Item.java

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

import javax.vecmath.Matrix4d;
import javax.vecmath.Vector3d;

import edu.tum.cs.ias.knowrob.vis.Canvas;

public abstract class Item extends ItemBase {
        
         Item(Matrix4d pose, Vector3d dim){
                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  };
                }
                if(dim!=null) {
                        this.xdim=(float) dim.x;
                        this.ydim=(float) dim.y;
                        this.zdim=(float) dim.z;
                }
                this.color=defaultColor;
        }
        
        
        public Item(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, 
                        float xdim, float ydim, float zdim){
        
                this.trafoMatrix = new float[] {
                        m00, m01, m02, m03,
                        m10, m11, m12, m13, 
                        m20, m21, m22, m23, 
                        m30, m31, m32, m33      };
                this.xdim=xdim;
                this.ydim=ydim;
                this.zdim=zdim;
                
                this.color=defaultColor;
        }
        
        
        public Item(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, 
                                float xdim, float ydim, float zdim, int color){
                
                this( m00,   m01,   m02,  m03,
                          m10,   m11,   m12,  m13, 
                          m20,   m21,   m22,  m23, 
                          m30,   m31,   m32,  m33, 
                          xdim,  ydim,  zdim);

                this.color=color;
        }

        
        
        @Override
        public void draw(Canvas c) {

                c.noStroke();           
                c.pushMatrix();
                
                        if(trafoMatrix != null)
                                c.applyMatrix(trafoMatrix[0],  trafoMatrix[1],  trafoMatrix[2],  trafoMatrix[3], 
                                                          trafoMatrix[4],  trafoMatrix[5],  trafoMatrix[6],  trafoMatrix[7], 
                                                          trafoMatrix[8],  trafoMatrix[9],  trafoMatrix[10], trafoMatrix[11], 
                                                          trafoMatrix[12], trafoMatrix[13], trafoMatrix[14], trafoMatrix[15]);
                        if (drawSettings != null && drawSettings.getOverrideColor() != null)
                                c.fill(drawSettings.getOverrideColor().getRed(), drawSettings.getOverrideColor().getGreen(), drawSettings.getOverrideColor().getBlue(), drawSettings.getOverrideColor().getAlpha());
                        else
                                c.fill(color);
                        
                        // draw object-local coordinate systems:
//                      c.pushMatrix();
//                              c.strokeWeight(1.5f);
//                              c.stroke(255, 0, 0);      c.line(0, 0, 0,   1, 0, 0);
//                              c.stroke(0, 255, 0);      c.line(0, 0, 0,   0, 1, 0); 
//                              c.stroke(0, 0, 255);      c.line(0, 0, 0,   0, 0, 1);
//                              c.stroke(0, 0, 0);
//                      c.popMatrix();C
                        
                        drawIt(c);
                        
                c.popMatrix();
        }
        
        
        public void draw(Canvas c, int step) {
                draw(c);
        }
        
        
        protected abstract void drawIt(Canvas c);
}