ItemBase.java

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package edu.tum.cs.ias.knowrob.vis.items;

import java.awt.Color;

import javax.vecmath.Matrix4d;

import edu.tum.cs.ias.knowrob.vis.Canvas;
import edu.tum.cs.ias.knowrob.vis.Drawable;
import edu.tum.cs.ias.knowrob.vis.DrawableAnimated;
import edu.tum.cs.ias.knowrob.vis.applets.SemanticMapVisApplet;
import edu.tum.cs.vis.model.util.DrawSettings;

public abstract class ItemBase implements Drawable, DrawableAnimated {
        public String name;
        public int defaultColor = SemanticMapVisApplet.convertColor(220, 220, 220, 255);
        protected DrawSettings drawSettings = null;
        
        public void setOverrideColor(Color overrideColor) {
                if (drawSettings == null)
                        drawSettings = new DrawSettings();
                drawSettings.setOverrideColor(overrideColor);
        }
        
        protected float[] trafoMatrix = null;
        
        protected float xdim;
        protected float ydim;
        protected float zdim;
        
        protected int color;
        
        public void draw(Canvas c) {
                draw(c,0);
        }
        
        public int getMaxStep() {
                return -1;
        }               
        public static int convertColor(int red, int green, int blue, int alpha) {
                return (((((alpha << 8) + red) << 8) + green) << 8) + blue;
        }
        
        public void setColor(int color){
                this.color = color;
        }

        public void setColor(int color,int start, int end){
                this.color=color;
        }

        public void setPose(Matrix4d pose) {
                if(pose!=null) {
                        this.trafoMatrix = new float[] {
                                        (float)pose.m00, (float)pose.m01, (float)pose.m02, (float)pose.m03,
                                        (float)pose.m10, (float)pose.m11, (float)pose.m12, (float)pose.m13, 
                                        (float)pose.m20, (float)pose.m21, (float)pose.m22, (float)pose.m23, 
                                        (float)pose.m30, (float)pose.m31, (float)pose.m32, (float)pose.m33      };
                }
        }
        
        public void setPose(double[] pose) {
                this.setPose(new Matrix4d(pose));
        }
        
        public void setPose(float[] pose) {
                this.trafoMatrix = pose;
        }
        
        public void setPose(float m00,float m01,float m02,float m03,
                                                float m10,float m11,float m12,float m13, 
                                                float m20,float m21,float m22,float m23, 
                                                float m30,float m31,float m32,float m33) {
                this.trafoMatrix = new float[] {
                                m00, m01, m02, m03,
                                m10, m11, m12, m13, 
                                m20, m21, m22, m23, 
                                m30, m31, m32, m33      };
        }
        
        public void setPosition(float x, float y, float z) {
                this.trafoMatrix[3]=x;
                this.trafoMatrix[7]=y;
                this.trafoMatrix[11]=z;
        }
        
        public void setDimensions(float xdim, float ydim, float zdim) {
                this.xdim=xdim;
                this.ydim=ydim;
                this.zdim=zdim;
        }
}