ -14,7 +14,7 @@ public class FileHelper {
 	 *  - The file may be a resource inside a jar file.
 	 *  - The file may be on disk.
 	 *     
-	 * @param filename The file to open
+	 * @param filename The file to open.  May be "filename.ext" or "zipfile.zip:filename.ext"
 	 * @return BufferedInputStream to the file contents
 	 * @throws IOException file open failure
 	 */

diff --git a/src/main/java/com/marginallyclever/ro3/AllPanels.java b/src/main/java/com/marginallyclever/ro3/AllPanels.java
@@ -1,8 +1,9 @@
 package com.marginallyclever.ro3;
 
 import com.formdev.flatlaf.FlatLightLaf;
+import com.marginallyclever.ro3.node.nodes.pose.poses.*;
+import com.marginallyclever.ro3.apps.ode4j.ODEPhysicsSettingsPanel;
 import org.reflections.Reflections;
-import org.reflections.util.ClasspathHelper;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -13,6 +14,10 @@
 import javax.swing.*;
 import java.awt.*;
 
+/**
+ * This class should be in tests but cannot because {@link Reflections} does not work across the
+ * production/test boundary.
+ */
 public class AllPanels {
     private static final Logger logger = LoggerFactory.getLogger(AllPanels.class);
 
@@ -96,19 +101,19 @@ private Collection<Class<? extends JPanel>> getHandmadeList() {
             com.marginallyclever.ro3.node.nodes.LinearJointPanel.class,
             com.marginallyclever.ro3.node.nodes.MaterialPanel.class,
             com.marginallyclever.ro3.node.nodes.MotorPanel.class,
-            com.marginallyclever.ro3.node.nodes.RigidBody3DPanel.class,
             com.marginallyclever.ro3.node.nodes.behavior.BehaviorTreeRunnerPanel.class,
             com.marginallyclever.ro3.node.nodes.behavior.actions.LimbMoveToTargetPanel.class,
             com.marginallyclever.ro3.node.nodes.behavior.decorators.RepeatPanel.class,
             com.marginallyclever.ro3.node.nodes.limbplanner.LimbPlannerPanel.class,
             com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolverPanel.class,
             com.marginallyclever.ro3.node.nodes.marlinrobotarm.MarlinRobotArmPanel.class,
+            ODEPhysicsSettingsPanel.class,
             com.marginallyclever.ro3.node.nodes.pose.PosePanel.class,
-            com.marginallyclever.ro3.node.nodes.pose.poses.AttachmentPointPanel.class,
-            com.marginallyclever.ro3.node.nodes.pose.poses.CameraPanel.class,
-            com.marginallyclever.ro3.node.nodes.pose.poses.LimbPanel.class,
-            com.marginallyclever.ro3.node.nodes.pose.poses.LookAtPanel.class,
-            com.marginallyclever.ro3.node.nodes.pose.poses.MeshInstancePanel.class,
+            AttachmentPointPanel.class,
+            CameraPanel.class,
+            LimbPanel.class,
+            LookAtPanel.class,
+            MeshInstancePanel.class,
             com.marginallyclever.ro3.texture.TextureChooserDialog.class
         ));
     }

diff --git a/src/main/java/com/marginallyclever/ro3/RO3.java b/src/main/java/com/marginallyclever/ro3/RO3.java
@@ -1,5 +1,7 @@
 package com.marginallyclever.ro3;
 
+import com.formdev.flatlaf.FlatLaf;
+import com.formdev.flatlaf.FlatLightLaf;
 import com.marginallyclever.ro3.apps.RO3Frame;
 
 import javax.swing.*;
@@ -10,11 +12,31 @@
  * You can find the friendly user manual at <a href="mcr.dozuki.com">mcr.dozuki.com</a>.
  */
 public class RO3 {
+    private static final org.slf4j.Logger logger = org.slf4j.LoggerFactory.getLogger(RO3.class);
+
     public static void main(String[] args) {
         Registry.start();
+        setLookAndFeel();
 
         if(!GraphicsEnvironment.isHeadless()) {
             SwingUtilities.invokeLater(() -> (new RO3Frame()).setVisible(true));
         }
     }
+
+    private static void setLookAndFeel() {
+        logger.info("Setting look and feel...");
+        FlatLaf.registerCustomDefaultsSource( "com.marginallyclever.ro3" );
+        //FlatLaf.registerCustomDefaultsSource("docking");
+        try {
+            UIManager.setLookAndFeel(new FlatLightLaf());
+            // option 2: UIManager.setLookAndFeel(new FlatDarkLaf());
+        } catch (Exception ignored) {
+            logger.warn("failed to set flat look and feel. falling back to default native look and feel");
+            try {
+                UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+            } catch (Exception ex) {
+                logger.warn("failed to set native look and feel.", ex);
+            }
+        }
+    }
 }
diff --git a/src/main/java/com/marginallyclever/ro3/Registry.java b/src/main/java/com/marginallyclever/ro3/Registry.java
@@ -13,15 +13,22 @@
 import com.marginallyclever.ro3.node.nodes.limbplanner.LimbPlanner;
 import com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolver;
 import com.marginallyclever.ro3.node.nodes.marlinrobotarm.MarlinRobotArm;
-import com.marginallyclever.ro3.node.nodes.pose.*;
+import com.marginallyclever.ro3.node.nodes.odenode.CreatureController;
+import com.marginallyclever.ro3.node.nodes.odenode.ODEHinge;
+import com.marginallyclever.ro3.node.nodes.odenode.odebody.odebodies.ODEBox;
+import com.marginallyclever.ro3.node.nodes.odenode.ODEPlane;
+import com.marginallyclever.ro3.node.nodes.odenode.odebody.odebodies.ODECapsule;
+import com.marginallyclever.ro3.node.nodes.odenode.odebody.odebodies.ODECylinder;
+import com.marginallyclever.ro3.node.nodes.odenode.odebody.odebodies.ODESphere;
 import com.marginallyclever.ro3.node.nodes.pose.poses.*;
+import com.marginallyclever.ro3.physics.ODEPhysics;
+import com.marginallyclever.ro3.node.nodes.pose.*;
 import com.marginallyclever.ro3.texture.TextureFactory;
 
 import javax.swing.event.EventListenerList;
 import javax.vecmath.Vector3d;
 import java.util.ArrayList;
 import java.util.List;
-import java.util.Locale;
 
 /**
  * {@link Registry} is a place to store global variables.
@@ -35,6 +42,7 @@ public class Registry {
     public static final ListWithEvents<Camera> cameras = new ListWithEvents<>();
     private static Camera activeCamera = null;
     public static final ListWithEvents<Node> selection = new ListWithEvents<>();
+    private static final ODEPhysics physics = new ODEPhysics();
 
     public static void start() {
         nodeFactory.clear();
@@ -76,6 +84,16 @@ public static void start() {
                 pose.add("LookAt", LookAt::new);
                 pose.add("MeshInstance", MeshInstance::new);
             }
+            NodeFactory.Category physics = node.add("Physics", null);
+            {
+                physics.add("CreatureController", CreatureController::new);
+                physics.add("ODEBox", ODEBox::new);
+                physics.add("ODECapsule", ODECapsule::new);
+                physics.add("ODECylinder", ODECylinder::new);
+                physics.add("ODEHinge", ODEHinge::new);
+                physics.add("ODEPlane", ODEPlane::new);
+                physics.add("ODESphere", ODESphere::new);
+            }
         }
         reset();
     }
@@ -101,6 +119,7 @@ public static void reset() {
 
         textureFactory.reset();
         meshFactory.reset();
+        physics.reset();
 
         scene = new Node("Scene");
     }
@@ -143,4 +162,8 @@ public static Camera getActiveCamera() {
     public static void setActiveCamera(Camera camera) {
         activeCamera = camera;
     }
+
+    public static ODEPhysics getPhysics() {
+        return physics;
+    }
 }
diff --git a/src/main/java/com/marginallyclever/ro3/apps/App.java b/src/main/java/com/marginallyclever/ro3/apps/App.java
@@ -4,7 +4,7 @@
 import java.awt.*;
 
 /**
- * All apps extend from App for Reflection.
+ * All applications in the environment extend from {@link App} for Reflection.
  */
 public abstract class App extends JPanel {
     public App() {