GrxSegmentItem.java

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package com.generalrobotix.ui.item;

import javax.media.j3d.BadTransformException;
import javax.media.j3d.Switch;
import javax.media.j3d.Transform3D;
import javax.media.j3d.TransformGroup;
import javax.vecmath.Color3f;
import javax.vecmath.Matrix3d;
import javax.vecmath.Vector3d;

import jp.go.aist.hrp.simulator.LinkInfo;
import jp.go.aist.hrp.simulator.SegmentInfo;

import com.generalrobotix.ui.GrxPluginManager;
import com.generalrobotix.ui.util.CalcInertiaUtil;
import com.generalrobotix.ui.util.GrxShapeUtil;

@SuppressWarnings("serial")
public class GrxSegmentItem extends GrxShapeTransformItem {
        public double mass_;
        public double[] centerOfMass_;
        public double[] momentOfInertia_;
        // display
    private Switch switchCom_;
    private TransformGroup tgCom_;
        
        public GrxSegmentItem(String name, GrxPluginManager manager_, GrxModelItem model_, LinkInfo linkInfo, SegmentInfo segmentInfo) {
                super(name, manager_, model_);
                setIcon("segment1.png");
                switchCom_ = GrxShapeUtil.createBall(0.01, new Color3f(1.0f, 0.5f, 0.25f), 0.5f);
            tgCom_ = (TransformGroup)switchCom_.getChild(0);
            tg_.addChild(switchCom_);
            
            if(segmentInfo != null){
                        transform(segmentInfo.transformMatrix);
                centerOfMass(segmentInfo.centerOfMass);  
                momentOfInertia(segmentInfo.inertia);
                mass(segmentInfo.mass);     
                if(linkInfo != null){
                        int n = segmentInfo.shapeIndices.length;
                        for(int i=0; i<n; i++)
                                addTransformedShapeIndex(linkInfo.shapeIndices[segmentInfo.shapeIndices[i]]);
                        buildShapeTransforms(linkInfo.inlinedShapeTransformMatrices);
                }
            }else{
                transform( new double[]{        1.0, 0.0, 0.0, 0.0, 
                                                                                0.0, 1.0, 0.0, 0.0,
                                                                                0.0, 0.0, 1.0, 0.0 });
                centerOfMass(new double[]{0.0, 0.0, 0.0});  
                momentOfInertia(new double[]{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
                mass(0.0);
            }
        initMenu();
        }

        private void mass(double mass){
                mass_ = mass;
        setDbl("mass", mass);
        _updateScaleOfBall();
        if (model_ != null)             model_.notifyModified();
        }
        
        private void momentOfInertia(double[] inertia){
                if(inertia == null || inertia.length != 9) return;
                momentOfInertia_ = inertia;
                setDblAry("momentsOfInertia", inertia);
        _updateScaleOfBall();
        if (model_ != null)             model_.notifyModified();
        }
        
        private void centerOfMass(double[] centerOfMass){
                if (centerOfMass == null || centerOfMass.length != 3) return;
                centerOfMass_ = centerOfMass;
                setDblAry("centerOfMass", centerOfMass);
                Transform3D t3d = new Transform3D();
        tgCom_.getTransform(t3d);
        t3d.setTranslation(new Vector3d(centerOfMass_));
        tgCom_.setTransform(t3d);
        if (model_ != null)             model_.notifyModified();
        }
       
    public boolean propertyChanged(String property, String value) {
        if (property.equals("name")){ //$NON-NLS-1$
                        rename(value);
        }else if(property.equals("translation")){ //$NON-NLS-1$
                translation(value);
                ((GrxLinkItem)parent_).modifyCenterOfMass();
        }else if(property.equals("rotation")){ //$NON-NLS-1$
                rotation(value);
                ((GrxLinkItem)parent_).modifyCenterOfMass();
        }else if(property.equals("centerOfMass")){ //$NON-NLS-1$
                centerOfMass(getDblAry(value));
                ((GrxLinkItem)parent_).modifyCenterOfMass();
        }else if(property.equals("momentsOfInertia")){ //$NON-NLS-1$
                momentOfInertia(getDblAry(value));
                ((GrxLinkItem)parent_).modifyInertia();
        }else if(property.equals("mass")){ //$NON-NLS-1$
                mass(getDbl(value));
                ((GrxLinkItem)parent_).modifyMass();
        }else{
                return false;
        }
        return true;
    }
 
    public void setFocused(boolean b){
        if (b)
                resizeBoundingBox();
        super.setFocused(b);
        switchCom_.setWhichChild(b? Switch.CHILD_ALL:Switch.CHILD_NONE);
    }
    
    private void _updateScaleOfBall(){
                Matrix3d I = new Matrix3d(momentOfInertia_);
                Vector3d scale = CalcInertiaUtil.calcScale(I, mass_);
                Transform3D t3d = new Transform3D();
                tgCom_.getTransform(t3d);
                t3d.setScale(scale);
                try{
                        tgCom_.setTransform(t3d);
                }catch(BadTransformException ex){
                        System.out.println("BadTransformException in _updateScaleOfBall"); //$NON-NLS-1$
                }
    }
}