CollisionPairPanel.java
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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * General Robotix Inc.
00008  * National Institute of Advanced Industrial Science and Technology (AIST) 
00009  */
00018 package com.generalrobotix.ui.view.simulation;
00019 
00020 import java.util.ArrayList;
00021 import java.util.Iterator;
00022 import java.util.List;
00023 import java.util.Vector;
00024 
00025 import org.eclipse.jface.dialogs.MessageDialog;
00026 import org.eclipse.jface.viewers.ArrayContentProvider;
00027 import org.eclipse.jface.viewers.ColumnWeightData;
00028 import org.eclipse.jface.viewers.ILabelProviderListener;
00029 import org.eclipse.jface.viewers.ITableLabelProvider;
00030 import org.eclipse.jface.viewers.TableLayout;
00031 import org.eclipse.jface.viewers.TableViewer;
00032 import org.eclipse.swt.SWT;
00033 import org.eclipse.swt.events.SelectionEvent;
00034 import org.eclipse.swt.events.SelectionListener;
00035 import org.eclipse.swt.graphics.Image;
00036 import org.eclipse.swt.layout.FillLayout;
00037 import org.eclipse.swt.layout.GridData;
00038 import org.eclipse.swt.layout.GridLayout;
00039 import org.eclipse.swt.widgets.Button;
00040 import org.eclipse.swt.widgets.Combo;
00041 import org.eclipse.swt.widgets.Composite;
00042 import org.eclipse.swt.widgets.Control;
00043 import org.eclipse.swt.widgets.Label;
00044 import org.eclipse.swt.widgets.TableColumn;
00045 import org.eclipse.swt.widgets.Text;
00046 
00047 import com.generalrobotix.ui.GrxBaseItem;
00048 import com.generalrobotix.ui.GrxPluginManager;
00049 import com.generalrobotix.ui.grxui.Activator;
00050 import com.generalrobotix.ui.item.GrxCollisionPairItem;
00051 import com.generalrobotix.ui.item.GrxModelItem;
00052 import com.generalrobotix.ui.item.GrxWorldStateItem;
00053 import com.generalrobotix.ui.util.MessageBundle;
00054 import com.generalrobotix.ui.view.graph.SEBoolean;
00055 
00056 @SuppressWarnings("serial") //$NON-NLS-1$
00057 public class CollisionPairPanel extends Composite {
00058     private GrxPluginManager manager_;
00059     private TableViewer viewer_;
00060     private Vector<GrxCollisionPairItem> vecCollision_;
00061     
00062     private Button btnAdd_;
00063     private Button btnRemove_;
00064     private Button btnEdit_;
00065     private Button btnAddAll_;
00066     private CollisionPairEditorPanel editorPanel_;
00067     
00068     private String defaultStaticFriction_;
00069     private String defaultSlidingFriction_;
00070     private String defaultCullingThresh_;
00071         private String defaultRestitution_;
00072     
00073     private static final String ATTR_NAME_STATIC_FRICTION = "staticFriction"; //$NON-NLS-1$
00074     private static final String ATTR_NAME_SLIDING_FRICTION = "slidingFriction"; //$NON-NLS-1$
00075     private static final String ATTR_NAME_CULLING_THRESH = "cullingThresh"; //$NON-NLS-1$
00076         private static final String ATTR_NAME_RESTITUTION = "Restitution";
00077     
00078     private final String[] clmName_ ={
00079         MessageBundle.get("panel.collision.table.obj1"), //$NON-NLS-1$
00080         MessageBundle.get("panel.collision.table.link1"), //$NON-NLS-1$
00081         MessageBundle.get("panel.collision.table.obj2"), //$NON-NLS-1$
00082         MessageBundle.get("panel.collision.table.link2"), //$NON-NLS-1$
00083         MessageBundle.get("panel.collision.staticFriction"), //$NON-NLS-1$
00084         MessageBundle.get("panel.collision.slidingFriction"),
00085         MessageBundle.get("panel.collision.cullingThresh"),
00086                 MessageBundle.get("panel.collision.restitution")
00087     };
00088 
00089     private final String[] attrName_ ={
00090         "objectName1","jointName1", //$NON-NLS-1$ //$NON-NLS-2$
00091         "objectName2","jointName2", //$NON-NLS-1$ //$NON-NLS-2$
00092         ATTR_NAME_STATIC_FRICTION, ATTR_NAME_SLIDING_FRICTION, ATTR_NAME_CULLING_THRESH, ATTR_NAME_RESTITUTION
00093     };
00094     
00095     private static final int BUTTONS_HEIGHT = 26;
00096     
00097     public void setEnabled(boolean flag) {
00098         super.setEnabled(flag);
00099         if (editorPanel_ != null)
00100           editorPanel_.doCancel();
00101         _setButtonEnabled(flag);
00102     }
00103     /*
00104     private String _getJointName(String linkName){
00105         if(linkName.indexOf("_")==-1){
00106             return"";
00107         }else{
00108             return linkName.substring(linkName.indexOf("_") + 1);
00109         }
00110     }
00111     private String _getObjectName(String linkName){
00112         if(linkName.indexOf("_")==-1){
00113             return linkName;
00114         }else{
00115             return linkName.substring(0,linkName.indexOf("_") );
00116         }
00117     }
00118     */
00119     
00120     public CollisionPairPanel(Composite parent,int style,GrxPluginManager manager) {
00121         super(parent, style);
00122         manager_ = manager;
00123         //AttributeProperties props = AttributeProperties.getProperties("CollisionPair");
00124         defaultStaticFriction_ = "0.5";//props.getProperty(ATTR_NAME_STATIC_FRICTION,AttributeProperties.PROPERTY_DEFAULT_VALUE); //$NON-NLS-1$
00125         defaultSlidingFriction_ = "0.5";//props.getProperty(ATTR_NAME_SLIDING_FRICTION,AttributeProperties.PROPERTY_DEFAULT_VALUE); //$NON-NLS-1$
00126         defaultCullingThresh_ = "0.01"; //$NON-NLS-1$
00127                 defaultRestitution_ = "0.0";
00128         
00129         vecCollision_ = new Vector<GrxCollisionPairItem>();
00130    
00131         setLayout(new GridLayout(1,false));
00132         
00133         viewer_ = new TableViewer(this,SWT.SINGLE | SWT.BORDER | SWT.V_SCROLL | SWT.H_SCROLL | SWT.FULL_SELECTION);
00134         viewer_.getTable().setLayoutData(new GridData(GridData.FILL_BOTH));
00135         viewer_.setContentProvider(new ArrayContentProvider());
00136         viewer_.setLabelProvider(new InnerTableLabelProvider());
00137         viewer_.getTable().addSelectionListener(new SelectionListener(){
00138 
00139             public void widgetDefaultSelected(SelectionEvent e) {
00140             }
00141 
00142             public void widgetSelected(SelectionEvent e) {
00143                 int row = viewer_.getTable().getSelectionIndex();
00144                 if (row >= 0 && row < vecCollision_.size()) {
00145                     editorPanel_.setNode(vecCollision_.get(row));
00146                 }
00147             }
00148         });
00149         TableLayout tableLayout = new TableLayout();
00150         for(int i=0;i<clmName_.length;i++){
00151             new TableColumn(viewer_.getTable(),i).setText(clmName_[i]);;
00152             tableLayout.addColumnData(new ColumnWeightData(1,true));
00153         }
00154         viewer_.getTable().setLayout(tableLayout);
00155         viewer_.getTable().setHeaderVisible(true);
00156         viewer_.getTable().setLinesVisible(true);
00157         viewer_.setInput(vecCollision_);
00158         //viewer_.getTable().pack();
00159         
00160         Composite pnlBttn = new Composite(this,SWT.NONE);
00161         GridData gridData = new GridData(GridData.FILL_HORIZONTAL);
00162         gridData.heightHint = BUTTONS_HEIGHT;
00163         pnlBttn.setLayoutData(gridData);
00164         pnlBttn.setLayout(new FillLayout(SWT.HORIZONTAL));
00165         
00166         btnAdd_ = new Button(pnlBttn,SWT.PUSH);
00167         btnAdd_.setText(MessageBundle.get("panel.add")); //$NON-NLS-1$
00168         btnAdd_.addSelectionListener(new SelectionListener(){
00169 
00170             public void widgetDefaultSelected(SelectionEvent e) {
00171             }
00172 
00173             public void widgetSelected(SelectionEvent e) {
00174                 _setButtonEnabled(false);
00175                 editorPanel_.startAddMode();
00176             }
00177             
00178         });
00179         
00180         btnRemove_ = new Button(pnlBttn,SWT.PUSH);
00181         btnRemove_.setText(MessageBundle.get("panel.remove")); //$NON-NLS-1$
00182         btnRemove_.addSelectionListener(new SelectionListener(){
00183 
00184             public void widgetDefaultSelected(SelectionEvent e) {
00185             }
00186 
00187             public void widgetSelected(SelectionEvent e) {
00188                 int row = viewer_.getTable().getSelectionIndex();
00189                 if (row >= 0 && row < vecCollision_.size()) {
00190                     if (_checkDialog(MessageBundle.get("collision.remove"))) { //$NON-NLS-1$
00191                         vecCollision_.get(row).delete();
00192                     }
00193                 }
00194             }
00195             
00196         });
00197 
00198         btnEdit_ = new Button(pnlBttn,SWT.PUSH);
00199         btnEdit_.setText(MessageBundle.get("panel.edit")); //$NON-NLS-1$
00200         btnEdit_.addSelectionListener(new SelectionListener(){
00201 
00202             public void widgetDefaultSelected(SelectionEvent e) {
00203             }
00204 
00205             public void widgetSelected(SelectionEvent e) {
00206                 int row = viewer_.getTable().getSelectionIndex() ;
00207                 if(row>=0 && row<vecCollision_.size()){
00208                     _setButtonEnabled(false);
00209                     editorPanel_.startEditMode(vecCollision_.get(row));
00210                 }
00211             }
00212             
00213         });
00214         
00215         btnAddAll_ = new Button(pnlBttn,SWT.PUSH);
00216         btnAddAll_.setText(MessageBundle.get("panel.addAll")); //$NON-NLS-1$
00217         btnAddAll_.addSelectionListener(new SelectionListener(){
00218 
00219             public void widgetDefaultSelected(SelectionEvent e) {
00220             }
00221 
00222             public void widgetSelected(SelectionEvent e) {
00223                 manager_.refuseItemChange();
00224                 List<GrxModelItem> list = manager_.<GrxModelItem>getSelectedItemList(GrxModelItem.class);
00225                 for (int i=0; i<list.size(); i++) {
00226                     GrxModelItem m1 = list.get(i);
00227                     for (int j=i; j<list.size(); j++) {
00228                         GrxModelItem m2 = list.get(j);
00229                         for (int k=0; k<m1.links_.size(); k++) {
00230                                 int l=0;
00231                                 if(i==j) l=k;
00232                             for (; l<m2.links_.size(); l++) {
00233                                 if (i != j || k != l){
00234                                         editorPanel_.txtStaticFric_.setText(defaultStaticFriction_);
00235                                         editorPanel_.txtSlidingFric_.setText(defaultSlidingFriction_);
00236                                         editorPanel_.txtCullingThresh_.setText(defaultCullingThresh_);
00237                                                                         editorPanel_.txtRestitution_.setText(defaultRestitution_);
00238                                     _createItem(m1.getName(), m1.links_.get(k).getName(), m2.getName(), m2.links_.get(l).getName());
00239                                 }
00240                             }
00241                         }
00242                     }
00243                 }
00244                 manager_.acceptItemChange();
00245             }
00246             
00247         });
00248         
00249         Composite editorPanelComposite = new Composite(this,SWT.NONE);
00250         GridData editorPanelGridData = new GridData(GridData.FILL_HORIZONTAL);
00251         editorPanelComposite.setLayoutData(editorPanelGridData);
00252         editorPanelComposite.setLayout(new FillLayout(SWT.HORIZONTAL));
00253         editorPanel_ = new CollisionPairEditorPanel(editorPanelComposite,SWT.NONE);
00254         
00255         updateTableFont();
00256     }
00257 
00258     private boolean _checkDialog(String msg) {
00259         boolean overwrite = MessageDialog.openQuestion(getShell(), MessageBundle.get("dialog.overwrite"), msg); //$NON-NLS-1$
00260         return overwrite;
00261     }
00262 
00263     private void _setButtonEnabled(boolean flag) {
00264         btnAdd_.setEnabled(flag);
00265         btnRemove_.setEnabled(flag);
00266         btnEdit_.setEnabled(flag);
00267         btnAddAll_.setEnabled(flag);
00268         viewer_.getTable().setEnabled(flag);
00269         _repaint();
00270     }
00271 
00272     private void _repaint() {
00273         //viewer_.getTable().update();
00274     }    
00275 
00276     private class CollisionPairEditorPanel extends Composite {
00277 
00278         private static final int MODE_ADD = 0 ;
00279         private static final int MODE_EDIT = 1 ;
00280         
00281         private static final int BUTTON_WIDTH = 50;
00282 
00283         private int mode_;
00284         private GrxCollisionPairItem node_;
00285         private JointSelectPanel pnlJoint1_;
00286         private JointSelectPanel pnlJoint2_;
00287         private Button btnOk_, btnCancel_;
00288         
00289         private Text txtStaticFric_,txtSlidingFric_,txtCullingThresh_,txtRestitution_;
00290         private Label lblFriction_,lblStaticFric_,lblSlidingFric_,lblCullingThresh_,lblRestitution_;
00291         
00292         public CollisionPairEditorPanel(Composite parent,int style) {
00293             super(parent,style);
00294             setLayout(new GridLayout(2,false));
00295             
00296             pnlJoint1_ = new JointSelectPanel(this,SWT.NONE,"1"); //$NON-NLS-1$
00297             pnlJoint1_.setLayoutData(new GridData(GridData.FILL_BOTH));
00298             //pnlJoint1_.setBounds(0,0,180,60);
00299             
00300             pnlJoint2_ = new JointSelectPanel(this,SWT.NONE,"2"); //$NON-NLS-1$
00301             pnlJoint2_.setLayoutData(new GridData(GridData.FILL_BOTH));
00302             //pnlJoint2_.setBounds(0 + 180,0,180,60);
00303     
00304             lblFriction_ = new Label(this,SWT.SHADOW_NONE);
00305             lblFriction_.setText(MessageBundle.get("panel.collision.friction")); //$NON-NLS-1$
00306             //lblFriction_.setBounds(20,60+24+24+ 24,144,24);
00307             
00308             new Label(this,SWT.SHADOW_NONE);//dummy
00309             
00310             lblStaticFric_ = new Label(this,SWT.SHADOW_NONE);
00311             lblStaticFric_.setText(MessageBundle.get("panel.collision.staticFriction")); //$NON-NLS-1$
00312             lblStaticFric_.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
00313             //lblStaticFric_.setBounds(0,60+24 + 24+ 24 + 24,144,24);
00314 
00315             txtStaticFric_ = new Text(this,SWT.SINGLE | SWT.BORDER);
00316             txtStaticFric_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
00317             //txtStaticFric_.setBounds(150,60+24+ 24 + 24+ 24,80,24);
00318             
00319             lblSlidingFric_ = new Label(this,SWT.SHADOW_NONE);
00320             lblSlidingFric_.setText(MessageBundle.get("panel.collision.slidingFriction")); //$NON-NLS-1$
00321             lblSlidingFric_.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
00322             //lblSlidingFric_.setBounds(0,60+24+24+ 24 + 24 + 24,144,24);
00323 
00324             txtSlidingFric_ = new Text(this,SWT.SINGLE | SWT.BORDER);
00325             txtSlidingFric_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
00326             //txtSlidingFric_.setBounds(150,60+24+24+ 24 + 24+ 24,80,24);
00327             
00328             lblCullingThresh_ = new Label(this,SWT.SHADOW_NONE);
00329             lblCullingThresh_.setText(MessageBundle.get("panel.collision.cullingThresh")); //$NON-NLS-1$
00330             lblCullingThresh_.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
00331 
00332             txtCullingThresh_ = new Text(this,SWT.SINGLE | SWT.BORDER);
00333             txtCullingThresh_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
00334             
00335                         lblRestitution_ = new Label(this,SWT.SHADOW_NONE);
00336                         lblRestitution_.setText(MessageBundle.get("panel.collision.restitution"));
00337                         lblRestitution_.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
00338                         
00339                         txtRestitution_ = new Text(this,SWT.SINGLE | SWT.BORDER);
00340                         txtRestitution_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
00341 
00342             btnOk_ = new Button(this,SWT.PUSH);
00343             btnOk_.setText(MessageBundle.get("dialog.okButton")); //$NON-NLS-1$
00344             btnOk_.addSelectionListener(new SelectionListener(){
00345 
00346                 public void widgetDefaultSelected(SelectionEvent e) {
00347                 }
00348 
00349                 public void widgetSelected(SelectionEvent e) {
00350                     switch (mode_) {
00351                         case MODE_ADD:
00352                             if (pnlJoint1_.getObjectName().equals(pnlJoint2_.getObjectName())
00353                                 && pnlJoint1_.getJointName().equals(pnlJoint2_.getJointName())) {
00354                                 MessageDialog.openWarning(getShell(), "", MessageBundle.get("collision.invalid")); //$NON-NLS-1$ //$NON-NLS-2$
00355                                 return;
00356                             }
00357 
00358                             GrxCollisionPairItem item = _createItem(pnlJoint1_.getObjectName(), pnlJoint1_.getJointName(),
00359                                     pnlJoint2_.getObjectName(), pnlJoint2_.getJointName());
00360                             
00361                             if (item == null ){
00362                                 System.out.println("error: item = "+item); //$NON-NLS-1$
00363                                 return;
00364                             }
00365                             
00366                             break;
00367                         case MODE_EDIT:
00368                             _setAttribute(node_);
00369                             break;
00370                         }
00371                         setEnabled(false);
00372                 }
00373                 
00374                 
00375                 
00376             });
00377             
00378             GridData gridData = new GridData(GridData.HORIZONTAL_ALIGN_CENTER);
00379             gridData.widthHint = BUTTON_WIDTH;
00380             btnOk_.setLayoutData(gridData);
00381             //btnOk_.setBounds(24,144+ 24+ 24+ 24,84,24);
00382 
00383             btnCancel_ = new Button(this,SWT.PUSH);
00384             btnCancel_.setText(MessageBundle.get("dialog.cancelButton")); //$NON-NLS-1$
00385             btnCancel_.addSelectionListener(new SelectionListener(){
00386 
00387                 public void widgetDefaultSelected(SelectionEvent e) {
00388                 }
00389 
00390                 public void widgetSelected(SelectionEvent e) {
00391                     doCancel();
00392                 }
00393                 
00394             });
00395             gridData = new GridData();
00396             //gridData.widthHint = BUTTON_WIDTH;
00397             btnCancel_.setLayoutData(gridData);
00398             //btnCancel_.setBounds(24 + 84 + 12 ,144+ 24+ 24+ 24,84,24);
00399         }
00400         
00401         private boolean _setAttribute(GrxCollisionPairItem node) {
00402             try{
00403                 String sTxtStaticFric_ = txtStaticFric_.getText();
00404                 String sTxtSlidingFric_ = txtSlidingFric_.getText();
00405                 String sTxtCullingThresh_ = txtCullingThresh_.getText();
00406                                 String sTxtRestitution_ = txtRestitution_.getText();
00407                 
00408                 node.setProperty( ATTR_NAME_STATIC_FRICTION, sTxtStaticFric_ );
00409                 node.setProperty( ATTR_NAME_SLIDING_FRICTION, sTxtSlidingFric_ );
00410                 node.setProperty( ATTR_NAME_CULLING_THRESH, sTxtCullingThresh_ );
00411                                 node.setProperty( ATTR_NAME_RESTITUTION, sTxtRestitution_ );
00412             } catch (Exception ex) {
00413                 MessageDialog.openWarning(getShell(), "", MessageBundle.get("message.attributeerror")); //$NON-NLS-1$ //$NON-NLS-2$
00414                 return false;
00415             }
00416             return true;
00417         }
00418         
00419         public void startAddMode() {
00420             mode_ = MODE_ADD;
00421             setEnabled(true);
00422             if (pnlJoint1_.entry()){
00423                 pnlJoint2_.entry();
00424                 txtStaticFric_.setText(defaultStaticFriction_);
00425                 txtSlidingFric_.setText(defaultSlidingFriction_);
00426                 txtCullingThresh_.setText(defaultCullingThresh_);
00427                                 txtRestitution_.setText(defaultRestitution_);
00428                 node_ = null;
00429             }else{
00430                 doCancel();
00431             }
00432         }
00433 
00434         public void startEditMode(GrxCollisionPairItem node) {
00435             mode_ = MODE_EDIT;
00436             setNode(node);
00437             setEnabled(true);
00438         }
00439 
00440         public void doCancel() {
00441             setEnabled(false);
00442             txtStaticFric_.setText(""); //$NON-NLS-1$
00443             txtSlidingFric_.setText(""); //$NON-NLS-1$
00444             txtCullingThresh_.setText(""); //$NON-NLS-1$
00445                         txtRestitution_.setText("");
00446         }
00447 
00448         public void setNode(GrxCollisionPairItem node) {
00449             try{
00450                 pnlJoint1_.setJoint(
00451                     node.getStr("objectName1", ""),  //$NON-NLS-1$ //$NON-NLS-2$
00452                     node.getStr("jointName1", "") //$NON-NLS-1$ //$NON-NLS-2$
00453                 );
00454                 pnlJoint2_.setJoint(
00455                     node.getStr("objectName2", ""),  //$NON-NLS-1$ //$NON-NLS-2$
00456                     node.getStr("jointName2", "") //$NON-NLS-1$ //$NON-NLS-2$
00457                 );
00458                 txtStaticFric_.setText(node.getStr(ATTR_NAME_STATIC_FRICTION, "")); //$NON-NLS-1$
00459                 txtSlidingFric_.setText(node.getStr(ATTR_NAME_SLIDING_FRICTION, "")); //$NON-NLS-1$
00460                 txtCullingThresh_.setText(node.getStr(ATTR_NAME_CULLING_THRESH, "")); //$NON-NLS-1$
00461                                 txtRestitution_.setText(node.getStr(ATTR_NAME_RESTITUTION, ""));
00462             } catch (Exception ex) {
00463                 ex.printStackTrace();
00464             }
00465             node_ = node;
00466         }
00467         
00468         public void setEnabled(boolean flag) {
00469             super.setEnabled(flag);
00470             Control[] cmps = getChildren();
00471             for (int i = 0; i < cmps.length; i ++) {
00472                 cmps[i].setEnabled(flag);
00473             }
00474 
00475             if (mode_ == MODE_EDIT) {
00476                 pnlJoint1_.setEnabled(false);
00477                 pnlJoint2_.setEnabled(false);
00478             }
00479             _setButtonEnabled(!flag);
00480             
00481             lblStaticFric_.setEnabled(flag);
00482             lblSlidingFric_.setEnabled(flag);
00483             lblCullingThresh_.setEnabled(flag);
00484                         lblRestitution_.setEnabled(flag);
00485             txtStaticFric_.setEnabled(true);
00486             txtStaticFric_.setEditable(flag);
00487             txtSlidingFric_.setEnabled(true);
00488             txtSlidingFric_.setEditable(flag);
00489             txtCullingThresh_.setEnabled(true);
00490             txtCullingThresh_.setEditable(flag);
00491                         txtRestitution_.setEnabled(true);
00492                         txtRestitution_.setEditable(flag);
00493         }
00494 
00495         private class JointSelectPanel extends Composite {
00496             //private TitledBorder border_ = null;
00497             private Combo  boxObject_;
00498             private Combo  boxLink_;
00499             boolean flag_ = false;
00500             
00501             //modelItemList_はboxObject_と同期をとってboxObjectに入ってぁE��名前をもつGrxModelItemを保持する
00502             private List<GrxModelItem> modelItemList_;
00503             
00504             public JointSelectPanel(Composite parent,int style,String title) {
00505                 super(parent,style);
00506                 modelItemList_ = new ArrayList<GrxModelItem>();
00507                 
00508                 setLayout(new GridLayout(2,false));
00509                 
00510                 Label label = new Label(this,SWT.SHADOW_NONE);
00511                 label.setText(MessageBundle.get("panel.joint.object") + title); //$NON-NLS-1$
00512                 label.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
00513                 //label.setBounds(0,6,48,12);
00514                 
00515                 boxObject_ = new Combo(this,SWT.READ_ONLY);
00516                 boxObject_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
00517                 //boxObject_.setBounds(6+48,6 ,126,24);
00518                 
00519                 label = new Label(this,SWT.SHADOW_NONE);
00520                 label.setText(MessageBundle.get("panel.joint.link") + title); //$NON-NLS-1$
00521                 label.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
00522                 //label.setBounds(0,6 + 24, 48, 12);
00523                 
00524                 boxLink_ = new Combo(this,SWT.READ_ONLY);
00525                 boxLink_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
00526                 //boxLink_.setBounds(6+48,6 + 24,126,24);
00527                 //boxLink_.setLightWeightPopupEnabled(false);
00528 
00529                 boxObject_.addSelectionListener(new SelectionListener(){
00530 
00531                     public void widgetDefaultSelected(SelectionEvent e) {
00532                     }
00533 
00534                     public void widgetSelected(SelectionEvent e) {
00535                         if (!flag_) {
00536                             _entryLink( 
00537                                 modelItemList_.get(boxObject_.getSelectionIndex()) 
00538                             );
00539                         }
00540                     }
00541                     
00542                 });
00543             }
00544             
00545             private void _entryLink(GrxModelItem model) {
00546                  boxLink_.removeAll();
00547                  //boxLink_.add("");        
00548                  for (int i=0; i<model.links_.size(); i++)
00549                      boxLink_.add(model.links_.get(i).getName());
00550                  boxLink_.deselectAll();
00551             }
00552             
00553             public boolean  entry() {
00554                 boolean addFlag = false;
00555                 
00556                 flag_ = true;
00557                 boxObject_.removeAll();
00558                 flag_ = false;
00559                 
00560                 Iterator it = manager_.getItemMap(GrxModelItem.class).values().iterator();
00561                 while (it.hasNext()) {
00562                   GrxModelItem model = (GrxModelItem)it.next();
00563                   modelItemList_.add(model);
00564                   boxObject_.add(model.toString());
00565                   addFlag = true;
00566                 }
00567                 return addFlag;
00568             }
00569 
00570             public void remove() {
00571                 flag_ = true;
00572                 modelItemList_.clear();
00573                 boxObject_.removeAll();
00574                 flag_ = false;
00575                 boxLink_.removeAll();
00576             }
00577             
00578             // TODO bad ←もともとあったメモ
00579             public void setJoint(String obj,String joint) {
00580                 remove();
00581                 flag_ = true;
00582                 boxObject_.add(obj);
00583                 boxLink_.add(joint);
00584                 flag_ = false;
00585             }
00586             
00587             public String getJointName() {
00588                 return boxLink_.getText();
00589                 
00590                 /*
00591                 Object link = boxLink_.getSelectedItem();
00592                 if (link instanceof GrxBaseItem) {
00593                     String linkName = ((GrxBaseItem)(link)).getName();
00594                     return linkName;
00595                 }
00596                 return "";
00597                 */
00598             }
00599 
00600             public String getObjectName() {
00601                 return boxObject_.getText();
00602             }
00603             
00604             public void setEnabled(boolean flag) {
00605                 super.setEnabled(flag);
00606                 Control[] cmps = getChildren();
00607                 for(int i = 0; i < cmps.length; i ++) {
00608                     cmps[i].setEnabled(flag);
00609                 }
00610             }
00611         }    
00612 
00613     }
00614     
00615     private class InnerTableLabelProvider implements ITableLabelProvider{
00616 
00617         public Image getColumnImage(Object element, int columnIndex) {
00618             return null;
00619         }
00620 
00621         public String getColumnText(Object element, int columnIndex) {
00622             GrxBaseItem item = (GrxBaseItem)element;
00623             String str = null;
00624             try {
00625                 str = item.getProperty(attrName_[columnIndex], ""); //$NON-NLS-1$
00626             } catch (Exception ex) {
00627                 ex.printStackTrace();
00628             }
00629             return str;
00630         }
00631 
00632         public void addListener(ILabelProviderListener listener) {
00633         }
00634 
00635         public void dispose() {
00636         }
00637 
00638         public boolean isLabelProperty(Object element, String property) {
00639             return false;
00640         }
00641 
00642         public void removeListener(ILabelProviderListener listener) {
00643         }
00644         
00645     }
00646 
00647     public void updateCollisionPairs(List<GrxCollisionPairItem> clist, List<GrxModelItem> mlist) {
00648       editorPanel_.doCancel();
00649       vecCollision_ = new Vector<GrxCollisionPairItem>();
00650       for (int i=0; i<clist.size(); i++)
00651         vecCollision_.add(clist.get(i));
00652       viewer_.getTable().deselectAll();
00653       viewer_.setInput(vecCollision_);
00654       setEnabled(vecCollision_.size() > 0 || !mlist.isEmpty());
00655       _repaint();
00656     }
00657     
00658     //  TODO 動作確認忁E��EぁE��ぁE��なも�EがリフレチE��ュされなぁE��能性あり
00659     public void replaceWorld(GrxWorldStateItem world) {
00660         editorPanel_.doCancel();
00661         
00662         vecCollision_ = new Vector<GrxCollisionPairItem>();
00663         viewer_.setInput(vecCollision_);
00664     }
00665 
00666     public void childAdded(GrxCollisionPairItem item) {
00667         int i;
00668         for (i = 0; i < vecCollision_.size(); i ++) {
00669             vecCollision_.get(i);
00670             if (vecCollision_.get(i).getName().compareTo(item.getName()) > 0)
00671               break;
00672         }
00673         vecCollision_.add(i, item);
00674         _repaint();
00675         return;
00676     }
00677 /*
00678     public void childRemoved(SimulationNode node) {
00679         if (node instanceof CollisionPairNode) {
00680             vecCollision_.remove(node);
00681             _repaint();
00682             editorPanel_.doCancel();
00683             return;
00684         } else if (
00685             node instanceof RobotNode ||
00686             node instanceof EnvironmentNode
00687         ){
00688             Vector delete = new Vector();
00689             for(int i = 0; i < vecCollision_.size(); i ++) {
00690                 CollisionPairNode col = (CollisionPairNode)vecCollision_.get(i);
00691                 if (col.isYourObject(node.getName())) {
00692                     delete.add(col);
00693                 }
00694             }
00695 
00696             for (int i = 0; i < delete.size(); i ++) {
00697                 world_.removeChild((SimulationNode)delete.get(i));
00698             }
00699             editorPanel_.doCancel();
00700         }
00701     }
00702 */
00703     public Vector vecCollision(){ return vecCollision_; }
00704     
00705     private GrxCollisionPairItem _createItem(String oName1, String jName1, String oName2, String jName2) {
00706         GrxCollisionPairItem item = (GrxCollisionPairItem)manager_.createItem(
00707              GrxCollisionPairItem.class,
00708              "CP#"+oName1+"_"+jName1+"#"+oName2+"_"+jName2); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ //$NON-NLS-4$
00709         if (item != null) {
00710                 item.setProperty("objectName1", oName1); //$NON-NLS-1$
00711                 item.setProperty("jointName1",  jName1);  //$NON-NLS-1$
00712                 item.setProperty("objectName2", oName2); //$NON-NLS-1$
00713                 item.setProperty("jointName2",  jName2);  //$NON-NLS-1$
00714                 editorPanel_._setAttribute(item);
00715         } 
00716         manager_.itemChange(item, GrxPluginManager.ADD_ITEM);
00717         manager_.setSelectedItem(item, true);
00718         return item;
00719         }
00720     
00721     public void updateTableFont(){
00722         viewer_.getTable().setFont(Activator.getDefault().getFont("preference_table"));
00723     }
00724 }

openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:15