Grx3DView.java
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * General Robotix Inc.
8  * National Institute of Advanced Industrial Science and Technology (AIST)
9  */
10 /*
11  * Grx3DView.java
12  *
13  * Copyright (C) 2007 GeneralRobotix, Inc.
14  * All Rights Reserved
15  *
16  * @author Yuichiro Kawasumi (General Robotix, Inc.)
17  */
18 
19 package com.generalrobotix.ui.view;
20 
21 import java.awt.BorderLayout;
22 import java.awt.Color;
23 import java.awt.Component;
24 import java.awt.Dimension;
25 import java.awt.Font;
26 import java.awt.Frame;
27 import java.awt.GraphicsConfiguration;
28 import java.awt.GridLayout;
29 import java.awt.MenuItem;
30 import java.awt.Panel;
31 import java.awt.PopupMenu;
32 import java.awt.TextField;
33 import java.awt.event.ActionEvent;
34 import java.awt.event.ActionListener;
35 import java.awt.event.KeyAdapter;
36 import java.awt.event.KeyEvent;
37 import java.awt.event.MouseEvent;
38 import java.awt.event.MouseListener;
39 import java.awt.image.BufferedImage;
40 import java.io.File;
41 import java.io.IOException;
42 import java.net.MalformedURLException;
43 import java.net.URL;
44 import java.util.ArrayList;
45 import java.util.Iterator;
46 import java.util.List;
47 import java.util.Map;
48 import java.util.Vector;
49 
50 import javax.swing.*;
51 import javax.media.j3d.*;
52 import javax.vecmath.*;
53 
54 import org.eclipse.swt.SWT;
55 import org.eclipse.swt.awt.SWT_AWT;
56 import org.eclipse.swt.events.ControlEvent;
57 import org.eclipse.swt.events.ControlListener;
58 import org.eclipse.swt.graphics.RGB;
59 import org.eclipse.swt.widgets.ColorDialog;
60 import org.eclipse.swt.widgets.Composite;
61 import org.eclipse.swt.widgets.Display;
62 import org.eclipse.swt.widgets.FileDialog;
63 import org.omg.CosNaming.NameComponent;
64 import org.omg.CosNaming.NamingContext;
65 //import org.omg.PortableServer.POAPackage.ObjectNotActive;
66 //import org.omg.PortableServer.POAPackage.ServantAlreadyActive;
67 import org.omg.PortableServer.POAPackage.ServantNotActive;
68 import org.omg.PortableServer.POAPackage.WrongPolicy;
69 import org.eclipse.jface.dialogs.MessageDialog;
70 
71 //import com.sun.j3d.utils.pickfast.PickCanvas;
72 import com.sun.j3d.utils.universe.SimpleUniverse;
73 
74 import jp.go.aist.hrp.simulator.*;
75 import jp.go.aist.hrp.simulator.OnlineViewerPackage.OnlineViewerException;
76 
77 import com.generalrobotix.ui.*;
78 import com.generalrobotix.ui.util.*;
79 import com.generalrobotix.ui.util.AxisAngle4d;
80 import com.generalrobotix.ui.item.GrxCollisionPairItem;
81 import com.generalrobotix.ui.item.GrxLinkItem;
82 import com.generalrobotix.ui.item.GrxModelItem;
83 import com.generalrobotix.ui.item.GrxSensorItem;
84 import com.generalrobotix.ui.item.GrxSimulationItem;
85 import com.generalrobotix.ui.item.GrxWorldStateItem;
86 import com.generalrobotix.ui.item.GrxWorldStateItem.CharacterStateEx;
87 import com.generalrobotix.ui.item.GrxWorldStateItem.WorldStateEx;
88 import com.generalrobotix.ui.view.tdview.*;
89 import com.generalrobotix.ui.view.vsensor.Camera_impl;
90 
91 @SuppressWarnings("serial") //$NON-NLS-1$
92 public class Grx3DView
93  extends GrxBaseView
94  implements ThreeDDrawable
95 {
96  public static final String TITLE = "3DView"; //$NON-NLS-1$
97  // java3D 1.4.1のバグ？　対策
98  public static final GraphicsConfiguration graphicsConfiguration = SimpleUniverse.getPreferredConfiguration();
99  // items
100  private GrxWorldStateItem currentWorld_ = null;
101  private List<GrxModelItem> currentModels_ = new ArrayList<GrxModelItem>();
102  private List<GrxCollisionPairItem> currentCollisionPairs_ = new ArrayList<GrxCollisionPairItem>();
103  private WorldStateEx currentState_ = null;
104  private GrxSimulationItem simItem_ = null;
105  private final static int VIEW=0;
106  private final static int EDIT=1;
107  private final static int SIMULATION = 2;
108  private int viewMode_ = VIEW;
109  private double dAngle_ = Math.toRadians(0.1);
110 
111  // for scene graph
112  private static VirtualUniverse universe_;
113  private javax.media.j3d.Locale locale_;
114  private BranchGroup bgRoot_;
115  private BranchGroup unclickableBgRoot_;
116 
117  private BranchGroup rulerBg_;
118  private float LineWidth_ = 1.0f;
119  private float colprop = 10.0f;
120  private float coldiff = 0.1f;
121 
122  // for view
123  private Canvas3D canvas_;
124  private Canvas3D offscreen_;
125  private View view_;
126  private TransformGroup tgView_;
127  private Transform3D t3dViewHome_ = new Transform3D();
128  private ViewInfo info_;
129  private BehaviorManager behaviorManager_ = new BehaviorManager(manager_);
130  private Background backGround_ = new Background(0.0f, 0.0f, 0.0f);
131  private double[] default_eye = new double[]{2.0, 2.0, 0.8};
132  private double[] default_lookat = new double[]{0.0, 0.0, 0.8};
133  private double[] default_upward = new double[]{0.0, 0.0, 1.0};
134 
135  // for recording movie
136  private RecordingManager recordingMgr_;
137  private String lastMovieFileName;
138 
139  // UI objects
140  private ObjectToolBar objectToolBar_ = new ObjectToolBar();
141  private ViewToolBar viewToolBar_ = new ViewToolBar(this);
142  private JButton btnHomePos_ = new JButton(new ImageIcon(getClass().getResource("/resources/images/home.png"))); //$NON-NLS-1$
143  private JToggleButton btnFloor_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/floor.png"))); //$NON-NLS-1$
144  private JToggleButton btnCollision_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/collision.png"))); //$NON-NLS-1$
145  private JToggleButton btnDistance_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/distance.png"))); //$NON-NLS-1$
146  private JToggleButton btnIntersection_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/proximity.png"))); //$NON-NLS-1$
147  private JToggleButton btnCoM_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/com.png"))); //$NON-NLS-1$
148  private JToggleButton btnCoMonFloor_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/com_z0.png"))); //$NON-NLS-1$
149  private JToggleButton btnRec_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/record.png"))); //$NON-NLS-1$
150  private JButton btnPlayer_ = new JButton(new ImageIcon(getClass().getResource("/resources/images/movie_player.png"))); //$NON-NLS-1$
151  private JButton btnRestore_ = new JButton(new ImageIcon(getClass().getResource("/resources/images/undo.png"))); //$NON-NLS-1$
152  private JToggleButton btnBBdisp_ = new JToggleButton(new ImageIcon(getClass().getResource("/resources/images/AABB.png")));
153 
154  private JLabel lblMode_ = new JLabel(MessageBundle.get("Grx3DView.label.view")); //$NON-NLS-1$
155  private JLabel lblTarget_ = new JLabel(""); //$NON-NLS-1$
156  private JLabel lblValue_ = new JLabel(""); //$NON-NLS-1$
157 
158  private Shape3D collision_;
159  private Shape3D distance_;
160  private Vector<GrxLinkItem> intersectingLinks_;
161 
162  private boolean showActualState_ = true;
163 
164  // for "Linux resize problem"
165  Frame frame_;
166  Composite comp;
167 
168  public Grx3DView(String name, GrxPluginManager manager, GrxBaseViewPart vp, Composite parent)
169  {
170  super(name, manager, vp, parent);
171  isScrollable_ = false;
172 
173  //----
174  // Linuxでリサイズイベントが発行されない問題対策
175  // https://bugs.eclipse.org/bugs/show_bug.cgi?id=168330
176 
177  comp = new Composite( getComposite(), SWT.EMBEDDED);
178  frame_ = SWT_AWT.new_Frame( comp );
179 
180  comp.addControlListener( new ControlListener() {
181  public void controlMoved(ControlEvent e) {}
182  public void controlResized(ControlEvent e) {
183  frame_.setBounds(0, 0, comp.getSize().x, comp.getSize().y );
184  }
185  });
186 
187  //----
188 
189  //----
190  // JCombo等がマウスで開けない問題対策
191  // http://www.eclipsezone.com/forums/thread.jspa?messageID=92230432&
192  // JPanelでなくAWTのPanelを使う
193  Panel contentPane = new Panel();
194 
195  //----
196 
197  frame_.add(contentPane);
198 
199  contentPane.setLayout(new BorderLayout());
200  contentPane.setBackground(Color.lightGray);
201  //contentPane.setAlignmentX(JPanel.LEFT_ALIGNMENT);
202 
203  lblMode_.setForeground(Color.black);
204  lblMode_.setFont(new Font("Monospaced", Font.BOLD, 12)); //$NON-NLS-1$
205  lblMode_.setPreferredSize(new Dimension(300, 20));
206 
207  lblTarget_.setForeground(Color.white);
208  lblTarget_.setFont(new Font("Monospaced", Font.BOLD, 12)); //$NON-NLS-1$
209  lblTarget_.setPreferredSize(new Dimension(500, 20));
210 
211  lblValue_.setForeground(Color.white);
212  lblValue_.setFont(new Font("Monospaced", Font.BOLD, 12)); //$NON-NLS-1$
213  lblValue_.setPreferredSize(new Dimension(300, 20));
214 
215  JPanel southPanel = new JPanel();
216  southPanel.setLayout(new GridLayout(1,0));
217  southPanel.add( lblMode_ );
218  Box clipPanel = Box.createHorizontalBox();
219  JLabel clipDistLabel0 = new JLabel(MessageBundle.get("Grx3DView.label.clipDistance0"));
220  JLabel clipDistLabel1 = new JLabel(MessageBundle.get("Grx3DView.label.clipDistance1"));
221  final TextField frontText = new TextField(6);
222  final TextField backText = new TextField(6);
223  frontText.addActionListener(new ActionListener(){
224  public void actionPerformed(ActionEvent arg0) {
225  String str = frontText.getText();
226  try{
227  info_.frontClipDistance=Double.parseDouble(str);
228  view_.setFrontClipDistance(info_.frontClipDistance);
229  }catch(NumberFormatException e){
230  frontText.setText(String.valueOf(info_.frontClipDistance));
231  }
232  }
233  });
234  backText.addActionListener(new ActionListener(){
235  public void actionPerformed(ActionEvent arg0) {
236  String str = backText.getText();
237  try{
238  info_.backClipDistance=Double.parseDouble(str);
239  view_.setBackClipDistance(info_.backClipDistance);
240  }catch(NumberFormatException e){
241  backText.setText(String.valueOf(info_.backClipDistance));
242  }
243  }
244  });
245 
246  clipPanel.add(clipDistLabel0);
247  clipPanel.add(frontText);
248  clipPanel.add(clipDistLabel1);
249  clipPanel.add(backText);
250  southPanel.add(clipPanel);
251 
252  canvas_ = new Canvas3D(graphicsConfiguration);
253  canvas_.setDoubleBufferEnable(true);
254  canvas_.addKeyListener(new ModelEditKeyAdapter());
255  _setupSceneGraph();
256 
257  frontText.setText(String.valueOf(info_.frontClipDistance));
258  backText.setText(String.valueOf(info_.backClipDistance));
259  JPanel mainPane = new JPanel(new BorderLayout());
260  mainPane.setBackground(Color.black);
261  contentPane.add(southPanel, BorderLayout.SOUTH);
262  mainPane.add(canvas_, BorderLayout.CENTER);
263  contentPane.add(mainPane, BorderLayout.CENTER);
264 
265  _setupToolBars();
266  contentPane.add(objectToolBar_, BorderLayout.WEST);
267  contentPane.add(viewToolBar_, BorderLayout.NORTH);
268 
269  collision_ = new Shape3D();
270  collision_.setPickable(false);
271  collision_.setCapability(Shape3D.ALLOW_GEOMETRY_WRITE);
272  try {
273  Appearance app = new Appearance();
274  LineAttributes latt = new LineAttributes();
275  latt.setLineWidth(LineWidth_);
276  app.setLineAttributes(latt);
277  collision_.setAppearance(app);
278  } catch (Exception ex) {
279  ex.printStackTrace();
280  }
281  BranchGroup bg = new BranchGroup();
282  bg.addChild(collision_);
283  bgRoot_.addChild(bg);
284 
285  distance_ = new Shape3D();
286  distance_.setPickable(false);
287  distance_.setCapability(Shape3D.ALLOW_GEOMETRY_WRITE);
288  try {
289  Appearance app = new Appearance();
290  LineAttributes latt = new LineAttributes();
291  latt.setLineWidth(LineWidth_);
292  app.setLineAttributes(latt);
293  distance_.setAppearance(app);
294  } catch (Exception ex) {
295  ex.printStackTrace();
296  }
297  BranchGroup bgDistance = new BranchGroup();
298  bgDistance.addChild(distance_);
299  bgRoot_.addChild(bgDistance);
300 
301  intersectingLinks_ = new Vector<GrxLinkItem>();
302 
303  setScrollMinSize(SWT.DEFAULT,SWT.DEFAULT);
304 
305  //setup
306  behaviorManager_.setThreeDViewer(this);
307  behaviorManager_.setViewIndicator(viewToolBar_);
308  behaviorManager_.setItem(currentModels_, currentCollisionPairs_);
309  behaviorManager_.initDynamicsSimulator();
310  behaviorManager_.setOperationMode(BehaviorManager.OPERATION_MODE_NONE);
311  behaviorManager_.setViewMode(BehaviorManager.ROOM_VIEW_MODE);
312  behaviorManager_.setViewHandlerMode("button_mode_rotation"); //$NON-NLS-1$
313  behaviorManager_.replaceWorld(null);
314  viewToolBar_.setMode(ViewToolBar.ROOM_MODE);
315  viewToolBar_.setOperation(ViewToolBar.ROTATE);
316 
317  registerCORBA();
318 
319  setUp();
320  manager_.registerItemChangeListener(this, GrxModelItem.class);
321  manager_.registerItemChangeListener(this, GrxWorldStateItem.class);
322  manager_.registerItemChangeListener(this, GrxCollisionPairItem.class);
323  manager_.registerItemChangeListener(this, GrxSimulationItem.class);
324 
325  }
326 
327  public void setUp(){
328  Iterator<GrxModelItem> it = currentModels_.iterator();
329  while(it.hasNext()) {
330  GrxModelItem model = it.next();
331  if(model.bgRoot_.isLive())
332  model.bgRoot_.detach();
333  model.deleteObserver(this);
334  }
335  currentModels_ = manager_.<GrxModelItem>getSelectedItemList(GrxModelItem.class);
336  currentCollisionPairs_ = manager_.<GrxCollisionPairItem>getSelectedItemList(GrxCollisionPairItem.class);
337  behaviorManager_.setItem(currentModels_, currentCollisionPairs_);
338  it = currentModels_.iterator();
339  boolean modelModified = false;
340  while(it.hasNext()) {
341  GrxModelItem model = it.next();
342  bgRoot_.addChild(model.bgRoot_);
343  model.setWireFrame(viewToolBar_.isWireFrameSelected());
344  modelModified |= model.isModified();
345  model.addObserver(this);
346  }
347  if(modelModified)
348  optionButtonEnable(false);
349  else
350  optionButtonEnable(true);
351  if(btnBBdisp_.isSelected()){
352  btnBBdisp_.doClick();
353  }
354 
355  if(currentWorld_ != null){
356  currentWorld_.deleteObserver(this);
357  currentWorld_.deletePosObserver(this);
358  }
359  currentWorld_ = manager_.<GrxWorldStateItem>getSelectedItem(GrxWorldStateItem.class, null);
360  if(currentWorld_!=null){
361  currentState_ = currentWorld_.getValue(currentWorld_.getPosition());
362  currentWorld_.addObserver(this);
363  currentWorld_.addPosObserver(this);
364  }else
365  currentState_ = null;
366  if(currentState_ == null)
367  updateViewSimulator(0);
368  else
369  updatePosition(currentWorld_, currentWorld_.getPosition());
370  showOption();
371 
372  if(simItem_ != null)
373  simItem_.deleteObserver(this);
374  simItem_ = manager_.<GrxSimulationItem>getSelectedItem(GrxSimulationItem.class, null);
375  if(simItem_!=null){
376  simItem_.addObserver(this);
377  if(simItem_.isSimulating())
378  viewMode_ = SIMULATION;
379  }
380  if(viewMode_==SIMULATION){
381  disableButton();
382  objectToolBar_.setMode(ObjectToolBar.DISABLE_MODE);
383  }
384  }
385 
386  private void _setupSceneGraph() {
387  universe_ = new VirtualUniverse();
388  locale_ = new javax.media.j3d.Locale(universe_);
389  bgRoot_ = new BranchGroup();
390 
391  bgRoot_.setCapability(BranchGroup.ALLOW_CHILDREN_READ);
392  bgRoot_.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE);
393  bgRoot_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND);
394 
395  //locale_.addBranchGraph(_createView());
396  bgRoot_.addChild(_createLights());
397  bgRoot_.addChild(_createView());
398  bgRoot_.compile();
399  locale_.addBranchGraph(bgRoot_);
400 
401  unclickableBgRoot_ = new BranchGroup();
402  unclickableBgRoot_.setCapability(BranchGroup.ALLOW_CHILDREN_READ);
403  unclickableBgRoot_.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE);
404  unclickableBgRoot_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND);
405 
406  locale_.addBranchGraph( unclickableBgRoot_ );
407  }
408 
409  private BranchGroup _createView() {
410  BranchGroup bg = new BranchGroup();
411  ViewPlatform platform = new ViewPlatform();
412  info_ = new ViewInfo(ViewInfo.VIEW_MODE_ROOM | ViewInfo.FRONT_VIEW, 3.0 );
413  view_ = new View();
414  view_.setScreenScalePolicy(View.SCALE_EXPLICIT);
415  view_.setScreenScale(0.1);
416  tgView_ = new TransformGroup();
417 
418  view_.setPhysicalBody(new PhysicalBody());
419  view_.setPhysicalEnvironment(new PhysicalEnvironment());
420  view_.setFrontClipPolicy(View.VIRTUAL_EYE);
421  view_.setBackClipPolicy(View.VIRTUAL_EYE);
422  view_.setFrontClipDistance(info_.frontClipDistance);
423  view_.setBackClipDistance(info_.backClipDistance);
424  view_.setProjectionPolicy(View.PERSPECTIVE_PROJECTION);
425  view_.setFieldOfView(Math.PI/4);
426  view_.addCanvas3D(canvas_);
427 
428  tgView_.setCapability(TransformGroup.ALLOW_CHILDREN_EXTEND);
429  tgView_.setCapability(TransformGroup.ALLOW_CHILDREN_WRITE);
430  tgView_.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
431  tgView_.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
432  tgView_.setCapability(TransformGroup.ALLOW_LOCAL_TO_VWORLD_READ);
433 
434  view_.attachViewPlatform(platform);
435  tgView_.addChild(platform);
436  bg.addChild(tgView_);
437 
438  _setViewHomePosition();
439 
440  return bg;
441  }
442 
443  private BranchGroup _createLights() {
444  BranchGroup bg = new BranchGroup();
445  DirectionalLight[] light = new DirectionalLight[4];
446  TransformGroup[] tg = new TransformGroup[4];
447  BoundingSphere bounds =
448  new BoundingSphere(new Point3d(0.0,0.0,0.0), 100.0);
449 
450  //DirectionalLight dlight = new DirectionalLight(new Color3f(1.0f, 1.0f, 1.0f), new Vector3f(-0.8f, -1.2f, -1.5f));
451  //dlight.setInfluencingBounds(bounds);
452  //tgView_.addChild(dlight);
453 
454  light[0] = new DirectionalLight(true, // lightOn
455  new Color3f(0.7f, 0.7f, 0.7f), // color
456  new Vector3f(0.0f, 0.0f, -1.0f) // direction
457  );
458 
459  light[1] = new DirectionalLight(true, // lightOn
460  new Color3f(0.4f, 0.4f, 0.4f), // color
461  new Vector3f(0.0f, 0.0f, -1.0f) // direction
462  );
463 
464  light[2] = new DirectionalLight(true, // lightOn
465  new Color3f(0.7f, 0.7f, 0.7f), // color
466  new Vector3f(0.0f, 0.0f, -1.0f) // direction
467  );
468 
469  light[3] = new DirectionalLight(true, // lightOn
470  new Color3f(0.4f, 0.4f, 0.4f), // color
471  new Vector3f(0.0f, 0.0f, -1.0f) // direction
472  );
473 
474  for (int i = 0; i < 4; i ++) {
475  light[i].setInfluencingBounds(bounds);
476  tg[i] = new TransformGroup();
477  bg.addChild(tg[i]);
478  tg[i].addChild(light[i]);
479  }
480 
481  Transform3D transform = new Transform3D();
482  Vector3d pos = new Vector3d();
483  AxisAngle4d rot = new AxisAngle4d();
484 
485  pos.set(10.0, 10.0, 5.0);
486  transform.set(pos);
487  rot.set(-0.5, 0.5, 0.0, 1.2);
488  transform.set(rot);
489  tg[0].setTransform(transform);
490 
491  pos.set(10.0, -10.0, -5.0);
492  transform.set(pos);
493  rot.set(0.5, 0.5, 0.0, 3.14 - 1.2);
494  transform.set(rot);
495  tg[1].setTransform(transform);
496 
497  pos.set(-10.0, -10.0, 5.0);
498  transform.set(pos);
499  rot.set(0.5, -0.5, 0.0, 1.2);
500  transform.set(rot);
501  tg[2].setTransform(transform);
502 
503  pos.set(-10.0, 10.0, -5.0);
504  transform.set(pos);
505  rot.set(-0.5, -0.5, 0.0, 3.14 - 1.2);
506  transform.set(rot);
507  tg[3].setTransform(transform);
508 
509  // Ambient Light for Alert
510  AmbientLight alight = new AmbientLight(new Color3f(1.0f, 1.0f, 1.0f));
511  alight.setInfluencingBounds(bounds);
512  tg[0].addChild(alight);
513 
514  // background
515  backGround_.setCapability(Background.ALLOW_COLOR_READ);
516  backGround_.setCapability(Background.ALLOW_COLOR_WRITE);
517  backGround_.setApplicationBounds(bounds);
518  bg.addChild(backGround_);
519 
520  return bg;
521  }
522 
523  private void _setupToolBars() {
524  btnHomePos_.setToolTipText(MessageBundle.get("Grx3DView.text.goHomeEyePos")); //$NON-NLS-1$
525  btnHomePos_.addActionListener(new ActionListener() {
526  public void actionPerformed(ActionEvent arg0) {
527  tgView_.setTransform(t3dViewHome_);
528  }
529  });
530  btnHomePos_.addMouseListener(new MouseListener(){
531  public void mouseClicked(MouseEvent arg0) {
532  }
533  public void mouseEntered(MouseEvent arg0) {
534  }
535  public void mouseExited(MouseEvent arg0) {
536  }
537  public void mousePressed(MouseEvent arg0) {
538  if(arg0.getButton()==MouseEvent.BUTTON2 || arg0.getButton()==MouseEvent.BUTTON3){
539  PopupMenu popupMenu = new PopupMenu();
540  final MenuItem menu0 = new MenuItem(MessageBundle.get("Grx3DView.popupmenu.setHomeEyePos"));
541  menu0.addActionListener(new ActionListener(){
542  public void actionPerformed(ActionEvent arg0) {
543  if(arg0.getSource()==menu0){
544  tgView_.getTransform(t3dViewHome_);
545  final double[] eyeHomePosition = new double[16];
546  t3dViewHome_.get(eyeHomePosition);
547  syncExec(new Runnable(){
548  public void run(){
549  setDblAry("eyeHomePosition", eyeHomePosition, 5); //$NON-NLS-1$ //$NON-NLS-2$
550  }
551  });
552  }
553  }
554  });
555  final MenuItem menu1 = new MenuItem(MessageBundle.get("Grx3DView.popupmenu.restoreDefault"));
556  menu1.addActionListener(new ActionListener(){
557  public void actionPerformed(ActionEvent arg0) {
558  if(arg0.getSource()==menu1){
559  _setViewHomePosition();
560  final double[] eyeHomePosition = new double[16];
561  t3dViewHome_.get(eyeHomePosition);
562  syncExec(new Runnable(){
563  public void run(){
564  setDblAry("eyeHomePosition", eyeHomePosition, 5); //$NON-NLS-1$ //$NON-NLS-2$
565  }
566  });
567  }
568  }
569  });
570  popupMenu.add(menu0);
571  popupMenu.add(menu1);
572  btnHomePos_.add(popupMenu);
573  popupMenu.show(btnHomePos_, arg0.getX(), arg0.getY());
574  }
575  }
576  public void mouseReleased(MouseEvent arg0) {
577  }
578  });
579 
580  btnFloor_.setToolTipText(MessageBundle.get("Grx3DView.text,showZPlane")); //$NON-NLS-1$
581  btnFloor_.setSelected(false);
582  btnFloor_.addActionListener(new ActionListener() {
583  public void actionPerformed(ActionEvent arg0) {
584  if (btnFloor_.isSelected()) {
585  btnFloor_.setToolTipText(MessageBundle.get("Grx3DView.text.hideZPlane")); //$NON-NLS-1$
586  syncExec(new Runnable(){
587  public void run(){
588  setProperty("showScale", "true"); //$NON-NLS-1$ //$NON-NLS-2$
589  }
590  });
591  if (bgRoot_.indexOfChild(getRuler()) == -1)
592  bgRoot_.addChild(getRuler());
593  } else {
594  btnFloor_.setToolTipText(MessageBundle.get("Grx3DView.text.showZPlane")); //$NON-NLS-1$
595  syncExec(new Runnable(){
596  public void run(){
597  setProperty("showScale", "false"); //$NON-NLS-1$ //$NON-NLS-2$
598  }
599  });
600  if (bgRoot_.indexOfChild(getRuler()) != -1)
601  getRuler().detach();
602  }
603  }
604  });
605 
606  btnCollision_.setToolTipText(MessageBundle.get("Grx3DView.text.showCollision")); //$NON-NLS-1$
607  btnCollision_.setSelected(false);
608  btnCollision_.addActionListener(new ActionListener() {
609  public void actionPerformed(ActionEvent arg0) {
610  if (btnCollision_.isSelected()){
611  btnCollision_.setToolTipText(MessageBundle.get("Grx3DView.text.hideCollision")); //$NON-NLS-1$
612  syncExec(new Runnable(){
613  public void run(){
614  setProperty("showCollision", "true"); //$NON-NLS-1$ //$NON-NLS-2$
615  }
616  });
617  if (viewMode_ == SIMULATION || ( viewMode_ == VIEW && currentState_ != null))
618  _showCollision(currentState_.collisions);
619  else
620  _showCollision(behaviorManager_.getCollision());
621  }else{
622  btnCollision_.setToolTipText(MessageBundle.get("Grx3DView.text.showCollision")); //$NON-NLS-1$
623  syncExec(new Runnable(){
624  public void run(){
625  setProperty("showCollision", "false"); //$NON-NLS-1$ //$NON-NLS-2$
626  }
627  });
628  _showCollision(null);
629  }
630  }
631  });
632 
633  btnDistance_.setToolTipText(MessageBundle.get("Grx3DView.text.showDistance")); //$NON-NLS-1$
634  btnDistance_.setSelected(false);
635  btnDistance_.addActionListener(new ActionListener() {
636  public void actionPerformed(ActionEvent arg0) {
637  if (btnDistance_.isSelected()){
638  btnDistance_.setToolTipText(MessageBundle.get("Grx3DView.text.hideDistance")); //$NON-NLS-1$
639  syncExec(new Runnable(){
640  public void run(){
641  setProperty("showDistance", "true");
642  }
643  });
644  if (viewMode_ != SIMULATION)
645  _showDistance(behaviorManager_.getDistance());
646  }else {
647  btnDistance_.setToolTipText(MessageBundle.get("Grx3DView.text.showDistance")); //$NON-NLS-1$
648  syncExec(new Runnable(){
649  public void run(){
650  setProperty("showDistance", "false");
651  }
652  });
653  _showDistance(null);
654  }
655  }
656  });
657 
658  btnIntersection_.setToolTipText(MessageBundle.get("Grx3DView.text.checkIntersection")); //$NON-NLS-1$
659  btnIntersection_.setSelected(false);
660  btnIntersection_.addActionListener(new ActionListener() {
661  public void actionPerformed(ActionEvent arg0) {
662  if (btnIntersection_.isSelected()){
663  btnIntersection_.setToolTipText(MessageBundle.get("Grx3DView.text.nocheckIntersection")); //$NON-NLS-1$
664  syncExec(new Runnable(){
665  public void run(){
666  setProperty("showIntersection", "true");
667  }
668  });
669  if (viewMode_ != SIMULATION)
670  _showIntersection(behaviorManager_.getIntersection());
671  }else{
672  btnIntersection_.setToolTipText(MessageBundle.get("Grx3DView.text.checkIntersection")); //$NON-NLS-1$
673  syncExec(new Runnable(){
674  public void run(){
675  setProperty("showIntersection", "false");
676  }
677  });
678  _showIntersection(null);
679  }
680  }
681  });
682 
683  btnCoM_.setToolTipText(MessageBundle.get("Grx3DView.text.showCom")); //$NON-NLS-1$
684  btnCoM_.setSelected(false);
685  btnCoM_.addActionListener(new ActionListener() {
686  public void actionPerformed(ActionEvent arg0) {
687  boolean b = btnCoM_.isSelected();
688  for (int i=0; i<currentModels_.size(); i++)
689  currentModels_.get(i).setVisibleCoM(b);
690  if(b)
691  syncExec(new Runnable(){
692  public void run(){
693  setProperty("showCoM", "true");
694  }
695  });
696  else
697  syncExec(new Runnable(){
698  public void run(){
699  setProperty("showCoM", "false");
700  }
701  });
702  };
703  });
704 
705  btnCoMonFloor_.setToolTipText(MessageBundle.get("Grx3DView.text.showcomFloor")); //$NON-NLS-1$
706  btnCoMonFloor_.setSelected(false);
707  btnCoMonFloor_.addActionListener(new ActionListener() {
708  public void actionPerformed(ActionEvent arg0) {
709  boolean b = btnCoMonFloor_.isSelected();
710  for (int i=0; i<currentModels_.size(); i++)
711  currentModels_.get(i).setVisibleCoMonFloor(b);
712  if(b)
713  syncExec(new Runnable(){
714  public void run(){
715  setProperty("showCoMonFloor", "true");
716  }
717  });
718  else
719  syncExec(new Runnable(){
720  public void run(){
721  setProperty("showCoMonFloor", "false");
722  }
723  });
724  };
725  });
726 
727  btnRec_.setToolTipText(MessageBundle.get("Grx3DView.text.record")); //$NON-NLS-1$
728  btnRec_.addActionListener(new ActionListener() {
729  public void actionPerformed(ActionEvent e) {
730  if (btnRec_.isSelected()) {
731  if (currentWorld_ != null && currentWorld_.getLogSize() > 0)
732  rec();
733  else
734  btnRec_.setSelected(false);
735  } else {
736  btnRec_.setSelected(false);
737  }
738  }
739  });
740 
741  btnPlayer_.setToolTipText(MessageBundle.get("Grx3DView.text.moviePlayer")); //$NON-NLS-1$
742  btnPlayer_.addActionListener(new ActionListener() {
743  public void actionPerformed(ActionEvent e) {
744  Display.getDefault().syncExec( new Runnable(){
745  public void run(){
746  new SWTMoviePlayer( getParent().getShell(), lastMovieFileName );
747  }
748  });
749 
750  }
751  });
752 
753 
754  final JButton btnCamera = new JButton("C"); //$NON-NLS-1$
755  btnCamera.addActionListener(new ActionListener(){
756  public void actionPerformed(ActionEvent e) {
757  for (int i=0; i<currentModels_.size(); i++) {
758  List<Camera_impl> l = currentModels_.get(i).getCameraSequence();
759  for (int j=0; j<l.size(); j++) {
760  Camera_impl c = l.get(j);
761  c.setVisible(!c.isVisible());
762  }
763  }
764  }
765  });
766 
767  btnBBdisp_.addActionListener(new ActionListener() {
768  public void actionPerformed(ActionEvent e) {
769  boolean b = btnBBdisp_.isSelected();
770  if(b){
771  List<GrxModelItem> visibleModels = setNumOfAABB();
772  Iterator<GrxModelItem> it = visibleModels.iterator();
773  while(it.hasNext())
774  it.next().setVisibleAABB(b);
775  if(visibleModels.isEmpty())
776  btnBBdisp_.setSelected(false);
777  }else
778  for (int i=0; i<currentModels_.size(); i++)
779  currentModels_.get(i).setVisibleAABB(b);
780  }
781  });
782 
783  viewToolBar_.add(btnHomePos_,0);
784  viewToolBar_.add(btnFloor_, 8);
785  viewToolBar_.add(btnCollision_, 9);
786  viewToolBar_.add(btnDistance_, 10);
787  viewToolBar_.add(btnIntersection_, 11);
788  viewToolBar_.add(btnCoM_, 12);
789  viewToolBar_.add(btnCoMonFloor_, 13);
790  viewToolBar_.add(btnRec_);
791  viewToolBar_.add(btnPlayer_);
792  viewToolBar_.add(btnCamera);
793  viewToolBar_.add(btnBBdisp_);
794 
795  btnRestore_.setToolTipText(MessageBundle.get("Grx3DView.text.restoreModel")); //$NON-NLS-1$
796  btnRestore_.addActionListener(new ActionListener() {
797  public void actionPerformed(ActionEvent e) {
798  for (int i=0; i<currentModels_.size(); i++) {
799  final GrxModelItem item = currentModels_.get(i);
800  syncExec(new Runnable(){
801  public void run(){
802  item.restoreProperties();
803  }
804  });
805 
806  }
807  showOption();
808  }
809  });
810 
811  objectToolBar_.add(btnRestore_, 0);
812  objectToolBar_.setOrientation(JToolBar.VERTICAL);
813 
814  JToolBar bars[] = new JToolBar[]{viewToolBar_, objectToolBar_};
815  for (int i=0; i<bars.length; i++) {
816  JToolBar bar = bars[i];
817  bar.setFloatable(false);
818  for (int j=0; j<bar.getComponentCount(); j++) {
819  Component c = bar.getComponent(j);
820  if (c instanceof AbstractButton) {
821  AbstractButton b = (AbstractButton)c;
822  b.setPreferredSize(GrxBaseView.getDefaultButtonSize());
823  b.setMaximumSize(GrxBaseView.getDefaultButtonSize());
824  }
825  }
826  }
827 
828  _registerAction();
829  }
830 
831  public Canvas3D getCanvas3D() {
832  return canvas_;
833  }
834 
835  public BranchGroup getBranchGroupRoot() {
836  return bgRoot_;
837  }
838 
839  private void _setViewHomePosition() {
840  t3dViewHome_.lookAt(
841  new Point3d(default_eye),
842  new Point3d(default_lookat),
843  new Vector3d(default_upward));
844  t3dViewHome_.invert();
845  tgView_.setTransform(t3dViewHome_);
846  }
847 
848  public void restoreProperties(){
849  super.restoreProperties();
850  if(getStr("showScale")==null) propertyChanged("showScale", "true");
851  if(getStr("showCollision")==null) propertyChanged("showCollision", "true");
852  if(getStr("showDistance")==null) propertyChanged("showDistance", "false");
853  if(getStr("showIntersection")==null) propertyChanged("showIntersection", "false");
854  if(getStr("showCoM")==null) propertyChanged("showCoM", "false");
855  if(getStr("showCoMonFloor")==null) propertyChanged("showCoMonFloor", "false");
856  if(getStr("view.mode")==null) propertyChanged("view.mode", ViewToolBar.COMBO_SELECT_ROOM);
857  if(getStr("showActualState")==null) propertyChanged("showActualState", "true");
858  if(getStr("eyeHomePosition")==null){
859  final double[] eyeHomePosition = new double[16];
860  _setViewHomePosition();
861  t3dViewHome_.get(eyeHomePosition);
862  syncExec(new Runnable(){
863  public void run(){
864  setDblAry("eyeHomePosition", eyeHomePosition, 5); //$NON-NLS-1$ //$NON-NLS-2$
865  }
866  });
867  propertyChanged("eyeHomePosiotion", getProperty("eyeHomePosition"));
868  }
869  }
870 
871  public void registerItemChange(GrxBaseItem item, int event){
872  if(item instanceof GrxModelItem){
873  GrxModelItem modelItem = (GrxModelItem) item;
874  switch(event){
875  case GrxPluginManager.SELECTED_ITEM:
876  if(!modelItem.bgRoot_.isLive()){
877  modelItem.setWireFrame(viewToolBar_.isWireFrameSelected());
878  bgRoot_.addChild(modelItem.bgRoot_);
879  currentModels_.add(modelItem);
880  behaviorManager_.setItem(currentModels_, currentCollisionPairs_);
881  if(viewMode_ == VIEW && currentState_!=null){
882  updateModels(currentState_);
883  updateViewSimulator(currentState_.time);
884  }else
885  updateViewSimulator(0);
886  if(modelItem.isModified())
887  optionButtonEnable(false);
888  showOption();
889  if(btnBBdisp_.isSelected()){
890  btnBBdisp_.doClick();
891  }
892  modelItem.addObserver(this);
893  }
894  break;
895  case GrxPluginManager.REMOVE_ITEM:
896  case GrxPluginManager.NOTSELECTED_ITEM:
897  if(modelItem.bgRoot_.isLive()){
898  modelItem.bgRoot_.detach();
899  currentModels_.remove(modelItem);
900  behaviorManager_.setItem(currentModels_, currentCollisionPairs_);
901  if(modelItem.isModified())
902  optionButtonEnable(true);
903  showOption();
904  modelItem.deleteObserver(this);
905  }
906  //if(currentModels_.size()==0)
907  // _showCollision(null);
908  break;
909  default:
910  break;
911  }
912  }else if(item instanceof GrxWorldStateItem){
913  GrxWorldStateItem worldStateItem = (GrxWorldStateItem) item;
914  switch(event){
915  case GrxPluginManager.SELECTED_ITEM:
916  if(currentWorld_!=worldStateItem){
917  currentWorld_ = worldStateItem;
918  currentWorld_.addObserver(this);
919  currentWorld_.addPosObserver(this);
920  currentState_ = currentWorld_.getValue();
921  updatePosition(currentWorld_, currentWorld_.getPosition());
922  }
923  break;
924  case GrxPluginManager.REMOVE_ITEM:
925  case GrxPluginManager.NOTSELECTED_ITEM:
926  if(currentWorld_==worldStateItem){
927  currentWorld_.deleteObserver(this);
928  currentWorld_.deletePosObserver(this);
929  currentWorld_ = null;
930  currentState_ = null;
931  }
932  break;
933  default:
934  break;
935  }
936  }else if(item instanceof GrxCollisionPairItem){
937  GrxCollisionPairItem collisionPairItem = (GrxCollisionPairItem) item;
938  switch(event){
939  case GrxPluginManager.SELECTED_ITEM:
940  if(!currentCollisionPairs_.contains(collisionPairItem)){
941  currentCollisionPairs_.add(collisionPairItem);
942  behaviorManager_.setItem(currentModels_, currentCollisionPairs_);
943  showOption();
944  }
945  break;
946  case GrxPluginManager.REMOVE_ITEM:
947  case GrxPluginManager.NOTSELECTED_ITEM:
948  if(currentCollisionPairs_.contains(collisionPairItem)){
949  currentCollisionPairs_.remove(collisionPairItem);
950  behaviorManager_.setItem(currentModels_, currentCollisionPairs_);
951  showOption();
952  }
953  break;
954  }
955  }else if(item instanceof GrxSimulationItem){
956  GrxSimulationItem simItem = (GrxSimulationItem) item;
957  switch(event){
958  case GrxPluginManager.SELECTED_ITEM:
959  if(simItem_!=simItem){
960  simItem_ = simItem;
961  simItem_.addObserver(this);
962  }
963  break;
964  case GrxPluginManager.REMOVE_ITEM:
965  case GrxPluginManager.NOTSELECTED_ITEM:
966  if(simItem_==simItem){
967  simItem_.deleteObserver(this);
968  simItem_ = null;
969  }
970  break;
971  default:
972  break;
973  }
974  }
975  }
976 
977  public void update(GrxBasePlugin plugin, Object... arg) {
978  if(simItem_==plugin){
979  if((String)arg[0]=="StartSimulation"){ //$NON-NLS-1$
980  disableButton();
981  objectToolBar_.setMode(ObjectToolBar.DISABLE_MODE);
982  if((Boolean)arg[1])
983  showViewSimulator(true);
984  viewMode_ = SIMULATION;
985  }else if((String)arg[0]=="StopSimulation"){ //$NON-NLS-1$
986  objectToolBar_.setMode(ObjectToolBar.OBJECT_MODE);
987  enableButton();
988  viewMode_ = VIEW;
989  }
990  }else if(currentModels_.contains(plugin)){
991  if((String)arg[0]=="PropertyChange"){
992  if((String)arg[1]=="name" ){
993  behaviorManager_.setItemChange();
994  showOption();
995  }
996  if(((String)arg[1]).contains("translation") || ((String)arg[1]).contains("rotation") ||
997  ((String)arg[1]).contains("angle"))
998  showOption();
999  }
1000  else if((String)arg[0]=="BodyInfoChange"){
1001  behaviorManager_.setItemChange();
1002  showOption();
1003  }else if((String)arg[0]=="Modified"){
1004  optionButtonEnable(false);
1005  }else if((String)arg[0]=="ClearModified"){
1006  optionButtonEnable(true);
1007  }
1008  }else if(currentWorld_==plugin){
1009  if((String)arg[0]=="ClearLog"){ //$NON-NLS-1$
1010  currentState_ = null;
1011  }
1012  }
1013  }
1014 
1015  public void updatePosition(GrxBasePlugin plugin, Integer arg_pos){
1016  if(currentWorld_ != plugin)
1017  return;
1018 
1019  if(viewMode_ == VIEW || viewMode_ == SIMULATION){
1020  int pos = arg_pos.intValue();
1021  currentState_ = currentWorld_.getValue(pos);
1022  if(currentState_!=null){
1023  _showCollision(currentState_.collisions);
1024  updateModels(currentState_);
1025  updateViewSimulator(currentState_.time);
1026  }
1027  if(viewMode_ == VIEW)
1028  showOptionWithoutCollision();
1029  }
1030  }
1031 
1032  private void disableButton(){
1033  disableOperation();
1034  if (btnDistance_.isSelected())
1035  btnDistance_.doClick();
1036  if (btnIntersection_.isSelected())
1037  btnIntersection_.doClick();
1038  btnDistance_.setEnabled(false);
1039  btnIntersection_.setEnabled(false);
1040  btnRestore_.setEnabled(false);
1041  btnRec_.setEnabled(false);
1042  btnPlayer_.setEnabled(false);
1043  }
1044 
1045  private void enableButton(){
1046  btnDistance_.setEnabled(true);
1047  btnIntersection_.setEnabled(true);
1048  btnRestore_.setEnabled(true);
1049  btnRec_.setEnabled(true);
1050  btnPlayer_.setEnabled(true);
1051  }
1052 
1053  public void showOption(){
1054  if(viewMode_==SIMULATION) return;
1055  if (btnCollision_.isSelected()) {
1056  _showCollision(behaviorManager_.getCollision());
1057  behaviorManager_.setMessageSkip(true);
1058  }
1059  if (btnDistance_.isSelected()){
1060  _showDistance(behaviorManager_.getDistance());
1061  behaviorManager_.setMessageSkip(true);
1062  }
1063  if (btnIntersection_.isSelected()){
1064  _showIntersection(behaviorManager_.getIntersection());
1065  }
1066  behaviorManager_.setMessageSkip(false);
1067  }
1068 
1069  private void showOptionWithoutCollision(){
1070  if(viewMode_==SIMULATION) return;
1071  if (btnDistance_.isSelected()){
1072  _showDistance(behaviorManager_.getDistance());
1073  behaviorManager_.setMessageSkip(true);
1074  }
1075  if (btnIntersection_.isSelected()){
1076  _showIntersection(behaviorManager_.getIntersection());
1077  }
1078  behaviorManager_.setMessageSkip(false);
1079  }
1080 
1081  public void showViewSimulator(boolean b) {
1082  for (int i=0; i<currentModels_.size(); i++) {
1083  List<Camera_impl> l = currentModels_.get(i).getCameraSequence();
1084  for (int j=0; j<l.size(); j++) {
1085  Camera_impl c = l.get(j);
1086  c.setVisible(b);
1087  }
1088  }
1089  }
1090 
1091  public void updateModels(WorldStateEx state){
1092  // update models with new WorldState
1093  for (int i=0; i<currentModels_.size(); i++) {
1094  GrxModelItem model = currentModels_.get(i);
1095  CharacterStateEx charStat = state.get(model.getName());
1096  if (charStat != null) {
1097  if (charStat.sensorState != null){
1098  double[] angles;
1099  if (showActualState_) {
1100  angles = charStat.sensorState.q;
1101  } else {
1102  angles = charStat.targetState;
1103  }
1104  model.setCharacterPos(charStat.position, angles);
1105  if (charStat.sensorState.range != null && charStat.sensorState.range.length > 0){
1106  List<GrxSensorItem> sensors = model.getSensors("Range"); //$NON-NLS-1$
1107  for (int j=0; j<sensors.size(); j++){
1108  GrxSensorItem sensor = sensors.get(j);
1109  if (sensor.isVisible() && sensor.id_ >= 0 && sensor.id_ < charStat.sensorState.range.length){
1110  sensor.updateShapeOfVisibleArea(charStat.sensorState.range[sensor.id_]);
1111  }
1112  }
1113  }
1114  }
1115  else
1116  model.setCharacterPos(charStat.position, null);
1117  }
1118  }
1119  }
1120 
1121  private void rec(){
1122  RecordingDialog dialog = new RecordingDialog(frame_, currentWorld_.getTime(currentWorld_.getLogSize()-1));
1123  if (dialog.showModalDialog() != ModalDialog.OK_BUTTON){
1124  btnRec_.setSelected(false);
1125  return;
1126  }
1127 
1128  Dimension canvasSize = dialog.getImageSize();
1129  int framerate=10;
1130  try{
1131  framerate = dialog.getFrameRate();
1132  }catch(Exception NumberFormatException ){
1133  new ErrorDialog(frame_, MessageBundle.get("Grx3DView.dialog.title.error"), MessageBundle.get("Grx3DView.dialog.message.error") ).showModalDialog(); //$NON-NLS-1$ //$NON-NLS-2$
1134  btnRec_.setSelected(false);
1135  return;
1136  }
1137  double playbackRate = dialog.getPlaybackRate();
1138 
1139  GrxDebugUtil.println("ScreenSize: " + canvasSize.width + "x" + canvasSize.height + " (may be)"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
1140 
1141  BufferedImage image=new BufferedImage(canvasSize.width,canvasSize.height,BufferedImage.TYPE_INT_ARGB);
1142  // 参照型で画像を設定
1143  ImageComponent2D buffer=new ImageComponent2D(ImageComponent.FORMAT_RGBA,image,true,false);
1144  buffer.setCapability(ImageComponent2D.ALLOW_IMAGE_READ);
1145 
1146  // オフスクリーンレンダリングの設定
1147  offscreen_=new Canvas3D(graphicsConfiguration,true);
1148  offscreen_.setOffScreenBuffer(buffer);
1149  view_.addCanvas3D(offscreen_);
1150 
1151  Screen3D screen = canvas_.getScreen3D();
1152  offscreen_.getScreen3D().setSize(screen.getSize());
1153  offscreen_.getScreen3D().setPhysicalScreenWidth(screen.getPhysicalScreenWidth());
1154  offscreen_.getScreen3D().setPhysicalScreenHeight(screen.getPhysicalScreenHeight());
1155 
1156  recordingMgr_ = RecordingManager.getInstance();
1157  recordingMgr_.setImageSize(canvasSize.width , canvasSize.height);
1158  recordingMgr_.setFrameRate((float)framerate);
1159 
1160  String fileName = dialog.getFileName();
1161  if (new File(fileName).exists()) {
1162  if (!fileOverwriteDialog(fileName)){
1163  btnRec_.setSelected(false);
1164  return;
1165  }
1166  }
1167 
1168  lastMovieFileName = pathToURL(fileName);
1169  ComboBoxDialog cmb = new ComboBoxDialog(
1170  frame_,
1171  MessageBundle.get("Grx3DView.dialog.title.videoFormat"), //$NON-NLS-1$
1172  MessageBundle.get("Grx3DView.dialog.message.videoFormat"), //$NON-NLS-1$
1173  recordingMgr_.preRecord(lastMovieFileName, ImageToMovie.QUICKTIME));
1174  String format__ = (String)cmb.showComboBoxDialog();
1175  if (format__ == null) {
1176  btnRec_.setSelected(false);
1177  return;
1178  }
1179 
1180  try {
1181  if(!recordingMgr_.startRecord(format__)){
1182  btnRec_.setSelected(false);
1183  return;
1184  }
1185  } catch (Exception e) {
1186  GrxDebugUtil.printErr("Grx3DView.rec():",e); //$NON-NLS-1$
1187  syncExec(new Runnable(){
1188  public void run(){
1189  MessageDialog.openError( comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.error"), MessageBundle.get("Grx3DView.dialog.message.recError")); //$NON-NLS-1$ //$NON-NLS-2$
1190  }
1191  });
1192  btnRec_.setSelected(false);
1193  return;
1194  }
1195 
1196  disableButton();
1197  viewMode_ = VIEW;
1198  objectToolBar_.setMode(ObjectToolBar.DISABLE_MODE);
1199 
1200  final double stepTime = 1.0/framerate*playbackRate;
1201  double startTime = dialog.getStartTime();
1202  double endTime = dialog.getEndTime();
1203  final int startPosition = currentWorld_.getPositionAt(startTime);
1204  final int endPosition = currentWorld_.getPositionAt(endTime);
1205  Thread recThread_ = new Thread() {
1206  public void run() {
1207  try {
1208  double playRateLogTime_ = currentWorld_.getTime(startPosition);
1209  for (int position=startPosition; position <= endPosition; position++) {
1210  if(!btnRec_.isSelected())break;
1211  double time = currentWorld_.getTime(position);
1212  if (time >= playRateLogTime_) {
1213  playRateLogTime_ += stepTime;
1214  final int _position = position;
1215  syncExec(new Runnable(){
1216  public void run() {
1217  currentWorld_.setPosition(_position);
1218  }
1219  });
1220  _doRecording();
1221  }
1222  }
1223  stopRecording();
1224  } catch (Exception e) {
1225  syncExec(new Runnable(){
1226  public void run(){
1227  MessageDialog.openError( comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.error"), MessageBundle.get("Grx3DView.dialog.message.recException")); //$NON-NLS-1$ //$NON-NLS-2$
1228  }
1229  });
1230  stopRecording();
1231  GrxDebugUtil.printErr("Recording Interrupted by Exception:",e); //$NON-NLS-1$
1232  }
1233  }
1234  };
1235 
1236  recThread_.start();
1237  }
1238 
1239  private void stopRecording(){
1240  recordingMgr_.endRecord();
1241  btnRec_.setSelected(false);
1242  view_.removeCanvas3D(offscreen_);
1243  syncExec(new Runnable(){
1244  public void run(){
1245  MessageDialog.openInformation( comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.Infomation"), MessageBundle.get("Grx3DView.dialog.message.recFinish")); //$NON-NLS-1$ //$NON-NLS-2$
1246  }
1247  });
1248  objectToolBar_.setMode(ObjectToolBar.OBJECT_MODE);
1249  enableButton();
1250  }
1251 
1252  private boolean ret_;
1253  private boolean fileOverwriteDialog(final String fileName){
1254  if (new File(fileName).isDirectory())
1255  return false;
1256 
1257  syncExec(new Runnable(){
1258  public void run(){
1259  ret_ = MessageDialog.openConfirm( comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.fileExist"), //$NON-NLS-1$
1260  fileName + " " + MessageBundle.get("Grx3DView.dialog.message.fileExist")); //$NON-NLS-1$ //$NON-NLS-2$
1261  }
1262  });
1263  if(ret_)
1264  return true;
1265  else
1266  return false;
1267  }
1268 
1269  private String pathToURL(String path) {
1270  if (path.startsWith("file:///")) { //$NON-NLS-1$
1271  //String filePath = path.substring(8);
1272  path = path.replace(java.io.File.separatorChar, '/');
1273  return path;
1274  }
1275  if (path.startsWith("http://")) { //$NON-NLS-1$
1276  return path;
1277  }
1278  if (!path.startsWith(java.io.File.separator) && (path.indexOf(':') != 1)) {
1279  path = System.getProperty("user.dir") + java.io.File.separator + path; //$NON-NLS-1$
1280  }
1281  if (path.indexOf(':') == 1) {
1282  path = path.replace(java.io.File.separatorChar, '/');
1283  return "file:///" + path; //$NON-NLS-1$
1284  }
1285  return "file://" + path; //$NON-NLS-1$
1286  }
1287 
1288  private void _doRecording() {
1289  offscreen_.renderOffScreenBuffer();
1290  offscreen_.waitForOffScreenRendering();
1291  recordingMgr_.pushImage( offscreen_.getOffScreenBuffer().getImage() );
1292  }
1293 
1294  public void _showCollision(Collision[] collisions) {
1295  collision_.removeAllGeometries();
1296  if (collisions == null || collisions.length <= 0 || !btnCollision_.isSelected())
1297  return;
1298 
1299  int length = 0;
1300  for (int i = 0; i < collisions.length; i++) {
1301  if (collisions[i].points != null)
1302  length += collisions[i].points.length;
1303  }
1304  if (length > 0) {
1305  CollisionPoint[] cd = new CollisionPoint[length];
1306  for (int i=0, n=0; i<collisions.length; i++) {
1307  for (int j=0; j<collisions[i].points.length; j++)
1308  cd[n++] = collisions[i].points[j];
1309  }
1310 
1311  Point3d[] p3d = new Point3d[cd.length * 2];
1312  for (int j=0; j<cd.length; j++) {
1313  p3d[j*2] = new Point3d(cd[j].position);
1314 
1315  Vector3d pole = new Vector3d(cd[j].normal);
1316  pole.normalize();
1317  float depth = (float) cd[j].idepth*colprop+coldiff;
1318  p3d[j*2+1] = new Point3d(
1319  cd[j].position[0] + pole.x*depth,
1320  cd[j].position[1] + pole.y*depth,
1321  cd[j].position[2] + pole.z*depth
1322  );
1323  }
1324 
1325  LineArray la = new LineArray(p3d.length, LineArray.COLOR_3
1326  | LineArray.COORDINATES | LineArray.NORMALS);
1327  la.setCoordinates(0, p3d);
1328 
1329  Vector3f[] v3f = new Vector3f[p3d.length];
1330  Color3f[] c3f = new Color3f[p3d.length];
1331  for (int i=0; i<v3f.length; i++) {
1332  v3f[i] = new Vector3f(0.0f, 0.0f, 1.0f);
1333  if ((i % 2) == 0)
1334  c3f[i] = new Color3f(0.0f, 0.8f, 0.8f);
1335  else
1336  c3f[i] = new Color3f(0.8f, 0.0f, 0.8f);
1337  }
1338  la.setNormals(0, v3f);
1339  la.setColors(0, c3f);
1340  collision_.addGeometry(la);
1341  } else {
1342  collision_.addGeometry(null);
1343  }
1344  }
1345 
1346  private void _showDistance(Distance[] distances) {
1347  distance_.removeAllGeometries();
1348  if (distances == null || distances.length <= 0 || !btnDistance_.isSelected())
1349  return;
1350 
1351  int length = distances.length;
1352 
1353  if (length > 0) {
1354  Point3d[] p3d = new Point3d[length * 2];
1355  for (int j=0; j<length; j++) {
1356  p3d[j*2] = new Point3d(distances[j].point0);
1357  p3d[j*2+1] = new Point3d(distances[j].point1);
1358  }
1359 
1360  LineArray la = new LineArray(p3d.length, LineArray.COLOR_3
1361  | LineArray.COORDINATES | LineArray.NORMALS);
1362  la.setCoordinates(0, p3d);
1363 
1364  Vector3f[] v3f = new Vector3f[p3d.length];
1365  Color3f[] c3f = new Color3f[p3d.length];
1366  for (int i=0; i<v3f.length; i++) {
1367  v3f[i] = new Vector3f(0.0f, 0.0f, 1.0f);
1368  c3f[i] = new Color3f(1.0f, 0.0f, 0.0f);
1369  }
1370  la.setNormals(0, v3f);
1371  la.setColors(0, c3f);
1372  distance_.addGeometry(la);
1373  } else {
1374  distance_.addGeometry(null);
1375  }
1376  }
1377 
1378  @SuppressWarnings("unchecked") //$NON-NLS-1$
1379  private void _showIntersection(LinkPair[] pairs){
1380  if (pairs == null){
1381  for (int i=0; i<intersectingLinks_.size(); i++){
1382  intersectingLinks_.get(i).restoreColor();
1383  }
1384  intersectingLinks_.clear();
1385  return;
1386  }else{
1387  Map<String, GrxModelItem> modelMap = (Map<String, GrxModelItem>)manager_.getItemMap(GrxModelItem.class);
1388  Vector<GrxLinkItem> links = new Vector<GrxLinkItem>();
1389  for (int i=0; i<pairs.length; i++){
1390  GrxModelItem m1 = modelMap.get(pairs[i].charName1);
1391  if (m1 != null){
1392  GrxLinkItem l = m1.getLink(pairs[i].linkName1);
1393  if (l != null){
1394  links.add(l);
1395  if (!intersectingLinks_.contains(l)){
1396  l.setColor(java.awt.Color.RED);
1397  }
1398  }
1399  }
1400  GrxModelItem m2 = modelMap.get(pairs[i].charName2);
1401  if (m2 != null){
1402  GrxLinkItem l = m2.getLink(pairs[i].linkName2);
1403  if (l != null) links.add(l);
1404  if (!intersectingLinks_.contains(l)){
1405  l.setColor(java.awt.Color.RED);
1406  }
1407  }
1408  }
1409  for (int i=0; i<intersectingLinks_.size(); i++){
1410  GrxLinkItem l = intersectingLinks_.get(i);
1411  if (!links.contains(l)){
1412  l.restoreColor();
1413  }
1414  }
1415  intersectingLinks_ = links;
1416  }
1417  }
1418 
1419  public void updateViewSimulator(double time) {
1420  for (int i=0; i<currentModels_.size(); i++) {
1421  List<Camera_impl> l = currentModels_.get(i).getCameraSequence();
1422  for (int j=0; j<l.size(); j++) {
1423  Camera_impl c = l.get(j);
1424  if (c.isVisible()) c.updateView(time);
1425  }
1426  }
1427  }
1428 
1429  public BranchGroup getRuler() {
1430  if (rulerBg_ == null) {
1431  rulerBg_ = new BranchGroup();
1432  rulerBg_.setCapability(BranchGroup.ALLOW_DETACH);
1433  int n = 40; // number of lines
1434  Point3d[] p = new Point3d[n * 4];
1435  double width = n/2.0;
1436  for (int i=0; i<n; i++) {
1437  p[2*i] = new Point3d(-width+i, -width, 0.0);
1438  p[2*i+1] = new Point3d(-width+i, width, 0.0);
1439  p[2*i+n*2] = new Point3d(-width, -width+i, 0.0);
1440  p[2*i+n*2+1] = new Point3d( width, -width+i, 0.0);
1441  }
1442  LineArray geometry = new LineArray(p.length,
1443  GeometryArray.COORDINATES | GeometryArray.COLOR_3);
1444  geometry.setCoordinates(0, p);
1445  for (int i = 0; i < p.length; i++)
1446  geometry.setColor(i, new Color3f(Color.white));
1447 
1448  Shape3D shape = new Shape3D(geometry);
1449  shape.setPickable(false);
1450  rulerBg_.addChild(shape);
1451  rulerBg_.compile();
1452  }
1453  return rulerBg_;
1454  }
1455 
1456  public boolean registerCORBA() {
1457  NamingContext rootnc = GrxCorbaUtil.getNamingContext();
1458 
1459  OnlineViewer_impl olvImpl = new OnlineViewer_impl();
1460  OnlineViewer olv = olvImpl._this(manager_.orb_);//GrxCorbaUtil.getORB());
1461  NameComponent[] path1 = {new NameComponent("OnlineViewer", "")}; //$NON-NLS-1$ //$NON-NLS-2$
1462  ViewSimulator_impl viewImpl = new ViewSimulator_impl();
1463  ViewSimulator view = viewImpl._this(manager_.orb_);//GrxCorbaUtil.getORB());
1464  NameComponent[] path2 = {new NameComponent("ViewSimulator", "")}; //$NON-NLS-1$ //$NON-NLS-2$
1465  // ViewSimulatorFactory_impl viewImplFactory = new ViewSimulatorFactory_impl();
1466  // ViewSimulatorFactory viewFactory = viewImplFactory._this(manager_.orb_);//GrxCorbaUtil.getORB());
1467  // NameComponent[] path3 = {new NameComponent("ViewSimulatorFactory", "")}; //$NON-NLS-1$ //$NON-NLS-2$
1468  try {
1469  rootnc.rebind(path1, olv);
1470  rootnc.rebind(path2, view);
1471  //rootnc.rebind(path3, viewFactory);
1472  } catch (Exception ex) {
1473  GrxDebugUtil.println("3DVIEW : failed to bind to localhost NameService"); //$NON-NLS-1$
1474  return false;
1475  }
1476 
1477  GrxDebugUtil.println("3DVIEW : successfully bound to localhost NameService"); //$NON-NLS-1$
1478  return true;
1479  }
1480 
1481 
1482  public void unregisterCORBA() {
1483  NamingContext rootnc = GrxCorbaUtil.getNamingContext();
1484  NameComponent[] path1 = {new NameComponent("OnlineViewer", "")};
1485  NameComponent[] path2 = {new NameComponent("ViewSimulator", "")};
1486  // NameComponent[] path3 = {new NameComponent("ViewSimulatorFactory", "")};
1487  try{
1488  rootnc.unbind(path1);
1489  rootnc.unbind(path2);
1490  //rootnc.unbind(path3);
1491  GrxDebugUtil.println("3DVIEW : successfully unbound to localhost NameService");
1492  }catch(Exception ex){
1493  GrxDebugUtil.println("3DVIEW : failed to unbind to localhost NameService");
1494  }
1495  }
1496 
1497  private class ModelEditKeyAdapter extends KeyAdapter {
1498  public void keyPressed(KeyEvent arg0) {
1499  GrxLinkItem li = null;
1500  GrxBaseItem bitem = manager_.focusedItem();
1501  if (bitem instanceof GrxLinkItem){
1502  li = (GrxLinkItem)bitem;
1503  }else{
1504  arg0.consume();
1505  return;
1506  }
1507  GrxModelItem item = li.model();
1508 
1509  KeyStroke ks = KeyStroke.getKeyStrokeForEvent(arg0);
1510  if (ks == KeyStroke.getKeyStroke(KeyEvent.VK_UP,0) ||
1511  ks == KeyStroke.getKeyStroke(KeyEvent.VK_K,0)) {
1512  int next = li.jointId_-1;
1513  if (next >= 0) {
1514  for (int j=0; j<item.links_.size(); j++) {
1515  if (next == item.links_.get(j).jointId_) {
1516  behaviorManager_.setPickTarget(item.links_.get(j).tg_);
1517  break;
1518  }
1519  }
1520  }
1521  } else if (ks == KeyStroke.getKeyStroke(KeyEvent.VK_DOWN,0) ||
1522  ks == KeyStroke.getKeyStroke(KeyEvent.VK_J,0)) {
1523  int next = li.jointId_+1;
1524  for (int j=0; j<item.links_.size(); j++) {
1525  if (next == item.links_.get(j).jointId_) {
1526  behaviorManager_.setPickTarget(item.links_.get(j).tg_);
1527  break;
1528  }
1529  }
1530  } else if (ks == KeyStroke.getKeyStroke(KeyEvent.VK_LEFT,KeyEvent.SHIFT_MASK) ||
1531  ks == KeyStroke.getKeyStroke(KeyEvent.VK_H,KeyEvent.SHIFT_MASK)) {
1532  li.jointValue(li.jointValue_-dAngle_);
1533 
1534  if (li.llimit_[0] < li.ulimit_[0])
1535  li.jointValue(Math.max(li.jointValue_, li.llimit_[0]));
1536  item.calcForwardKinematics();
1537  item.setProperty(li.getName()+".angle",String.valueOf(li.jointValue_)); //$NON-NLS-1$
1538 
1539  } else if (ks == KeyStroke.getKeyStroke(KeyEvent.VK_RIGHT,KeyEvent.SHIFT_MASK) ||
1540  ks == KeyStroke.getKeyStroke(KeyEvent.VK_L,KeyEvent.SHIFT_MASK)) {
1541  li.jointValue(li.jointValue_+dAngle_);
1542  if (li.llimit_[0] < li.ulimit_[0])
1543  li.jointValue(Math.min(li.jointValue_, li.ulimit_[0]));
1544  item.calcForwardKinematics();
1545  item.setProperty(li.getName()+".angle",String.valueOf(li.jointValue_)); //$NON-NLS-1$
1546 
1547  } else if (ks == KeyStroke.getKeyStroke(KeyEvent.VK_H,0) ||
1548  ks == KeyStroke.getKeyStroke(KeyEvent.VK_LEFT,0)) {
1549  li.jointValue(li.jointValue_-dAngle_*20);
1550  if (li.llimit_[0] < li.ulimit_[0])
1551  li.jointValue(Math.max(li.jointValue_, li.llimit_[0]));
1552  item.calcForwardKinematics();
1553  item.setProperty(li.getName()+".angle",String.valueOf(li.jointValue_)); //$NON-NLS-1$
1554 
1555  } else if (ks == KeyStroke.getKeyStroke(KeyEvent.VK_L,0) ||
1556  ks == KeyStroke.getKeyStroke(KeyEvent.VK_RIGHT,0)) {
1557  li.jointValue(li.jointValue_+dAngle_*20);
1558  if (li.llimit_[0] < li.ulimit_[0])
1559  li.jointValue(Math.min(li.jointValue_, li.ulimit_[0]));
1560  item.calcForwardKinematics();
1561  item.setProperty(li.getName()+".angle",String.valueOf(li.jointValue_)); //$NON-NLS-1$
1562  }
1563  arg0.consume();
1564  }
1565  }
1566 /*
1567  private class ViewSimulatorFactory_impl extends ViewSimulatorFactoryPOA{
1568 
1569  public ViewSimulator create() {
1570  ViewSimulator_impl viewImpl = new ViewSimulator_impl();
1571  try {
1572  manager_.poa_.activate_object(viewImpl);
1573  } catch (ServantAlreadyActive e) {
1574  e.printStackTrace();
1575  } catch (WrongPolicy e) {
1576  e.printStackTrace();
1577  }
1578  return viewImpl._this(manager_.orb_);
1579  }
1580 
1581  public void shutdown() {
1582  }
1583 
1584  }
1585 */
1586  private class ViewSimulator_impl extends ViewSimulatorPOA {
1587  public void destroy() {
1588  /*
1589  byte[] id;
1590  try {
1591  id = manager_.poa_.servant_to_id(this);
1592  manager_.poa_.deactivate_object(id);
1593  } catch (ServantNotActive e) {
1594 
1595  e.printStackTrace();
1596  } catch (WrongPolicy e) {
1597 
1598  e.printStackTrace();
1599  } catch (ObjectNotActive e) {
1600 
1601  e.printStackTrace();
1602  }
1603  */
1604  }
1605 
1606  public void getCameraSequence(CameraSequenceHolder arg0) {
1607  List<Camera_impl> allList = new ArrayList<Camera_impl>();
1608  for (int i=0; i<currentModels_.size(); i++) {
1609  List<Camera_impl> l = currentModels_.get(i).getCameraSequence();
1610  allList.addAll(l);
1611  }
1612 
1613  arg0.value = new Camera[allList.size()];
1614  for (int i=0; i<allList.size(); i++) {
1615  try {
1616  arg0.value[i] = CameraHelper.narrow(manager_.poa_.servant_to_reference(allList.get(i)));
1617  } catch (ServantNotActive e) {
1618  e.printStackTrace();
1619  } catch (WrongPolicy e) {
1620  e.printStackTrace();
1621  }
1622  }
1623  }
1624 
1625  public void getCameraSequenceOf(String objectName, CameraSequenceHolder arg1) {
1626  for (int i=0; i<currentModels_.size(); i++) {
1627  GrxModelItem item = currentModels_.get(i);
1628  if (item.getName().equals(objectName)) {
1629  List<Camera_impl> l = item.getCameraSequence();
1630  arg1.value = new Camera[l.size()];
1631  for (int j=0; j<l.size(); j++) {
1632  try {
1633  arg1.value[j] = CameraHelper.narrow(manager_.poa_.servant_to_reference(l.get(j)));
1634  } catch (ServantNotActive e) {
1635  e.printStackTrace();
1636  } catch (WrongPolicy e) {
1637  e.printStackTrace();
1638  }
1639  }
1640  return;
1641  }
1642  }
1643  arg1.value = new Camera[0];
1644  }
1645 
1646  public void registerCharacter(final String name, final BodyInfo bInfo) {
1647  syncExec(new Runnable(){
1648  public void run(){
1649  GrxBaseItem newItem = manager_.createItem(GrxModelItem.class, name);
1650  if(newItem!=null){
1651  manager_.itemChange(newItem, GrxPluginManager.ADD_ITEM);
1652  manager_.setSelectedItem(newItem, true);
1653  ((GrxModelItem)newItem).registerCharacter(bInfo);
1654  ((GrxModelItem)newItem).setURL(bInfo.url());
1655  }
1656  }
1657  });
1658  }
1659 
1660  public void updateScene(WorldState worldState) {
1661  final WorldStateEx statex = new WorldStateEx(worldState);
1662  syncExec(new Runnable(){
1663  public void run(){
1664  updateModels(statex);
1665  updateViewSimulator(0);
1666  }
1667  });
1668  }
1669  }
1670 
1671  private class OnlineViewer_impl extends OnlineViewerPOA {
1672  private double prevTime = 0.0;
1673  private boolean firstTime_ = true;
1674  private double logTimeStep_ = 0.0;
1675  private boolean updateTimer_ = false;
1676  private GrxBaseItem newItem = null;
1677 
1678  public void clearLog() {
1679  if (currentWorld_ != null){
1680  syncExec(new Runnable(){
1681  public void run(){
1682  currentWorld_.clearLog();
1683  }
1684  });
1685  currentState_=null;
1686  }
1687  firstTime_ = true;
1688  }
1689 
1690  public void load(final String name, String url) throws OnlineViewerException{
1691  System.out.println(name+":"+url); //$NON-NLS-1$
1692  final String url0 = url;
1693  try {
1694  URL u = new URL(url);
1695  final String url_ = u.getFile();
1696  syncExec(new Runnable(){
1697  public void run(){
1698  newItem = manager_.loadItem(GrxModelItem.class, name, url_);
1699  if(newItem!=null){
1700  manager_.itemChange(newItem, GrxPluginManager.ADD_ITEM);
1701  manager_.setSelectedItem(newItem, true);
1702  }
1703  }
1704  });
1705  } catch (MalformedURLException e) {
1706  e.printStackTrace();
1707  syncExec(new Runnable(){
1708  public void run(){
1709  MessageDialog.openError( comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.error"), MessageBundle.get("OnlineViewer.dialog.message.MalformedURLException")); //$NON-NLS-1$ //$NON-NLS-2$
1710  }
1711  });
1712  throw new OnlineViewerException("Malformed URL Exception");
1713  }
1714  if(newItem==null){
1715  syncExec(new Runnable(){
1716  public void run(){
1717  MessageDialog.openError( comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.error"), url0+MessageBundle.get("OnlineViewer.dialog.message.loadError")); //$NON-NLS-1$ //$NON-NLS-2$
1718  }
1719  });
1720  throw new OnlineViewerException(url+"cannot be loaded.");
1721  }
1722  }
1723 
1724  public boolean getPosture(String name , DblSequenceHolder posture) {
1725  Object obj = manager_.getItem(GrxModelItem.class, name);
1726  if (obj != null) {
1727  GrxModelItem model = (GrxModelItem)obj;
1728  posture.value = model.getJointValues();
1729  return true;
1730  }
1731  posture.value = new double[0];
1732  return false;
1733  }
1734 
1735  public void update(WorldState arg0) {
1736  final GrxWorldStateItem.WorldStateEx statex = new GrxWorldStateItem.WorldStateEx(arg0);
1737  if (currentWorld_ == null) {
1738  syncExec(new Runnable(){
1739  public void run(){
1740  GrxWorldStateItem item = (GrxWorldStateItem)manager_.createItem(GrxWorldStateItem.class, null);
1741  manager_.itemChange(item, GrxPluginManager.ADD_ITEM);
1742  manager_.setSelectedItem(item, true);
1743  }
1744  });
1745  }
1746  if (firstTime_) {
1747  firstTime_ = false;
1748  prevTime = 0.0;
1749  logTimeStep_ = 0.0;
1750  String[] chars = statex.characters();
1751  for (int i=0; i<chars.length; i++) {
1752  GrxModelItem model = (GrxModelItem)manager_.getItem(GrxModelItem.class, chars[i]);
1753  BodyInfo bodyInfo = model.getBodyInfo();
1754  if(bodyInfo==null) return;
1755  currentWorld_.registerCharacter(chars[i], bodyInfo);
1756  }
1757  syncExec(new Runnable(){
1758  public void run(){
1759  if(statex.time > 0){
1760  logTimeStep_ = statex.time;
1761  currentWorld_.setDbl("logTimeStep", logTimeStep_); //$NON-NLS-1$
1762  }
1763  }
1764  });
1765  }
1766 
1767  final double stepTime = statex.time - prevTime;
1768  if(stepTime > 0 && Math.abs(stepTime-logTimeStep_)>10e-9){
1769  logTimeStep_ = stepTime;
1770  syncExec(new Runnable(){
1771  public void run(){
1772  currentWorld_.setDbl("logTimeStep", logTimeStep_); //$NON-NLS-1$
1773  }
1774  });
1775  }
1776 
1777  currentWorld_.addValue(statex.time, statex);
1778  Thread.yield();
1779  if(!updateTimer_){
1780  java.util.Timer timer = new java.util.Timer();
1781  timer.schedule(new updateView(),20);
1782  updateTimer_ = true;
1783  }
1784  prevTime = statex.time;
1785  }
1786 
1787  public void clearData() {}
1788 
1789  public void drawScene(WorldState arg0) {
1790  GrxWorldStateItem.WorldStateEx statex = new GrxWorldStateItem.WorldStateEx(arg0);
1791  _showCollision(statex.collisions);
1792  updateModels(statex);
1793  updateViewSimulator(statex.time);
1794  }
1795 
1796  public void setLineScale(float arg0) {}
1797  public void setLineWidth(float arg0) {}
1798 
1799  private class updateView extends java.util.TimerTask {
1800  public void run() {
1801  updateTimer_ = false;
1802  final int pos = currentWorld_.getLogSize()-1;
1803  syncExec(new Runnable(){
1804  public void run(){
1805  currentWorld_.setPosition(pos);
1806  }
1807  });
1808  }
1809  }
1810 
1811  public void setLogName(final String name){
1812  syncExec(new Runnable(){
1813  public void run(){
1814  GrxWorldStateItem item = (GrxWorldStateItem)manager_.getItem(GrxWorldStateItem.class, name);
1815  if(item==null){
1816  item = (GrxWorldStateItem)manager_.createItem(GrxWorldStateItem.class, name);
1817  manager_.itemChange(item, GrxPluginManager.ADD_ITEM);
1818  firstTime_ = true;
1819  }
1820  manager_.setSelectedItem(item, true);
1821  }
1822  });
1823  }
1824  }
1825 
1826  public void attach(BranchGroup bg) {
1827  bgRoot_.addChild(bg);
1828  }
1829 
1830  public void attachUnclickable( BranchGroup bg) {
1831  unclickableBgRoot_.addChild(bg);
1832  }
1833 
1834  public String getFullName() {
1835  return getName();
1836  }
1837 
1838  public TransformGroup getTransformGroupRoot() {
1839  return tgView_;
1840  }
1841 
1842  public ViewInfo getViewInfo() {
1843  return info_;
1844  }
1845 
1846  public void setDirection(int dir) {
1847  }
1848 
1849  public void setTransform(Transform3D transform) {
1850  tgView_.setTransform(transform);
1851  }
1852 
1853  public void setViewMode(int mode) {
1854  }
1855 
1856  private void _registerAction() {
1857  GUIAction.ROOM_VIEW.addActionListener(new ActionListener() {
1858  public void actionPerformed(ActionEvent e) {
1859  info_.setViewMode(ViewInfo.VIEW_MODE_ROOM);
1860  view_.setProjectionPolicy(View.PERSPECTIVE_PROJECTION);
1861  behaviorManager_.setViewMode(BehaviorManager.ROOM_VIEW_MODE);
1862  viewToolBar_.setMode(ViewToolBar.ROOM_MODE);
1863  syncExec(new Runnable(){
1864  public void run(){
1865  setProperty("view.mode", ViewToolBar.COMBO_SELECT_ROOM); //$NON-NLS-1$
1866  }
1867  });
1868  }
1869  });
1870 
1871  GUIAction.WALK_VIEW.addActionListener(new ActionListener() {
1872  public void actionPerformed(ActionEvent e) {
1873  info_.setViewMode(ViewInfo.VIEW_MODE_WALK);
1874  view_.setProjectionPolicy(View.PERSPECTIVE_PROJECTION);
1875  behaviorManager_.setViewMode(BehaviorManager.WALK_VIEW_MODE);
1876  viewToolBar_.setMode(ViewToolBar.WALK_MODE);
1877  syncExec(new Runnable(){
1878  public void run(){
1879  setProperty("view.mode", ViewToolBar.COMBO_SELECT_WALK); //$NON-NLS-1$
1880  }
1881  });
1882  }
1883  });
1884 
1885  GUIAction.FRONT_VIEW.addActionListener(new ActionListener() {
1886  public void actionPerformed(ActionEvent e) {
1887  if (info_.getDirection() != ViewInfo.FRONT_VIEW)
1888  info_.setDirection(ViewInfo.FRONT_VIEW);
1889  info_.setViewMode(ViewInfo.VIEW_MODE_PARALLEL);
1890  view_.setProjectionPolicy(View.PARALLEL_PROJECTION);
1891  setTransform(info_.getTransform());
1892  behaviorManager_.setViewMode(BehaviorManager.PARALLEL_VIEW_MODE);
1893  viewToolBar_.setMode(ViewToolBar.PARALLEL_MODE);
1894  syncExec(new Runnable(){
1895  public void run(){
1896  setProperty("view.mode", ViewToolBar.COMBO_SELECT_FRONT); //$NON-NLS-1$
1897  }
1898  });
1899  }
1900  });
1901 
1902  GUIAction.BACK_VIEW.addActionListener(new ActionListener() {
1903  public void actionPerformed(ActionEvent e) {
1904  if (info_.getDirection() != ViewInfo.BACK_VIEW)
1905  info_.setDirection(ViewInfo.BACK_VIEW);
1906  info_.setViewMode(ViewInfo.VIEW_MODE_PARALLEL);
1907  view_.setProjectionPolicy(View.PARALLEL_PROJECTION);
1908  setTransform(info_.getTransform());
1909  behaviorManager_.setViewMode(BehaviorManager.PARALLEL_VIEW_MODE);
1910  viewToolBar_.setMode(ViewToolBar.PARALLEL_MODE);
1911  syncExec(new Runnable(){
1912  public void run(){
1913  setProperty("view.mode", ViewToolBar.COMBO_SELECT_BACK); //$NON-NLS-1$
1914  }
1915  });
1916  }
1917  });
1918 
1919  GUIAction.LEFT_VIEW.addActionListener(new ActionListener() {
1920  public void actionPerformed(ActionEvent e) {
1921  if (info_.getDirection() != ViewInfo.LEFT_VIEW)
1922  info_.setDirection(ViewInfo.LEFT_VIEW);
1923  info_.setViewMode(ViewInfo.VIEW_MODE_PARALLEL);
1924  view_.setProjectionPolicy(View.PARALLEL_PROJECTION);
1925  setTransform(info_.getTransform());
1926  behaviorManager_.setViewMode(BehaviorManager.PARALLEL_VIEW_MODE);
1927  viewToolBar_.setMode(ViewToolBar.PARALLEL_MODE);
1928  syncExec(new Runnable(){
1929  public void run(){
1930  setProperty("view.mode", ViewToolBar.COMBO_SELECT_LEFT); //$NON-NLS-1$
1931  }
1932  });
1933  }
1934  });
1935 
1936  GUIAction.RIGHT_VIEW.addActionListener(new ActionListener() {
1937  public void actionPerformed(ActionEvent e) {
1938  if (info_.getDirection() != ViewInfo.RIGHT_VIEW)
1939  info_.setDirection(ViewInfo.RIGHT_VIEW);
1940  info_.setViewMode(ViewInfo.VIEW_MODE_PARALLEL);
1941  view_.setProjectionPolicy(View.PARALLEL_PROJECTION);
1942  setTransform(info_.getTransform());
1943  behaviorManager_.setViewMode(BehaviorManager.PARALLEL_VIEW_MODE);
1944  viewToolBar_.setMode(ViewToolBar.PARALLEL_MODE);
1945  syncExec(new Runnable(){
1946  public void run(){
1947  setProperty("view.mode", ViewToolBar.COMBO_SELECT_RIGHT); //$NON-NLS-1$
1948  }
1949  });
1950  }
1951  });
1952 
1953  GUIAction.TOP_VIEW.addActionListener(new ActionListener() {
1954  public void actionPerformed(ActionEvent e) {
1955  if (info_.getDirection() != ViewInfo.TOP_VIEW)
1956  info_.setDirection(ViewInfo.TOP_VIEW);
1957  info_.setViewMode(ViewInfo.VIEW_MODE_PARALLEL);
1958  view_.setProjectionPolicy(View.PARALLEL_PROJECTION);
1959  setTransform(info_.getTransform());
1960  behaviorManager_.setViewMode(BehaviorManager.PARALLEL_VIEW_MODE);
1961  viewToolBar_.setMode(ViewToolBar.PARALLEL_MODE);
1962  syncExec(new Runnable(){
1963  public void run(){
1964  setProperty("view.mode", ViewToolBar.COMBO_SELECT_TOP); //$NON-NLS-1$
1965  }
1966  });
1967  }
1968  });
1969 
1970  GUIAction.BOTTOM_VIEW.addActionListener(new ActionListener() {
1971  public void actionPerformed(ActionEvent e) {
1972  if (info_.getDirection() != ViewInfo.BOTTOM_VIEW)
1973  info_.setDirection(ViewInfo.BOTTOM_VIEW);
1974  info_.setViewMode(ViewInfo.VIEW_MODE_PARALLEL);
1975  view_.setProjectionPolicy(View.PARALLEL_PROJECTION);
1976  setTransform(info_.getTransform());
1977  behaviorManager_.setViewMode(BehaviorManager.PARALLEL_VIEW_MODE);
1978  viewToolBar_.setMode(ViewToolBar.PARALLEL_MODE);
1979  syncExec(new Runnable(){
1980  public void run(){
1981  setProperty("view.mode", ViewToolBar.COMBO_SELECT_BOTTOM); //$NON-NLS-1$
1982  }
1983  });
1984  }
1985  });
1986  GUIAction.VIEW_ZOOM_MODE.addActionListener(new ActionListener() {
1987  public void actionPerformed(ActionEvent e) {
1988  behaviorManager_.setViewHandlerMode("button_mode_zoom"); //$NON-NLS-1$
1989  // viewHandlerMode_[currentViewer_] = "button_mode_zoom";
1990  viewToolBar_.setOperation(ViewToolBar.ZOOM);
1991  //objectToolBar_.selectNone();
1992  //lblMode_.setText("[ VIEW ]");
1993  }
1994  });
1995 
1996  GUIAction.VIEW_ROTATION_MODE.addActionListener(new ActionListener() {
1997  public void actionPerformed(ActionEvent e) {
1998  behaviorManager_.setViewHandlerMode("button_mode_rotation"); //$NON-NLS-1$
1999  // viewHandlerMode_[currentViewer_] = "button_mode_rotation";
2000  viewToolBar_.setOperation(ViewToolBar.ROTATE);
2001  //objectToolBar_.selectNone();
2002  //lblMode_.setText("[ VIEW ]");
2003  }
2004  });
2005 
2006  GUIAction.VIEW_PAN_MODE.addActionListener(new ActionListener() {
2007  public void actionPerformed(ActionEvent e) {
2008  behaviorManager_.setViewHandlerMode("button_mode_translation"); //$NON-NLS-1$
2009  // viewHandlerMode_[currentViewer_] = "button_mode_translation";
2010  viewToolBar_.setOperation(ViewToolBar.PAN);
2011  //objectToolBar_.selectNone();
2012  //lblMode_.setText("[ VIEW ]");
2013  }
2014  });
2015 
2016  GUIAction.WIRE_FRAME.addActionListener(new ActionListener() {
2017  public void actionPerformed(ActionEvent e) {
2018  Iterator<?> it = manager_.getItemMap(GrxModelItem.class).values().iterator();
2019  while (it.hasNext()) {
2020  ((GrxModelItem)it.next()).setWireFrame(viewToolBar_.isWireFrameSelected());
2021  }
2022  }
2023  });
2024 
2025  GUIAction.BG_COLOR.addActionListener(new ActionListener() {
2026  public void actionPerformed(ActionEvent e) {
2027  // Bring up a color chooser
2028  /*
2029  Color3f oldColor = new Color3f();
2030  backGround_.getColor(oldColor);
2031  Color c = JColorChooser.showDialog(frame_,
2032  MessageBundle.get("dialog.bgcolor"), new Color(
2033  oldColor.x, oldColor.y, oldColor.z));
2034  if (c != null) {
2035  backGround_.setColor(new Color3f(c));
2036  }
2037  */
2038 
2039  Display display = Display.getDefault();
2040  if ( display!=null && !display.isDisposed())
2041  display.asyncExec(
2042  new Runnable(){
2043  public void run() {
2044  ColorDialog dialog = new ColorDialog( getParent().getShell() );
2045  RGB color = dialog.open();
2046  Color3f c = new Color3f( color.red/255f, color.green/255f, color.blue/255f );
2047  backGround_.setColor(new Color3f(c));
2048  }
2049  }
2050  );
2051  }
2052  });
2053 
2054 
2055  GUIAction.CAPTURE.addActionListener(new ActionListener() {
2056  public void actionPerformed(ActionEvent e) {
2057  Display display = Display.getDefault();
2058  if ( display!=null && !display.isDisposed())
2059  display.asyncExec(
2060  new Runnable(){
2061  public void run() {
2062  FileDialog fdlg = new FileDialog( getParent().getShell(), SWT.SAVE);
2063  String[] fe = { "*.png" }; //$NON-NLS-1$
2064  fdlg.setFilterExtensions( fe );
2065  String fPath = fdlg.open();
2066  if( fPath != null ){
2067  saveScreenShot( new File( fPath ) );
2068  }
2069  }
2070  }
2071  );
2072  }
2073  });
2074 
2075  GUIAction.OBJECT_TRANSLATION.addActionListener(new ActionListener() {
2076  public void actionPerformed(ActionEvent e) {
2077  if (behaviorManager_.getOperationMode() != BehaviorManager.OBJECT_TRANSLATION_MODE){
2078  behaviorManager_.setOperationMode(BehaviorManager.OBJECT_TRANSLATION_MODE);
2079  viewMode_ = EDIT;
2080  objectToolBar_.setMode(ObjectToolBar.OBJECT_MODE);
2081  lblMode_.setText(MessageBundle.get("Grx3DView.text.editTranslate")); //$NON-NLS-1$
2082  showOption();
2083  }
2084  }
2085  });
2086 
2087  GUIAction.OBJECT_ROTATION.addActionListener(new ActionListener() {
2088  public void actionPerformed(ActionEvent e) {
2089  if (behaviorManager_.getOperationMode() != BehaviorManager.OBJECT_ROTATION_MODE){
2090  behaviorManager_.setOperationMode(BehaviorManager.OBJECT_ROTATION_MODE);
2091  viewMode_ = EDIT;
2092  objectToolBar_.setMode(ObjectToolBar.OBJECT_MODE);
2093  lblMode_.setText(MessageBundle.get("Grx3DView.text,editRotate")); //$NON-NLS-1$
2094  showOption();
2095  }
2096  }
2097  });
2098  GUIAction.JOINT_ROTATION.addActionListener(new ActionListener() {
2099  public void actionPerformed(ActionEvent e) {
2100  if (behaviorManager_.getOperationMode() != BehaviorManager.JOINT_ROTATION_MODE){
2101  behaviorManager_.setOperationMode(BehaviorManager.JOINT_ROTATION_MODE);
2102  viewMode_ = EDIT;
2103  objectToolBar_.setMode(ObjectToolBar.OBJECT_MODE);
2104  lblMode_.setText(MessageBundle.get("Grx3DView.text.editMove")); //$NON-NLS-1$
2105  showOption();
2106  }
2107  }
2108  });
2109 
2110  GUIAction.FITTING_SRC.addActionListener(new ActionListener() {
2111  public void actionPerformed(ActionEvent e) {
2112  if (behaviorManager_.getOperationMode() != BehaviorManager.FITTING_FROM_MODE){
2113  objectToolBar_.setMode(ObjectToolBar.FITTING_MODE);
2114  viewToolBar_.setEnabled(true);
2115  behaviorManager_.setOperationMode(BehaviorManager.FITTING_FROM_MODE);
2116  viewMode_ = EDIT;
2117  lblMode_.setText(MessageBundle.get("Grx3DView.text.editObjectSelect")); //$NON-NLS-1$
2118  showOption();
2119  }
2120  }
2121  });
2122 
2123  GUIAction.FITTING_DEST.addActionListener(new ActionListener() {
2124  public void actionPerformed(ActionEvent e) {
2125  if (behaviorManager_.getOperationMode() != BehaviorManager.FITTING_TO_MODE){
2126  objectToolBar_.setMode(ObjectToolBar.FITTING_MODE);
2127  viewToolBar_.setEnabled(true);
2128  behaviorManager_.setOperationMode(BehaviorManager.FITTING_TO_MODE);
2129  viewMode_ = EDIT;
2130  lblMode_.setText(MessageBundle.get("Grx3DView.text,editObjectDestination")); //$NON-NLS-1$
2131  showOption();
2132  }
2133  }
2134  });
2135 
2136  GUIAction.DO_FIT.addActionListener(new ActionListener() {
2137  public void actionPerformed(ActionEvent e) {
2138  //setModelUpdate(false);
2139  behaviorManager_.fit();
2140  objectToolBar_.setMode(ObjectToolBar.FITTING_START_MODE);
2141  viewToolBar_.setEnabled(true);
2142  behaviorManager_.setOperationMode(BehaviorManager.FITTING_FROM_MODE);
2143  viewMode_ = EDIT;
2144  lblMode_.setText(MessageBundle.get("Grx3DView.text.editObjectSelect")); //$NON-NLS-1$
2145  showOption();
2146  }
2147  });
2148 
2149  GUIAction.INV_KINEMA_FROM.addActionListener(new ActionListener() {
2150  public void actionPerformed(ActionEvent e) {
2151  if (behaviorManager_.getOperationMode() != BehaviorManager.INV_KINEMA_FROM_MODE){
2152  objectToolBar_.setMode(ObjectToolBar.INV_KINEMA_MODE);
2153  behaviorManager_.setOperationMode(BehaviorManager.INV_KINEMA_FROM_MODE);
2154  viewMode_ = EDIT;
2155  lblMode_.setText(MessageBundle.get("Grx3DView.text.IKbaseLink")); //$NON-NLS-1$
2156  showOption();
2157  }
2158  }
2159  });
2160 
2161  GUIAction.INV_KINEMA_TRANS.addActionListener(new ActionListener() {
2162  public void actionPerformed(ActionEvent e) {
2163  if (behaviorManager_.getOperationMode() != BehaviorManager.INV_KINEMA_TRANSLATION_MODE){
2164  objectToolBar_.setMode(ObjectToolBar.INV_KINEMA_MODE);
2165  behaviorManager_.setOperationMode(BehaviorManager.INV_KINEMA_TRANSLATION_MODE);
2166  viewMode_ = EDIT;
2167  lblMode_.setText(MessageBundle.get("Grx3DView.text.IKtranslate")); //$NON-NLS-1$
2168  showOption();
2169  }
2170  }
2171  });
2172 
2173  GUIAction.INV_KINEMA_ROT.addActionListener(new ActionListener() {
2174  public void actionPerformed(ActionEvent e) {
2175  if (behaviorManager_.getOperationMode() != BehaviorManager.INV_KINEMA_ROTATION_MODE){
2176  objectToolBar_.setMode(ObjectToolBar.INV_KINEMA_MODE);
2177  behaviorManager_.setOperationMode(BehaviorManager.INV_KINEMA_ROTATION_MODE);
2178  viewMode_ = EDIT;
2179  lblMode_.setText(MessageBundle.get("Grx3DView.text.IKRotate")); //$NON-NLS-1$
2180  showOption();
2181  }
2182  }
2183  });
2184 
2185  GUIAction.OPERATION_DISABLE.addActionListener(new ActionListener() {
2186  public void actionPerformed(ActionEvent e) {
2187  disableOperation();
2188  viewMode_ = VIEW;
2189  }
2190  });
2191  }
2192 
2193  public void disableOperation(){
2194  //setModelUpdate(true);
2195 
2196  behaviorManager_.setOperationMode(BehaviorManager.OPERATION_MODE_NONE);
2197  objectToolBar_.setMode(ObjectToolBar.OBJECT_MODE);
2198  objectToolBar_.selectNone();
2199  viewToolBar_.setEnabled(true);
2200  lblMode_.setText(MessageBundle.get("Grx3DView.text.view")); //$NON-NLS-1$
2201 
2202  if(currentState_!=null){
2203  syncExec(new Runnable(){
2204  public void run(){
2205  updateModels(currentState_);
2206  _showCollision(currentState_.collisions);
2207  }
2208  });
2209  updateViewSimulator(currentState_.time);
2210  showOptionWithoutCollision();
2211  }
2212  }
2213 
2214  public void addClickListener( Grx3DViewClickListener listener ){
2215  behaviorManager_.addClickListener( listener );
2216  }
2217 
2218  public void removeClickListener( Grx3DViewClickListener listener ){
2219  behaviorManager_.removeClickListener( listener );
2220  }
2221 
2222  /*
2223  private PickCanvas initPickCanvas(int x, int y){
2224  PickCanvas pickCanvas = new PickCanvas(
2225  getCanvas3D(),
2226  getBranchGroupRoot()
2227  );
2228 
2229  pickCanvas.setShapeLocation( x, y );
2230 
2231  pickCanvas.setMode(PickInfo.NODE);
2232 
2233  PickCone pickCone = (PickCone)pickCanvas.getPickShape();
2234  Point3d pickOrig = new Point3d();
2235  Vector3d pickDir = new Vector3d();
2236  pickCone.getOrigin( pickOrig );
2237  pickCone.getDirection( pickDir );
2238  pickCanvas.setShapeRay( pickOrig, pickDir );
2239 
2240  // PickInfoの取得。フラグ設定が重要。
2241  pickCanvas.setFlags(PickInfo.NODE | PickInfo.CLOSEST_INTERSECTION_POINT |PickInfo.SCENEGRAPHPATH |PickInfo.LOCAL_TO_VWORLD );
2242 
2243  return pickCanvas;
2244  }
2245 
2246  public Point3d getClickPoint(int x, int y){
2247  PickCanvas canvas = initPickCanvas(x,y);
2248  PickInfo pickInfo = canvas.pickClosest();
2249  if (pickInfo == null) {
2250  GrxDebugUtil.println("[3DView] PickInfo Null.");
2251  }
2252 
2253  if(pickInfo == null)
2254  return null;
2255 
2256  //クリック位置の取得、世界座標への変換
2257  Point3d intersectionPoint = pickInfo.getClosestIntersectionPoint();
2258  Transform3D ltov = pickInfo.getLocalToVWorld();
2259  ltov.transform(intersectionPoint);
2260 
2261  if( intersectionPoint == null ){
2262  GrxDebugUtil.println("[3dView] Not Intersect point.");
2263  }else{
2264  NumberFormat format = NumberFormat.getInstance();
2265  format.setMaximumFractionDigits(2);
2266  GrxDebugUtil.println( "CLICK="+"("
2267  +format.format(intersectionPoint.x)+","
2268  +format.format(intersectionPoint.y)+","
2269  +format.format(intersectionPoint.z)+")" );
2270  }
2271 
2272  return intersectionPoint;
2273  }
2274 
2275  public TransformGroup getClickNode(int x, int y, int type){
2276  PickCanvas pickCanvas = initPickCanvas(x,y);
2277  PickInfo pickInfo = pickCanvas.pickClosest();
2278  if (pickInfo == null) {
2279  GrxDebugUtil.println("[3DView] PickInfo Null.");
2280  }
2281 
2282  //クリックされたノードを取得する
2283  TransformGroup tg = null;
2284  try {
2285  tg = (TransformGroup) pickCanvas.getNode(pickInfo, type );
2286  if (tg == null)
2287  GrxDebugUtil.println("[3DView] Node Null.");
2288  } catch (CapabilityNotSetException ex) {
2289  ex.printStackTrace();
2290  }
2291 
2292  return tg;
2293  }
2294 */
2295 
2296 
2297  public void saveScreenShot( File file ){
2298  if ( file == null )
2299  return;
2300 
2301  //onScreen方式
2302  Raster raster = null;
2303  // 読み込み用カラー情報 : type int, Alpha:8bit, R:8bit, G:8bit, B:8bit
2304  BufferedImage bimageRead = new BufferedImage(canvas_.getWidth(),
2305  canvas_.getHeight(), BufferedImage.TYPE_INT_RGB);
2306  ImageComponent2D readImage = new ImageComponent2D(
2307  ImageComponent.FORMAT_RGB, bimageRead);
2308  // 読み込み用ラスタ
2309  raster = new Raster(new Point3f(0.0f, 0.0f, 0.0f),
2310  Raster.RASTER_COLOR, 0, 0, bimageRead.getWidth(),
2311  bimageRead.getHeight(), readImage, null
2312  //readDepthFloat
2313  //readDepthInt
2314  );
2315  //raster.setCapability(Raster.ALLOW_DEPTH_COMPONENT_READ);
2316  raster.setCapability(Raster.ALLOW_IMAGE_READ);
2317  canvas_.getGraphicsContext3D().readRaster(raster);
2318  // カラー情報読み込み
2319  BufferedImage image = raster.getImage().getImage();
2320 
2321  /*
2322  //offScreen方式
2323  if(imageChooser_.showSaveDialog(GUIManager.this) == JFileChooser.APPROVE_OPTION ){
2324  //視点をセット
2325  recordingMgr_ = RecordingManager.getInstance(); // 録画マネージャ
2326  recordingMgr_.setView(viewer_[currentViewer_].getDrawable());
2327  //カメラ
2328  ImageCamera camera = recordingMgr_.getImageCamera();
2329  //サイズをセット
2330  Dimension d = viewer_[currentViewer_].getCanvas3D().getSize();
2331  camera.setSize(d.width,d.height);
2332  //イメージ取り出し
2333  java.awt.image.BufferedImage image = camera.getImage();
2334  */
2335 
2336  //保存
2337  try {
2338  javax.imageio.ImageIO.write(image, "PNG", file); //$NON-NLS-1$
2339  } catch (IOException ex) {
2340  // この関数はSWTのEDTから呼ばれるのでSWT.syncExec()とかしなくていいはず
2341  MessageDialog.openWarning( getParent().getShell(), "", MessageBundle.get("message.ioexception") ); //$NON-NLS-1$ //$NON-NLS-2$
2342  }
2343  }
2344 
2345  public View getView(){
2346  return view_;
2347  }
2348 
2349  private boolean xor(boolean a, boolean b){
2350  return (a || b) && (!a || !b);
2351  }
2352 
2353  public boolean propertyChanged(String key, String value){
2354  if (super.propertyChanged(key, value)){
2355  return true;
2356  }else {
2357  if (key.equals("showScale")){ //$NON-NLS-1$
2358  if(xor(btnFloor_.isSelected(), value.equals("true")))
2359  btnFloor_.doClick();
2360  }else if (key.equals("showCollision")){ //$NON-NLS-1$
2361  if(xor(btnCollision_.isSelected(), value.equals("true")))
2362  btnCollision_.doClick();
2363  }else if (key.equals("showDistance")){ //$NON-NLS-1$
2364  if(xor(btnDistance_.isSelected(), value.equals("true")))
2365  btnDistance_.doClick();
2366  }else if (key.equals("showIntersection")){ //$NON-NLS-1$
2367  if(xor(btnIntersection_.isSelected(), value.equals("true")))
2368  btnIntersection_.doClick();
2369  }else if (key.equals("showCoM")){ //$NON-NLS-1$
2370  if(xor(btnCoM_.isSelected(), value.equals("true")))
2371  btnCoM_.doClick();
2372  }else if (key.equals("showCoMonFloor")){ //$NON-NLS-1$
2373  if(xor(btnCoMonFloor_.isSelected(), value.equals("true")))
2374  btnCoMonFloor_.doClick();
2375  }else if (key.equals("view.mode")){ //$NON-NLS-1$
2376  value = viewToolBar_.selectViewMode(value);
2377  }else if (key.equals("showActualState")){ //$NON-NLS-1$
2378  showActualState_ = value.equals("true");
2379  }else if (key.equals("eyeHomePosition")){ //$NON-NLS-1$
2380  double[] eyeHomePosition = getDblAry(value);
2381  t3dViewHome_.set(eyeHomePosition);
2382  setTransform(t3dViewHome_);
2383  }else{
2384  return false;
2385  }
2386  final String key_ = key;
2387  final String value_ = value;
2388  syncExec(new Runnable(){
2389  public void run(){
2390  setProperty(key_, value_);
2391  }
2392  });
2393  return true;
2394  }
2395  }
2396 
2397  // view が閉じられたときの処理
2398  public void shutdown() {
2399  showViewSimulator(false);
2400  behaviorManager_.destroyDynamicsSimulator();
2401  Iterator<GrxModelItem> it = currentModels_.iterator();
2402  while(it.hasNext()) {
2403  GrxModelItem model = it.next();
2404  model.bgRoot_.detach();
2405  model.deleteObserver(this);
2406  }
2407  manager_.removeItemChangeListener(this, GrxModelItem.class);
2408  manager_.removeItemChangeListener(this, GrxWorldStateItem.class);
2409  if(currentWorld_!=null)
2410  {
2411  currentWorld_.deleteObserver(this);
2412  currentWorld_.deletePosObserver(this);
2413  }
2414  manager_.removeItemChangeListener(this, GrxCollisionPairItem.class);
2415  if(simItem_!=null)
2416  simItem_.deleteObserver(this);
2417  manager_.removeItemChangeListener(this, GrxSimulationItem.class);
2418  }
2419 
2420  public void repaint(){
2421  view_.repaint();
2422  objectToolBar_.repaint();
2423  viewToolBar_.repaint();
2424  }
2425 
2426  private boolean ans_;
2427  private List<GrxModelItem> setNumOfAABB(){
2428  List<GrxModelItem> ret = new ArrayList<GrxModelItem>();
2429  List<GrxModelItem> models = new ArrayList<GrxModelItem>();
2430  models.addAll(currentModels_);
2431  while(!models.isEmpty()){
2432  final GrxModelItem model = models.get(0);
2433  final List<GrxModelItem> sameModels = model.getSameUrlModels();
2434  boolean flg=false;
2435  for(int i=0; i<model.links_.size(); i++){
2436  if(model.links_.get(i).getStr("NumOfAABB").equals("original data")){
2437  flg = true;
2438  break;
2439  }
2440  }
2441  if(flg){
2442  syncExec(new Runnable(){
2443  public void run(){
2444  ans_ = MessageDialog.openConfirm(comp.getShell(), MessageBundle.get("Grx3DView.dialog.title.confirmation"), model.getName()+" "+MessageBundle.get("Grx3DView.dialog.message.setAABBdepth")); //$NON-NLS-1$ //$NON-NLS-2$
2445  if(ans_){
2446  for(int i=0; i<model.links_.size(); i++){
2447  if(model.links_.get(i).getStr("NumOfAABB").equals("original data")){
2448  model.links_.get(i).setInt("NumOfAABB",1);
2449  model.setProperty(model.links_.get(i).getName()+".NumOfAABB", "1");
2450  }
2451  }
2452  model.makeAABBforSameUrlModels();
2453  }
2454  }
2455  });
2456  if(ans_){
2457  ret.addAll(sameModels);
2458  ret.add(model);
2459  }
2460  }else{
2461  ret.add(model);
2462  ret.addAll(sameModels);
2463  }
2464  models.removeAll(sameModels);
2465  models.remove(model);
2466  }
2467  return ret;
2468  }
2469 
2470  private boolean btnStateCollision_=true;
2471  private boolean btnStateDistance_=false;
2472  private boolean btnStateIntersection_=false;
2473  private boolean modelModified_ = false;
2474  private void optionButtonEnable(boolean enable){
2475  if(!modelModified_ && enable )
2476  return;
2477  if(modelModified_ && !enable)
2478  return;
2479  if(enable){
2480  for(GrxModelItem model : currentModels_ ){
2481  if(model.isModified())
2482  return;
2483  }
2484  }
2485  if(!enable){
2486  btnStateCollision_ = btnCollision_.isSelected();
2487  btnStateDistance_ = btnDistance_.isSelected();
2488  btnStateIntersection_ = btnIntersection_.isSelected();
2489  if(btnCollision_.isSelected())
2490  btnCollision_.doClick();
2491  if(btnDistance_.isSelected())
2492  btnDistance_.doClick();
2493  if(btnIntersection_.isSelected())
2494  btnIntersection_.doClick();
2495  modelModified_ = true;
2496  }
2497  btnCollision_.setEnabled(enable);
2498  btnDistance_.setEnabled(enable);
2499  btnIntersection_.setEnabled(enable);
2500  if(enable){
2501  if(btnStateCollision_)
2502  btnCollision_.doClick();
2503  if(btnStateDistance_)
2504  btnDistance_.doClick();
2505  if(btnStateIntersection_)
2506  btnIntersection_.doClick();
2507  modelModified_ = false;
2508  }
2509  }
2510 
2511  public ValueEditType GetValueEditType(String key) {
2512  if(key.equals("showCoM") || key.equals("showCoMonFloor") || key.equals("showDistance") ||
2513  key.equals("showIntersection") || key.equals("showCollision") || key.equals("showActualState") ||
2514  key.equals("showScale"))
2515  {
2516  return new ValueEditCombo(booleanComboItem_);
2517  }else if(key.equals("view.mode")){
2518  return new ValueEditCombo(ViewToolBar.VIEW_MODE);
2519  }
2520  return super.GetValueEditType(key);
2521  }
2522 }
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Definition: GrxWorldStateItem.java:1101
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get collision information
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Return editing type of the key item.
Definition: Grx3DView.java:2511
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Definition: GrxWorldStateItem.java:1205
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Definition: GrxSensorItem.java:43
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openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:02