package me.drton.jmavsim;
import com.sun.j3d.utils.geometry.Sphere;
import com.sun.j3d.utils.image.TextureLoader;
import com.sun.j3d.utils.universe.SimpleUniverse;
import javax.media.j3d.*;
import javax.swing.*;
import javax.vecmath.*;
import java.awt.*;
import java.util.Enumeration;
/**
* 3D Visualizer, works in own thread, synchronized with "world" thread.
*/
public class Visualizer3D extends JFrame {
private static Color3f white = new Color3f(1.0f, 1.0f, 1.0f);
private final World world;
private SimpleUniverse universe;
private BoundingSphere sceneBounds = new BoundingSphere(new Point3d(0, 0, 0), 100000.0);
private Vector3d viewerPosition = new Vector3d(0.0, 0.0, 0.0);
private Vector3d viewerPositionOffset = new Vector3d(0.0, 0.0, 0.0);
private Transform3D viewerTransform = new Transform3D();
private TransformGroup viewerTransformGroup;
private KinematicObject viewerTargetObject;
private KinematicObject viewerPositionObject;
public Visualizer3D(World world) {
this.world = world;
setSize(640, 480);
setDefaultCloseOperation(EXIT_ON_CLOSE);
GraphicsConfiguration gc = SimpleUniverse.getPreferredConfiguration();
Canvas3D canvas = new Canvas3D(gc);
getContentPane().add(canvas);
universe = new SimpleUniverse(canvas);
universe.getViewer().getView().setBackClipDistance(100000.0);
viewerTransformGroup = universe.getViewingPlatform().getViewPlatformTransform();
createEnvironment();
for (WorldObject object : world.getObjects()) {
if (object instanceof KinematicObject) {
BranchGroup bg = ((KinematicObject) object).getBranchGroup();
if (bg != null) {
universe.addBranchGraph(bg);
}
}
}
setVisible(true);
Matrix3d mat = new Matrix3d();
Matrix3d mat1 = new Matrix3d();
mat.rotZ(Math.PI);
mat1.rotY(Math.PI / 2);
mat.mul(mat1);
mat1.rotZ(-Math.PI / 2);
mat.mul(mat1);
viewerTransform.setRotation(mat);
}
/**
* Target object to point camera, has effect only if viewerPositionObject is not set.
*
* @param object
*/
public void setViewerTargetObject(KinematicObject object) {
this.viewerTargetObject = object;
}
/**
* Object to place camera on, if nullptr then camera will be placed in fixed point set by setViewerPosition().
*
* @param object
*/
public void setViewerPositionObject(KinematicObject object) {
this.viewerPositionObject = object;
}
/**
* Fixed camera position, has effect only if viewerPositionObject not set.
*
* @param position
*/
public void setViewerPosition(Vector3d position) {
this.viewerPositionObject = null;
this.viewerPosition = position;
viewerTransform.setTranslation(viewerPosition);
}
/**
* Camera position offset from object position when viewer placed on some object
*
* @param offset position offset
*/
public void setViewerPositionOffset(Vector3d offset) {
this.viewerPositionOffset = offset;
}
private void createEnvironment() {
BranchGroup group = new BranchGroup();
// Sky
BoundingSphere bounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), 1000.0);
Background bg = new Background();
bg.setApplicationBounds(bounds);
BranchGroup backGeoBranch = new BranchGroup();
Sphere skySphere = new Sphere(1.0f,
Sphere.GENERATE_NORMALS | Sphere.GENERATE_NORMALS_INWARD | Sphere.GENERATE_TEXTURE_COORDS, 32);
// Sphere.GENERATE_NORMALS | Sphere.GENERATE_NORMALS_INWARD | Sphere.GENERATE_TEXTURE_COORDS, 32);
Texture texSky = new TextureLoader("environment/sky.jpg", null).getTexture();
skySphere.getAppearance().setTexture(texSky);
Transform3D transformSky = new Transform3D();
//transformSky.setTranslation(new Vector3d(0.0, 0.0, -0.5));
Matrix3d rot = new Matrix3d();
rot.rotX(Math.PI / 2);
transformSky.setRotation(rot);
TransformGroup tgSky = new TransformGroup(transformSky);
tgSky.addChild(skySphere);
backGeoBranch.addChild(tgSky);
bg.setGeometry(backGeoBranch);
group.addChild(bg);
//group.addChild(tgSky);
// Ground
QuadArray polygon1 = new QuadArray(4, QuadArray.COORDINATES | GeometryArray.TEXTURE_COORDINATE_2);
polygon1.setCoordinate(0, new Point3f(-1000f, 1000f, 0f));
polygon1.setCoordinate(1, new Point3f(1000f, 1000f, 0f));
polygon1.setCoordinate(2, new Point3f(1000f, -1000f, 0f));
polygon1.setCoordinate(3, new Point3f(-1000f, -1000f, 0f));
polygon1.setTextureCoordinate(0, 0, new TexCoord2f(0.0f, 0.0f));
polygon1.setTextureCoordinate(0, 1, new TexCoord2f(10.0f, 0.0f));
polygon1.setTextureCoordinate(0, 2, new TexCoord2f(10.0f, 10.0f));
polygon1.setTextureCoordinate(0, 3, new TexCoord2f(0.0f, 10.0f));
Texture texGround = new TextureLoader("environment/grass2.jpg", null).getTexture();
Appearance apGround = new Appearance();
apGround.setTexture(texGround);
Shape3D ground = new Shape3D(polygon1, apGround);
Transform3D transformGround = new Transform3D();
transformGround.setTranslation(
new Vector3d(0.0, 0.0, 0.005 + world.getEnvironment().getGroundLevel(new Vector3d(0.0, 0.0, 0.0))));
TransformGroup tgGround = new TransformGroup(transformGround);
tgGround.addChild(ground);
group.addChild(tgGround);
// Light
DirectionalLight light1 = new DirectionalLight(white, new Vector3f(4.0f, 7.0f, 12.0f));
light1.setInfluencingBounds(sceneBounds);
group.addChild(light1);
AmbientLight light2 = new AmbientLight(new Color3f(0.5f, 0.5f, 0.5f));
light2.setInfluencingBounds(sceneBounds);
group.addChild(light2);
// Update behavior
Behavior b = new UpdateBehavior();
b.setSchedulingBounds(bounds);
group.addChild(b);
universe.addBranchGraph(group);
}
private void updateVisualizer() {
synchronized (world) { // Synchronize with "world" thread
// Update branch groups of all kinematic objects
for (WorldObject object : world.getObjects()) {
if (object instanceof KinematicObject) {
BranchGroup bg = ((KinematicObject) object).getBranchGroup();
if (bg != null) {
((KinematicObject) object).updateBranchGroup();
}
}
}
// Update view platform
if (viewerPositionObject != null) {
// Camera on object
viewerPosition.set(viewerPositionOffset);
viewerPositionObject.getRotation().transform(viewerPosition);
viewerPosition.add(viewerPositionObject.getPosition());
viewerTransform.setTranslation(viewerPosition);
Matrix3d mat = new Matrix3d();
Matrix3d mat1 = new Matrix3d();
mat.set(viewerPositionObject.getRotation());
mat1.rotZ(Math.PI / 2);
mat.mul(mat1);
mat1.rotX(-Math.PI / 2);
mat.mul(mat1);
viewerTransform.setRotation(mat);
} else {
// Fixed camera
if (viewerTargetObject != null) {
// Point camera to target
Vector3d pos = viewerTargetObject.getPosition();
Vector3d dist = new Vector3d();
dist.sub(pos, viewerPosition);
Matrix3d mat = new Matrix3d();
Matrix3d mat1 = new Matrix3d();
mat.rotZ(Math.PI);
mat1.rotY(Math.PI / 2);
mat.mul(mat1);
mat1.rotZ(-Math.PI / 2);
mat.mul(mat1);
mat1.rotY(-Math.atan2(pos.y - viewerPosition.y, pos.x - viewerPosition.x));
mat.mul(mat1);
mat1.rotX(-Math.asin((pos.z - viewerPosition.z) / dist.length()));
mat.mul(mat1);
viewerTransform.setRotation(mat);
}
}
viewerTransformGroup.setTransform(viewerTransform);
}
}
class UpdateBehavior extends Behavior {
private WakeupCondition condition = new WakeupOnElapsedFrames(0, false);
@Override
public void initialize() {
wakeupOn(condition);
}
@Override
public void processStimulus(Enumeration wakeup) {
Object w;
while (wakeup.hasMoreElements()) {
w = wakeup.nextElement();
if (w instanceof WakeupOnElapsedFrames) {
updateVisualizer();
}
wakeupOn(condition);
}
}
}
}
