added physics settings panel

MarginallyClever · May 14, 2024 · febc60a · febc60a
1 parent 6745447
commit febc60a
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Showing 7 changed files with 126 additions and 22 deletions.
diff --git a/src/main/java/com/marginallyclever/ro3/AllPanels.java b/src/main/java/com/marginallyclever/ro3/AllPanels.java
@@ -2,7 +2,7 @@
 
 import com.formdev.flatlaf.FlatLightLaf;
 import com.marginallyclever.ro3.node.nodes.pose.poses.*;
-import com.marginallyclever.ro3.physics.ODEPhysicsPanel;
+import com.marginallyclever.ro3.apps.ode4j.ODEPhysicsSettingsPanel;
 import org.reflections.Reflections;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -107,7 +107,7 @@ private Collection<Class<? extends JPanel>> getHandmadeList() {
             com.marginallyclever.ro3.node.nodes.limbplanner.LimbPlannerPanel.class,
             com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolverPanel.class,
             com.marginallyclever.ro3.node.nodes.marlinrobotarm.MarlinRobotArmPanel.class,
-            ODEPhysicsPanel.class,
+            ODEPhysicsSettingsPanel.class,
             com.marginallyclever.ro3.node.nodes.pose.PosePanel.class,
             AttachmentPointPanel.class,
             CameraPanel.class,

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() {

diff --git a/src/main/java/com/marginallyclever/ro3/apps/dialogs/AppSettingsDialog.java b/src/main/java/com/marginallyclever/ro3/apps/dialogs/AppSettingsDialog.java
@@ -40,7 +40,9 @@ public AppSettingsDialog(List<App> apps) {
                     ViewProvider<App> viewProvider = (ViewProvider<App>) clazz.getConstructor().newInstance();
                     viewProvider.setViewSubject(appInstance);
                     JPanel viewPanel = (JPanel)viewProvider;
-                    tabbedPane.addTab(appClass.getSimpleName(), viewPanel);
+                    JPanel container = new JPanel(new BorderLayout());
+                    container.add(viewPanel, BorderLayout.NORTH);
+                    tabbedPane.addTab(((JPanel) viewProvider).getName(), container);
                 } catch (NoSuchMethodException | IllegalAccessException | InstantiationException | InvocationTargetException e) {
                     logger.error("Error creating view for app: " + appInstance.getClass().getSimpleName(), e);
                 }
@@ -49,6 +51,7 @@ public AppSettingsDialog(List<App> apps) {
     }
 
     public void run(Component parent) {
+        // show message dialog is the reason the dialog cannot be resized.
         JOptionPane.showMessageDialog(parent, this, "Settings", JOptionPane.PLAIN_MESSAGE);
     }
 }
diff --git a/src/main/java/com/marginallyclever/ro3/apps/ode4j/ODEPhysicsSettingsPanel.java b/src/main/java/com/marginallyclever/ro3/apps/ode4j/ODEPhysicsSettingsPanel.java
@@ -0,0 +1,74 @@
+package com.marginallyclever.ro3.apps.ode4j;
+
+import com.marginallyclever.convenience.swing.NumberFormatHelper;
+import com.marginallyclever.ro3.PanelHelper;
+import com.marginallyclever.ro3.Registry;
+import com.marginallyclever.ro3.physics.ODEPhysics;
+import com.marginallyclever.ro3.view.View;
+import com.marginallyclever.ro3.view.ViewProvider;
+
+import javax.swing.*;
+import javax.swing.text.NumberFormatter;
+import java.awt.*;
+
+/**
+ * {@link ODEPhysicsSettingsPanel} is a {@link View} for {@link ODEPhysics}.
+ */
+@View(of= ODE4JPanel.class)
+public class ODEPhysicsSettingsPanel extends JPanel implements ViewProvider<ODE4JPanel> {
+    private ODE4JPanel subject;
+    private final NumberFormatter formatter = NumberFormatHelper.getNumberFormatter();
+    private final JFormattedTextField cfm = new JFormattedTextField(formatter);
+    private final JFormattedTextField erp = new JFormattedTextField(formatter);
+    private final JFormattedTextField gravity = new JFormattedTextField(formatter);
+
+    public ODEPhysicsSettingsPanel() {
+        super(new GridBagLayout());
+        setName("Physics");
+
+        GridBagConstraints gbc = new GridBagConstraints();
+        gbc.weightx = 1.0;
+        gbc.weighty = 1.0;
+        gbc.gridx=0;
+        gbc.gridy=0;
+        gbc.fill = GridBagConstraints.BOTH;
+
+        var physics = Registry.getPhysics();
+        // cfm
+        cfm.setValue(physics.getCFM());
+        PanelHelper.addLabelAndComponent(this, "CFM",cfm,gbc);
+        cfm.addPropertyChangeListener("value", evt -> setCFM((Double) evt.getNewValue()));
+
+        // erp
+        gbc.gridy++;
+        erp.setValue(physics.getERP());
+        PanelHelper.addLabelAndComponent(this, "ERP",erp,gbc);
+        erp.addPropertyChangeListener("value", evt -> setERP((Double) evt.getNewValue()));
+
+        // gravity
+        gbc.gridy++;
+        gravity.setValue(physics.getGravity());
+        PanelHelper.addLabelAndComponent(this, "Gravity",gravity,gbc);
+        gravity.addPropertyChangeListener("value", evt ->setGravity((Double) evt.getNewValue()));
+    }
+
+    public void setCFM(double cfm) {
+        var physics = Registry.getPhysics();
+        physics.setCFM(cfm);
+    }
+
+    public void setERP(double erp) {
+        var physics = Registry.getPhysics();
+        physics.setERP(erp);
+    }
+
+    public void setGravity(double gravity) {
+        var physics = Registry.getPhysics();
+        physics.setGravity(gravity);
+    }
+
+    @Override
+    public void setViewSubject(ODE4JPanel subject) {
+        this.subject = subject;
+    }
+}
diff --git a/src/main/java/com/marginallyclever/ro3/apps/viewport/ViewportSettingsPanel.java b/src/main/java/com/marginallyclever/ro3/apps/viewport/ViewportSettingsPanel.java
@@ -30,7 +30,7 @@ public class ViewportSettingsPanel extends JPanel implements ViewProvider<Viewpo
 
     public ViewportSettingsPanel() {
         super(new GridBagLayout());
-        setName("Viewport Settings");
+        setName("Viewport");
 
         GridBagConstraints gbc = new GridBagConstraints();
         gbc.weightx = 1.0;
@@ -188,6 +188,8 @@ public void setViewSubject(Viewport subject) {
         setVerticalSync(subject.isVerticalSync());
         setFSAASamples(subject.getFsaaSamples());
 
+        // this only allows parameters from one render pass.
+        // TODO: add other passes?
         DrawMeshes meshes = getDrawMeshes();
         if(meshes!=null) {
             setSunColor(meshes.getSunlightColor());

diff --git a/src/main/java/com/marginallyclever/ro3/physics/ODEPhysics.java b/src/main/java/com/marginallyclever/ro3/physics/ODEPhysics.java
@@ -1,12 +1,14 @@
 package com.marginallyclever.ro3.physics;
 
+import org.ode4j.math.DVector3;
 import org.ode4j.ode.*;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
 import javax.swing.event.EventListenerList;
 
 import static org.ode4j.ode.OdeConstants.*;
+import static org.ode4j.ode.OdeHelper.createSapSpace;
 import static org.ode4j.ode.OdeHelper.createWorld;
 
 /**
@@ -16,12 +18,14 @@
 public class ODEPhysics {
     private static final Logger logger = LoggerFactory.getLogger(ODEPhysics.class);
 
-    public double WORLD_CFM = 1e-5;
-    public double WORLD_ERP = 0.8;
-    public double WORLD_GRAVITY = -9.81;
+    private double WORLD_CFM = 1e-5;
+    private double WORLD_ERP = 0.8;
+    private double WORLD_GRAVITY = -9.81;
     private final int ITERS = 20;
     private final int CONTACT_BUFFER_SIZE = 4;
 
+    private int spaceType = 0;
+
     private DWorld world;
     private DSpace space;
     private DContactBuffer contacts;
@@ -54,10 +58,14 @@ private void startPhysics() {
             world.setQuickStepNumIterations(ITERS);
         }
 
-        // setup a space in the world
+        // create a space in the world
         if(space == null) {
-            space = OdeHelper.createSapSpace(null, DSapSpace.AXES.XYZ);
-            //space = OdeHelper.createSimpleSpace();
+            space = switch(spaceType) {
+                case 1 -> OdeHelper.createHashSpace(null);
+                case 2 -> OdeHelper.createSapSpace(null, DSapSpace.AXES.XYZ);
+                //case 3 -> OdeHelper.createQuadTreeSpace(null, new DVector3(0, 0, 0), new DVector3(100, 100, 100), 0);
+                default -> OdeHelper.createSimpleSpace();
+            };
         }
 
         if(contacts == null) {
@@ -174,4 +182,32 @@ public boolean isPaused() {
     public void setPaused(boolean state) {
         isPaused = state;
     }
+
+    public double getCFM() {
+        return WORLD_CFM;
+    }
+
+    public void setCFM(double WORLD_CFM) {
+        this.WORLD_CFM = WORLD_CFM;
+        if(world!=null) world.setCFM(WORLD_CFM);
+    }
+
+    public double getERP() {
+        return WORLD_ERP;
+    }
+
+    public void setERP(double WORLD_ERP) {
+        this.WORLD_ERP = WORLD_ERP;
+        if(world!=null) world.setERP(WORLD_ERP);
+    }
+
+    public double getGravity() {
+        return WORLD_GRAVITY;
+    }
+
+    public void setGravity(double WORLD_GRAVITY) {
+        this.WORLD_GRAVITY = WORLD_GRAVITY;
+        if(world!=null) world.setGravity(0, 0, WORLD_GRAVITY);
+    }
+
 }
diff --git a/src/main/java/com/marginallyclever/ro3/physics/ODEPhysicsPanel.java b/src/main/java/com/marginallyclever/ro3/physics/ODEPhysicsPanel.java