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Mesh.java

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/*******************************************************************************
 * Copyright (c) 2012 Stefan Profanter. All rights reserved. This program and the accompanying
 * materials are made available under the terms of the GNU Public License v3.0 which accompanies
 * this distribution, and is available at http://www.gnu.org/licenses/gpl.html
 * 
 * Contributors: Stefan Profanter - initial API and implementation, Year: 2012
 ******************************************************************************/
package edu.tum.cs.vis.model.util;

import java.awt.Color;
import java.awt.Image;
import java.awt.image.BufferedImage;
import java.io.File;
import java.io.IOException;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.HashSet;

import javax.imageio.ImageIO;
import javax.vecmath.Point3f;

import processing.core.PGraphics;
import processing.core.PImage;
import edu.tum.cs.ias.knowrob.utils.FileUtil;

public class Mesh implements Serializable {

        private static final long       serialVersionUID        = -2761386921853967131L;

        protected Float                         minX                            = null;
        protected Float                         maxX                            = null;
        protected Float                         minY                            = null;
        protected Float                         maxY                            = null;
        protected Float                         minZ                            = null;
        protected Float                         maxZ                            = null;
        private boolean                         texturesInitialized     = false;

        private String                          textureBasePath;
        private ArrayList<Triangle>     triangles                       = new ArrayList<Triangle>();

        private ArrayList<Line>         lines                           = new ArrayList<Line>();

        public void drawBoundingBox(PGraphics g) {
                if (triangles.size() == 0 && lines.size() == 0)
                        return;
                // Save current translation
                g.pushMatrix();
                g.translate(getMaxX() - getWidth() / 2f, getMaxY() - getHeight() / 2f, getMaxZ()
                                - getDepth() / 2f);
                g.box(getWidth(), getHeight(), getDepth());

                // Restore last translation
                g.popMatrix();
        }

        public void drawLines(PGraphics g, Color overrideColor) {
                for (Line line : lines) {

                        line.draw(g, overrideColor);
                }
        }

        public void drawTriangles(PGraphics g, Color overrideColor) {
                if (!texturesInitialized)
                        setTextureImage();
                synchronized (triangles) {
                        for (Triangle tri : triangles) {
                                tri.draw(g, overrideColor);
                        }
                }
        }

        public float getDepth() {
                if (minZ != null && maxZ != null)
                        return Math.abs(maxZ - minZ);
                if (triangles.size() == 0) {
                        minZ = 0f;
                        maxZ = 0f;
                } else {
                        minZ = Float.MAX_VALUE;
                        maxZ = Float.MIN_VALUE;

                        for (Triangle tri : triangles) {
                                for (int v = 0; v < 3; v++) {
                                        minZ = Math.min(tri.position[v].z, minZ);
                                        maxZ = Math.max(tri.position[v].z, maxZ);
                                }
                        }
                        for (Line line : lines) {
                                for (int v = 0; v < 2; v++) {
                                        minZ = Math.min(line.position[v].z, minZ);
                                        maxZ = Math.max(line.position[v].z, maxZ);
                                }
                        }
                }
                return maxZ - minZ;
        }

        public float getHeight() {
                if (minY != null && maxY != null)
                        return Math.abs(maxY - minY);
                if (triangles.size() == 0) {
                        minY = 0f;
                        maxY = 0f;
                } else {
                        minY = Float.MAX_VALUE;
                        maxY = Float.MIN_VALUE;

                        for (Triangle tri : triangles) {
                                for (int v = 0; v < 3; v++) {
                                        minY = Math.min(tri.position[v].y, minY);
                                        maxY = Math.max(tri.position[v].y, maxY);
                                }
                        }
                        for (Line line : lines) {
                                for (int v = 0; v < 2; v++) {
                                        minY = Math.min(line.position[v].y, minY);
                                        maxY = Math.max(line.position[v].y, maxY);
                                }
                        }
                }
                return maxY - minY;
        }

        public void getIntersectedTriangles(final Point3f rayStart, final Point3f rayEnd,
                        final ArrayList<IntersectedTriangle> intersectedTriangles) {

                for (Triangle tri : triangles) {
                        Point3f intersect = new Point3f();
                        if (tri.intersectsRay(rayStart, rayEnd, intersect))
                                intersectedTriangles.add(new IntersectedTriangle(tri, intersect));
                }

        }

        public ArrayList<Line> getLines() {
                return lines;
        }

        public Float getMaxX() {
                if (maxX == null)
                        getWidth();
                return maxX;
        }

        public Float getMaxY() {
                if (maxY == null)
                        getHeight();
                return maxY;
        }

        public Float getMaxZ() {
                if (maxZ == null)
                        getDepth();
                return maxZ;
        }

        public Float getMinX() {
                if (minX == null)
                        getWidth();
                return minX;
        }

        public Float getMinY() {
                if (minY == null)
                        getHeight();
                return minY;
        }

        public Float getMinZ() {
                if (minZ == null)
                        getDepth();
                return minZ;
        }

        public String getTextureBasePath() {
                return textureBasePath;
        }

        public ArrayList<Triangle> getTriangles() {
                return triangles;
        }

        public float getWidth() {
                if (minX != null && maxX != null)
                        return Math.abs(maxX - minX);
                if (triangles.size() == 0) {
                        minX = 0f;
                        maxX = 0f;
                } else {
                        minX = Float.MAX_VALUE;
                        maxX = Float.MIN_VALUE;

                        for (Triangle tri : triangles) {
                                for (int v = 0; v < 3; v++) {
                                        minX = Math.min(tri.position[v].x, minX);
                                        maxX = Math.max(tri.position[v].x, maxX);
                                }
                        }
                        for (Line line : lines) {
                                for (int v = 0; v < 2; v++) {
                                        minX = Math.min(line.position[v].x, minX);
                                        maxX = Math.max(line.position[v].x, maxX);
                                }
                        }
                }
                return maxX - minX;
        }

        public void resetMinMaxValues() {
                minX = maxX = minY = maxY = minZ = maxZ = null;
        }

        public void setLines(ArrayList<Line> lines) {
                this.lines = lines;
        }

        public void setTextureBasePath(String textureBasePath) {
                this.textureBasePath = textureBasePath;
        }

        private void setTextureImage() {
                if (textureBasePath == null)
                        return;
                // load all Texture-Images only once (memory efficiency)
                HashMap<String, PImage> pictures = new HashMap<String, PImage>();
                HashSet<String> alreadyLoaded = new HashSet<String>();// if error reading file,
                                                                                                                                // pictures<path> is null. So avoid
                                                                                                                                // trying again
                for (Triangle tri : triangles) {
                        if (tri.appearance.getImageFileName() == null)
                                continue;
                        String texfile = FileUtil.getAbsoluteFilePath(textureBasePath,
                                        tri.appearance.getImageFileName());
                        if (pictures.get(texfile) == null && !alreadyLoaded.contains(texfile)) {

                                alreadyLoaded.add(texfile);
                                BufferedImage bimg = null;
                                try {
                                        bimg = ImageIO.read(new File(texfile));
                                        // Convert BufferedImage to Image otherwise PImage constructor will fail!!

                                        Image i = bimg.getScaledInstance(bimg.getWidth(), bimg.getHeight(), 0);

                                        PImage pImg = new PImage(i);

                                        pictures.put(texfile, pImg);
                                } catch (IOException e) {
                                        System.err.println("Couldn't read file: " + texfile);
                                }

                        }
                }

                // Now remove offset of texture coordinates because there is a bug with P3D when texture
                // should repeated
                for (Triangle tri : triangles) {

                        if (tri.appearance.getImageFileName() == null)
                                continue;

                        String texfile = FileUtil.getAbsoluteFilePath(textureBasePath,
                                        tri.appearance.getImageFileName());
                        // PImage tex = applet.loadImage(texfile);
                        PImage tex = pictures.get(texfile);
                        if (tex == null)
                                continue;

                        double xMin = Double.MAX_VALUE;
                        double yMin = Double.MAX_VALUE;

                        for (int i = 0; i < 3; i++) {

                                double x = tri.texPosition[i].x * tex.width;
                                double y = tex.height - tri.texPosition[i].y * tex.height;
                                tri.texPosition[i].x = (float) x;
                                tri.texPosition[i].y = (float) y;
                                xMin = Math.min(x, xMin);
                                yMin = Math.min(y, yMin);
                        }

                        // Remove offset of texture coordinate if all coordinates are greater than texture
                        xMin = Math.floor(xMin / tex.width);
                        yMin = Math.floor(yMin / tex.height);

                        for (int i = 0; i < 3; i++) {
                                tri.texPosition[i].x -= xMin * tex.width;
                                tri.texPosition[i].y -= yMin * tex.height;
                        }

                        tri.appearance.setImageReference(tex);
                }
                texturesInitialized = true;
        }

        public void setTriangles(ArrayList<Triangle> triangles) {
                this.triangles = triangles;
        }

}

---

knowrob_cad_parser
Author(s): Stefan Profanter
autogenerated on Tue Mar 5 12:15:33 2013