Item.java
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00001 package edu.tum.cs.ias.knowrob.vis.items;
00002 
00003 import javax.vecmath.Matrix4d;
00004 import javax.vecmath.Vector3d;
00005 
00006 import edu.tum.cs.ias.knowrob.vis.Canvas;
00007 
00011 public abstract class Item extends ItemBase {
00012         
00013          Item(Matrix4d pose, Vector3d dim){
00014                 if(pose!=null) {
00015                 this.trafoMatrix = new float[] {
00016                                 (float) pose.m00, (float) pose.m01, (float) pose.m02, (float) pose.m03,
00017                                 (float) pose.m10, (float) pose.m11, (float) pose.m12, (float) pose.m13, 
00018                                 (float) pose.m20, (float) pose.m21, (float) pose.m22, (float) pose.m23, 
00019                                 (float) pose.m30, (float) pose.m31, (float) pose.m32, (float) pose.m33  };
00020                 }
00021                 if(dim!=null) {
00022                         this.xdim=(float) dim.x;
00023                         this.ydim=(float) dim.y;
00024                         this.zdim=(float) dim.z;
00025                 }
00026                 this.color=defaultColor;
00027         }
00028         
00029         
00030         public Item(float m00,float m01,float m02,float m03,
00031                         float m10,float m11,float m12,float m13, 
00032                         float m20,float m21,float m22,float m23, 
00033                         float m30,float m31,float m32,float m33, 
00034                         float xdim, float ydim, float zdim){
00035         
00036                 this.trafoMatrix = new float[] {
00037                         m00, m01, m02, m03,
00038                         m10, m11, m12, m13, 
00039                         m20, m21, m22, m23, 
00040                         m30, m31, m32, m33      };
00041                 this.xdim=xdim;
00042                 this.ydim=ydim;
00043                 this.zdim=zdim;
00044                 
00045                 this.color=defaultColor;
00046         }
00047         
00048         
00049         public Item(float m00,float m01,float m02,float m03,
00050                                 float m10,float m11,float m12,float m13, 
00051                                 float m20,float m21,float m22,float m23, 
00052                                 float m30,float m31,float m32,float m33, 
00053                                 float xdim, float ydim, float zdim, int color){
00054                 
00055                 this( m00,   m01,   m02,  m03,
00056                           m10,   m11,   m12,  m13, 
00057                           m20,   m21,   m22,  m23, 
00058                           m30,   m31,   m32,  m33, 
00059                           xdim,  ydim,  zdim);
00060 
00061                 this.color=color;
00062         }
00063 
00064         
00065         
00066         @Override
00067         public void draw(Canvas c) {
00068 
00069                 c.noStroke();           
00070                 c.pushMatrix();
00071                 
00072                         if(trafoMatrix != null)
00073                                 c.applyMatrix(trafoMatrix[0],  trafoMatrix[1],  trafoMatrix[2],  trafoMatrix[3], 
00074                                                           trafoMatrix[4],  trafoMatrix[5],  trafoMatrix[6],  trafoMatrix[7], 
00075                                                           trafoMatrix[8],  trafoMatrix[9],  trafoMatrix[10], trafoMatrix[11], 
00076                                                           trafoMatrix[12], trafoMatrix[13], trafoMatrix[14], trafoMatrix[15]);
00077                         if (drawSettings != null && drawSettings.getOverrideColor() != null)
00078                                 c.fill(drawSettings.getOverrideColor().getRed(), drawSettings.getOverrideColor().getGreen(), drawSettings.getOverrideColor().getBlue(), drawSettings.getOverrideColor().getAlpha());
00079                         else
00080                                 c.fill(color);
00081                         
00082                         // draw object-local coordinate systems:
00083 //                      c.pushMatrix();
00084 //                              c.strokeWeight(1.5f);
00085 //                              c.stroke(255, 0, 0);      c.line(0, 0, 0,   1, 0, 0);
00086 //                              c.stroke(0, 255, 0);      c.line(0, 0, 0,   0, 1, 0); 
00087 //                              c.stroke(0, 0, 255);      c.line(0, 0, 0,   0, 0, 1);
00088 //                              c.stroke(0, 0, 0);
00089 //                      c.popMatrix();C
00090                         
00091                         drawIt(c);
00092                         
00093                 c.popMatrix();
00094         }
00095         
00096         
00097         public void draw(Canvas c, int step) {
00098                 draw(c);
00099         }
00100         
00101         
00102         protected abstract void drawIt(Canvas c);
00103 }


mod_vis
Author(s): Moritz Tenorth, Jakob Engel
autogenerated on Mon Oct 6 2014 01:30:00