Java Code Examples for com.jogamp.opengl.GL2#glVertex3d()

The following examples show how to use com.jogamp.opengl.GL2#glVertex3d() . You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may check out the related API usage on the sidebar.

Example 1

Source File: DragBallEntity.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

protected void renderTranslationHandle(GL2 gl2,Vector3d n) {
	// draw line to box
	gl2.glBegin(GL2.GL_LINES);
	gl2.glVertex3d(0,0,0);
	gl2.glVertex3d(n.x,n.y,n.z);
	gl2.glEnd();

	// draw box
	Point3d b0 = new Point3d(+0.05,+0.05,+0.05); 
	Point3d b1 = new Point3d(-0.05,-0.05,-0.05);

	b0.scale(1);
	b1.scale(1);
	b0.add(n);
	b1.add(n);
	PrimitiveSolids.drawBox(gl2, b0,b1);
}

Example 2

Source File: Skycam.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

@Override
public void render(GL2 gl2) {
	gl2.glPushMatrix();
	MatrixHelper.applyMatrix(gl2, pose);
	Vector3d s = size.get();
	Vector3d pos = getPosition();
	Point3d bottom = new Point3d(pos.x-s.x/2,pos.y-s.y/2,pos.z);
	Point3d top   = new Point3d(pos.x+s.x/2,pos.y+s.y/2,pos.z+s.z);
	PrimitiveSolids.drawBoxWireframe(gl2, bottom,top);
	
	Vector3d ep = ee.getPosition();
	gl2.glBegin(GL2.GL_LINES);
	gl2.glVertex3d(ep.x,ep.y,ep.z);  gl2.glVertex3d(bottom.x,bottom.y,top.z);
	gl2.glVertex3d(ep.x,ep.y,ep.z);  gl2.glVertex3d(bottom.x,top   .y,top.z);
	gl2.glVertex3d(ep.x,ep.y,ep.z);  gl2.glVertex3d(top   .x,top   .y,top.z);
	gl2.glVertex3d(ep.x,ep.y,ep.z);  gl2.glVertex3d(top   .x,bottom.y,top.z);
	gl2.glEnd();
	
	gl2.glPopMatrix();
	
	super.render(gl2);
}

Example 3

Source File: MatrixHelper.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

/**
 * See drawMatrix(gl2,p,u,v,w,1)
 * @param gl2
 * @param m
 * @param scale
 */
public static void drawMatrix2(GL2 gl2,Matrix4d m,double scale) {
	boolean depthWasOn = gl2.glIsEnabled(GL2.GL_DEPTH_TEST);
	gl2.glDisable(GL2.GL_DEPTH_TEST);
	boolean lightWasOn = gl2.glIsEnabled(GL2.GL_LIGHTING);
	gl2.glDisable(GL2.GL_LIGHTING);
	
	gl2.glPushMatrix();
		gl2.glTranslated(m.m03,m.m13,m.m23);
		gl2.glScaled(scale, scale, scale);
		
		gl2.glBegin(GL2.GL_LINES);
		gl2.glColor3f(1,1,0);		gl2.glVertex3f(0,0,0);		gl2.glVertex3d(m.m00,m.m10,m.m20);  // 1,1,0 = yellow
		gl2.glColor3f(0,1,1);		gl2.glVertex3f(0,0,0);		gl2.glVertex3d(m.m01,m.m11,m.m21);  // 0,1,1 = teal 
		gl2.glColor3f(1,0,1);		gl2.glVertex3f(0,0,0);		gl2.glVertex3d(m.m02,m.m12,m.m22);  // 1,0,1 = magenta
		gl2.glEnd();

	gl2.glPopMatrix();
	if(lightWasOn) gl2.glEnable(GL2.GL_LIGHTING);
	if(depthWasOn) gl2.glEnable(GL2.GL_DEPTH_TEST);
}

Example 4

Source File: MatrixHelper.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

/**
 * See drawMatrix(gl2,p,u,v,w,1)
 * @param gl2
 * @param m
 * @param scale
 */
public static void drawMatrix(GL2 gl2,Matrix4d m,double scale) {
	boolean depthWasOn = gl2.glIsEnabled(GL2.GL_DEPTH_TEST);
	gl2.glDisable(GL2.GL_DEPTH_TEST);
	boolean lightWasOn = gl2.glIsEnabled(GL2.GL_LIGHTING);
	gl2.glDisable(GL2.GL_LIGHTING);
	
	gl2.glPushMatrix();
		gl2.glTranslated(m.m03,m.m13,m.m23);
		gl2.glScaled(scale, scale, scale);
		
		gl2.glBegin(GL2.GL_LINES);
		gl2.glColor3f(1,0,0);		gl2.glVertex3f(0,0,0);		gl2.glVertex3d(m.m00,m.m10,m.m20);  // 1,0,0 = red
		gl2.glColor3f(0,1,0);		gl2.glVertex3f(0,0,0);		gl2.glVertex3d(m.m01,m.m11,m.m21);  // 0,1,0 = green 
		gl2.glColor3f(0,0,1);		gl2.glVertex3f(0,0,0);		gl2.glVertex3d(m.m02,m.m12,m.m22);  // 0,0,1 = blue
		gl2.glEnd();

	gl2.glPopMatrix();
	if(lightWasOn) gl2.glEnable(GL2.GL_LIGHTING);
	if(depthWasOn) gl2.glEnable(GL2.GL_DEPTH_TEST);
}

Example 5

Source File: PrimitiveSolids.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

static public void drawStar(GL2 gl2,Vector3d p,double size) {
	// save the current color
	double [] params = new double[4];
	gl2.glGetDoublev(GL2.GL_CURRENT_COLOR, params, 0);
	
	boolean lightWasOn = OpenGLHelper.disableLightingStart(gl2);
	int depth = OpenGLHelper.drawAtopEverythingStart(gl2);

	size/=2.0f;
	
	gl2.glPushMatrix();
	gl2.glTranslated(p.x, p.y, p.z);
	gl2.glBegin(GL2.GL_LINES);
	gl2.glColor3d(1, 0, 0);		gl2.glVertex3d(0, 0, 0);		gl2.glVertex3d(size, 0, 0);
	gl2.glColor3d(0, 1, 0);		gl2.glVertex3d(0, 0, 0);		gl2.glVertex3d(0, size, 0);
	gl2.glColor3d(0, 0, 1);		gl2.glVertex3d(0, 0, 0);		gl2.glVertex3d(0, 0, size);
	gl2.glEnd();
	gl2.glPopMatrix();

	OpenGLHelper.drawAtopEverythingEnd(gl2,depth);
	OpenGLHelper.disableLightingEnd(gl2,lightWasOn);
	
	// restore color
	gl2.glColor4dv(params,0);
}

Example 6

Source File: PrimitiveSolids.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

/**
 * draw box based on two corners
 * @param gl2
 * @param bottom minimum bounds
 * @param top maximum bounds
 */
static public void drawBoxWireframe(GL2 gl2,Point3d bottom,Point3d top) {
	gl2.glDisable(GL2.GL_TEXTURE_2D);
	boolean lightWasOn = OpenGLHelper.disableLightingStart(gl2);
	
	double x0=bottom.x;
	double y0=bottom.y;
	double z0=bottom.z;
	double x1=top.x;
	double y1=top.y;
	double z1=top.z;

	gl2.glBegin(GL2.GL_LINE_LOOP);	gl2.glNormal3f( 0, 0,-1);	gl2.glVertex3d(x0,y1,z0);	gl2.glVertex3d(x1,y1,z0);	gl2.glVertex3d(x1,y0,z0);	gl2.glVertex3d(x0,y0,z0);	gl2.glEnd();  // bottom	
	gl2.glBegin(GL2.GL_LINE_LOOP);	gl2.glNormal3f( 0, 0, 1);	gl2.glVertex3d(x1,y1,z1);	gl2.glVertex3d(x0,y1,z1);	gl2.glVertex3d(x0,y0,z1);	gl2.glVertex3d(x1,y0,z1);	gl2.glEnd();  // top
	gl2.glBegin(GL2.GL_LINE_LOOP);	gl2.glNormal3f( 0, 1, 0);	gl2.glVertex3d(x0,y1,z1);	gl2.glVertex3d(x1,y1,z1);	gl2.glVertex3d(x1,y1,z0);	gl2.glVertex3d(x0,y1,z0);	gl2.glEnd();  // side
	gl2.glBegin(GL2.GL_LINE_LOOP);	gl2.glNormal3f( 0,-1, 0);	gl2.glVertex3d(x1,y0,z1);	gl2.glVertex3d(x0,y0,z1);	gl2.glVertex3d(x0,y0,z0);	gl2.glVertex3d(x1,y0,z0);	gl2.glEnd();
	gl2.glBegin(GL2.GL_LINE_LOOP);	gl2.glNormal3f( 1, 0, 0);	gl2.glVertex3d(x1,y1,z0);	gl2.glVertex3d(x1,y1,z1);	gl2.glVertex3d(x1,y0,z1);	gl2.glVertex3d(x1,y0,z0);	gl2.glEnd();
	gl2.glBegin(GL2.GL_LINE_LOOP);	gl2.glNormal3f(-1, 0, 0);	gl2.glVertex3d(x0,y0,z1);	gl2.glVertex3d(x0,y1,z1);	gl2.glVertex3d(x0,y1,z0);	gl2.glVertex3d(x0,y0,z0);	gl2.glEnd();

	OpenGLHelper.disableLightingEnd(gl2,lightWasOn);
}

Example 7

Source File: Sixi2Live.java From Robot-Overlord-App with GNU General Public License v2.0

5 votes

public void renderCartesianForce(GL2 gl2) {
	double len = Math.sqrt(
		cartesianForceDetected[0]*cartesianForceDetected[0]+
		cartesianForceDetected[1]*cartesianForceDetected[1]+
		cartesianForceDetected[2]*cartesianForceDetected[2]);
	if(len<1) return;
	//System.out.println(len);

	int previousState = OpenGLHelper.drawAtopEverythingStart(gl2);
	boolean lightWasOn = OpenGLHelper.disableLightingStart(gl2);
	gl2.glLineWidth(4);
	
	double scale=1;

	gl2.glPushMatrix();
		Matrix4d m4 = endEffector.getPoseWorld();
		gl2.glTranslated(m4.m03, m4.m13, m4.m23);

		gl2.glBegin(GL2.GL_LINES);
		gl2.glColor3d(0, 0.6, 1);
		gl2.glVertex3d(0,0,0);
		gl2.glVertex3d(
				cartesianForceDetected[0]*scale,
				cartesianForceDetected[1]*scale,
				cartesianForceDetected[2]*scale);
		
		gl2.glColor3d(1.0, 0.5, 0.5);	PrimitiveSolids.drawCircleYZ(gl2, cartesianForceDetected[3]*scale, 20);
		gl2.glColor3d(0.5, 1.0, 0.5);	PrimitiveSolids.drawCircleXZ(gl2, cartesianForceDetected[4]*scale, 20);
		gl2.glColor3d(0.5, 0.5, 1.0);	PrimitiveSolids.drawCircleXY(gl2, cartesianForceDetected[5]*scale, 20);
	
	gl2.glPopMatrix();

	gl2.glLineWidth(1);
	OpenGLHelper.disableLightingEnd(gl2, lightWasOn);
	OpenGLHelper.drawAtopEverythingEnd(gl2, previousState);
}

Example 8

Source File: Ray.java From Robot-Overlord-App with GNU General Public License v2.0

5 votes

public void render(GL2 gl2) {
	gl2.glBegin(GL2.GL_LINES);
	gl2.glColor3d(1,0,0); 
	gl2.glVertex3d(start.x, start.y, start.z);
	gl2.glColor3d(0,1,0);
	gl2.glVertex3d(
			start.x+direction.x*50,
			start.y+direction.y*50, 
			start.z+direction.z*50);
}

Example 9

Source File: PoseEntity.java From Robot-Overlord-App with GNU General Public License v2.0

5 votes

public void renderLineage(GL2 gl2) {
	boolean isTex = gl2.glIsEnabled(GL2.GL_TEXTURE_2D);
	gl2.glDisable(GL2.GL_TEXTURE_2D);

	// save the lighting mode
	boolean lightWasOn = gl2.glIsEnabled(GL2.GL_LIGHTING);
	gl2.glDisable(GL2.GL_LIGHTING);

	IntBuffer depthFunc = IntBuffer.allocate(1);
	gl2.glGetIntegerv(GL2.GL_DEPTH_FUNC, depthFunc);
	gl2.glDepthFunc(GL2.GL_ALWAYS);
	//boolean depthWasOn = gl2.glIsEnabled(GL2.GL_DEPTH_TEST);
	//gl2.glDisable(GL2.GL_DEPTH_TEST);

	gl2.glColor4d(1,1,1,1);
	gl2.glBegin(GL2.GL_LINES);
	// connection to children
	for(Entity e : children ) {
		if(e instanceof PoseEntity) {					
			Vector3d p = ((PoseEntity)e).getPosition();
			gl2.glVertex3d(0, 0, 0);
			gl2.glVertex3d(p.x,p.y,p.z);
		}
	}
	gl2.glEnd();

	//if(depthWasOn) gl2.glEnable(GL2.GL_DEPTH_TEST);
	gl2.glDepthFunc(depthFunc.get());
	// restore lighting
	if(lightWasOn) gl2.glEnable(GL2.GL_LIGHTING);
	if(isTex) gl2.glDisable(GL2.GL_TEXTURE_2D);
}

Example 10

Source File: PrimitiveSolids.java From Robot-Overlord-App with GNU General Public License v2.0

5 votes

static public void drawCircleXZ(GL2 gl2,double radius,int steps) {
	double stepSize = Math.PI*2 / (double)(steps+1);
	
	gl2.glBegin(GL2.GL_LINE_LOOP);
	for(double n=0;n<Math.PI*2;n+=stepSize) {
		double c = Math.cos(n);
		double s = Math.sin(n);
		gl2.glVertex3d(c*radius,0, s*radius);
	}
	gl2.glEnd();
}

Example 11

Source File: PrimitiveSolids.java From Robot-Overlord-App with GNU General Public License v2.0

5 votes

static public void drawCircleYZ(GL2 gl2,double radius,int steps) {
	double stepSize = Math.PI*2 / (double)(steps+1);
	
	gl2.glBegin(GL2.GL_LINE_LOOP);
	for(double n=0;n<Math.PI*2;n+=stepSize) {
		double c = Math.cos(n);
		double s = Math.sin(n);
		gl2.glVertex3d(0,c*radius, s*radius);
	}
	gl2.glEnd();
}

Example 12

Source File: JPaddle.java From MeteoInfo with GNU Lesser General Public License v3.0

5 votes

@Override
public void display(GLAutoDrawable drawable) {

    GL2 gl = drawable.getGL().getGL2();
    gl.glClear(GL2.GL_COLOR_BUFFER_BIT);
    gl.glLoadIdentity();
    gl.glTranslatef(0f, 0f, -2.0f);
    gl.glRotatef(rotation, 1f, 0f, 0f);

    gl.glColor3f(1f, 0f, 0f);
    gl.glBegin(GL2.GL_POLYGON);
    gl.glVertex3d(-0.5, 0.3, 0.8);
    gl.glVertex3d(0.5, 0.3, 0.8);
    gl.glVertex3d(0.8, 0.7, 0.8);
    gl.glVertex3d(-0.8, 0.7, 0.8);
    gl.glEnd();

    int paddles = 40;
    for (int i = 0; i < paddles; i++) {
        gl.glRotated(360.0 / paddles, 1, 0, 0);
        gl.glBegin(GL2.GL_POLYGON);
        gl.glVertex3d(-0.5, 0.3, 0.8);
        gl.glVertex3d(0.5, 0.3, 0.8);
        gl.glVertex3d(0.8, 0.7, 0.8);
        gl.glVertex3d(-0.8, 0.7, 0.8);

        gl.glEnd();

    }

    rotation -= 0.2f;

}

Example 13

Source File: PrimitiveSolids.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

/**
 * draw box based on depth,width, and height with the origin in the bottom center.
 * @param gl2
 * @param depth
 * @param width
 * @param height
 */
static public void drawBox(GL2 gl2,double depth,double width,double height) {
	width/=2;
	depth/=2;

	gl2.glPushMatrix();
	gl2.glBegin(GL2.GL_QUADS);
	// bottom
	gl2.glNormal3f( 0, 0,-1);
	gl2.glVertex3d(-width, depth,0);
	gl2.glVertex3d( width, depth,0);
	gl2.glVertex3d( width,-depth,0);
	gl2.glVertex3d(-width,-depth,0);

	// top
	gl2.glNormal3f( 0, 0, 1);
	gl2.glVertex3d( width, depth,height);
	gl2.glVertex3d(-width, depth,height);
	gl2.glVertex3d(-width,-depth,height);
	gl2.glVertex3d( width,-depth,height);

	
	// side
	gl2.glNormal3f( 0, 1, 0);
	gl2.glVertex3d(-width, depth,height);
	gl2.glVertex3d( width, depth,height);
	gl2.glVertex3d( width, depth,0);
	gl2.glVertex3d(-width, depth,0);
	
	gl2.glNormal3f( 0,-1, 0);
	gl2.glVertex3d( width,-depth,height);
	gl2.glVertex3d(-width,-depth,height);
	gl2.glVertex3d(-width,-depth,0);
	gl2.glVertex3d( width,-depth,0);

	gl2.glNormal3f( 1, 0, 0);
	gl2.glVertex3d( width, depth,0);
	gl2.glVertex3d( width, depth,height);
	gl2.glVertex3d( width,-depth,height);
	gl2.glVertex3d( width,-depth,0);

	gl2.glNormal3f(-1, 0, 0);
	gl2.glVertex3d(-width,-depth,height);
	gl2.glVertex3d(-width, depth,height);
	gl2.glVertex3d(-width, depth,0);
	gl2.glVertex3d(-width,-depth,0);

	gl2.glEnd();
	
	gl2.glPopMatrix();
}

Example 14

Source File: ViewCubeEntity.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

public void render(GL2 gl2) {
	RobotOverlord ro = (RobotOverlord)getRoot();
	ViewportEntity cameraView = ro.viewport;
	
	gl2.glClear(GL2.GL_DEPTH_BUFFER_BIT);

	gl2.glEnable(GL2.GL_DEPTH_TEST);
	gl2.glEnable(GL2.GL_CULL_FACE);
	
	gl2.glBlendFunc(GL2.GL_SRC_ALPHA,GL2.GL_ONE_MINUS_SRC_ALPHA);

   	gl2.glMatrixMode(GL2.GL_PROJECTION);
	gl2.glPushMatrix();
	cameraView.renderOrtho(gl2,1);
	gl2.glMatrixMode(GL2.GL_MODELVIEW);
	
	gl2.glPushMatrix();			
		double c = cubeSize.get();			
		PoseEntity camera = cameraView.getAttachedTo();
		Matrix4d m = camera.getPoseWorld();
		Vector3d p = camera.getPosition();
		Vector3d vx = MatrixHelper.getXAxis(m);
		Vector3d vy = MatrixHelper.getYAxis(m);
		Vector3d vz = MatrixHelper.getZAxis(m);
	
		vz.scale(-100);
		vx.scale(cameraView.getCanvasWidth() /10 -c*2);
		vy.scale(cameraView.getCanvasHeight()/10 -c*2);
		p.add(vx);
		p.add(vy);
		p.add(vz);
		
		gl2.glTranslated(p.x, p.y, p.z);
		gl2.glScaled(c,c,c);

		model.render(gl2);

		gl2.glDisable(GL2.GL_LIGHTING);
		gl2.glDisable(GL2.GL_COLOR_MATERIAL);
		gl2.glDisable(GL2.GL_TEXTURE_2D);
		
		// the big lines
		gl2.glLineWidth(4);
		gl2.glPushMatrix();
			gl2.glTranslated(-1.05,-1.05,-0.95);
			gl2.glBegin(GL2.GL_LINES);
			gl2.glColor3d(1, 0, 0);		gl2.glVertex3d(0, 0, 0);		gl2.glVertex3d(2.5, 0, 0);
			gl2.glColor3d(0, 1, 0);		gl2.glVertex3d(0, 0, 0);		gl2.glVertex3d(0, 2.5, 0);
			gl2.glColor3d(0, 0, 1);		gl2.glVertex3d(0, 0, 0);		gl2.glVertex3d(0, 0, 2.5);
			gl2.glEnd();
		gl2.glPopMatrix();
		gl2.glLineWidth(1);
					
	gl2.glPopMatrix();

   	gl2.glMatrixMode(GL2.GL_PROJECTION);
	gl2.glPopMatrix();
	gl2.glMatrixMode(GL2.GL_MODELVIEW);
}

Example 15

Source File: DrawingPlugin.java From depan with Apache License 2.0

4 votes

/**
 * Draw a node.
 */
@Override
public boolean apply(NodeRenderingProperty property) {
  if (!property.isVisible) {
    return false;
  }
  GL2 gl = scene.gl;
  gl.glPushMatrix();
  gl.glPushName(property.shapeId);

  // move
  property.shape.setTranslation(property.positionX * GLConstants.FACTOR,
      property.positionY * GLConstants.FACTOR, 0f);

  // scale
  property.shape.setScale(property.size,
      property.size * property.ratio, property.size);

  // fill the shape
  if (property.isFilled) {
    gl.glColor4f(property.fillColor.getRed() / 255f,
        property.fillColor.getGreen() / 255f,
        property.fillColor.getBlue() / 255f,
        property.fillColor.getAlpha() / 255f);
    property.shape.fill(gl);
  }

  // draw the border
  if (property.strokeWidth > 0.0f) {
    gl.glLineWidth(property.strokeWidth);
    gl.glColor4f(property.strokeColor.getRed() / 255f,
        property.strokeColor.getGreen() / 255f,
        property.strokeColor.getBlue() / 255f,
        property.strokeColor.getAlpha() / 255f);
    property.shape.draw(gl);
  }

  Rectangle2D bounds = property.shape.getDrawingBounds();
  updateDrawingBounds(bounds);

  // we don't want the label to be clickable,
  // so we just pop the name before drawing it.
  gl.glPopName();

  // draw the label
  if (property.isTextVisible) {
    paintLabel(property);
  }

  // draw a little "+" on the top right corner of the node if it has
  // nodes collapsed under.
  if (property.hasCollapsedNodeUnder) {
    double centerX = property.positionX+property.size/2;
    double centerY = property.positionY+property.size/2;
    double halfWidth = 0.7;
    double halfHeight = 4;
    gl.glBegin(GL2.GL_QUADS);
    gl.glColor4f(1f, 1f, 1f, 0.5f);
    // vertical line
    gl.glVertex2d(centerX - halfWidth, centerY + halfHeight);
    gl.glVertex2d(centerX + halfWidth, centerY + halfHeight);
    gl.glVertex2d(centerX + halfWidth, centerY - halfHeight);
    gl.glVertex2d(centerX - halfWidth, centerY - halfHeight);
    // left part of horizontal line
    gl.glVertex2d(centerX - halfHeight, centerY + halfWidth);
    gl.glVertex2d(centerX - halfWidth, centerY + halfWidth);
    gl.glVertex2d(centerX - halfWidth, centerY - halfWidth);
    gl.glVertex2d(centerX - halfHeight, centerY - halfWidth);
    // right part.
    gl.glVertex2d(centerX + halfWidth, centerY + halfWidth);
    gl.glVertex2d(centerX + halfHeight, centerY + halfWidth);
    gl.glVertex2d(centerX + halfHeight, centerY - halfWidth);
    gl.glVertex2d(centerX + halfWidth, centerY - halfWidth);
    gl.glVertex3d(0, 0, 0);
    gl.glEnd();
  }

  gl.glPopMatrix();

  return true;
}

Example 16

Source File: SpideeLeg.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

void render(GL2 gl2,int color_index) {
 float [] colors = {
   1,0,0,
   0,1,0,
   0,0,1,
   1,1,0,
   0,1,1,
   1,0,1
 };

 //*
 gl2.glDisable(GL2.GL_LIGHTING);

 gl2.glColor3f(colors[color_index*3],
	  colors[color_index*3+1],
	  colors[color_index*3+2]);
 // last point of contact
 gl2.glBegin(GL2.GL_LINE_LOOP);
 gl2.glVertex3d(lpoc.x+0.5f, lpoc.y-0.5f, 0);
 gl2.glVertex3d(lpoc.x+0.5f, lpoc.y+0.5f, 0);
 gl2.glVertex3d(lpoc.x-0.5f, lpoc.y+0.5f, 0);
 gl2.glVertex3d(lpoc.x-0.5f, lpoc.y-0.5f, 0);
 gl2.glEnd();
 gl2.glBegin(GL2.GL_LINES);
 gl2.glVertex3d(npoc.x-1.0f, npoc.y, 0);
 gl2.glVertex3d(npoc.x+1.0f, npoc.y, 0);
 gl2.glVertex3d(npoc.x, npoc.y-1.0f, 0);
 gl2.glVertex3d(npoc.x, npoc.y+1.0f, 0);
 gl2.glEnd();

 // next point of contact
 gl2.glBegin(GL2.GL_LINE_LOOP);
 gl2.glVertex3d(npoc.x+0.75f, npoc.y-0.75f, 0);
 gl2.glVertex3d(npoc.x+0.75f, npoc.y+0.75f, 0);
 gl2.glVertex3d(npoc.x-0.75f, npoc.y+0.75f, 0);
 gl2.glVertex3d(npoc.x-0.75f, npoc.y-0.75f, 0);
 gl2.glEnd();

 gl2.glBegin(GL2.GL_LINES);
 gl2.glVertex3d(ankle_joint.pos.x,ankle_joint.pos.y,ankle_joint.pos.z);
 gl2.glVertex3d(ankle_joint.pos.x,ankle_joint.pos.y,0);
 gl2.glEnd();

 pan_joint.Draw(gl2,2);
 tilt_joint.Draw(gl2,1);
 knee_joint.Draw(gl2,3);

 gl2.glEnable(GL2.GL_LIGHTING);
}

Example 17

Source File: DHBuilderApp.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

@Override
public void render(GL2 gl2) {
	gl2.glPushMatrix();
		MatrixHelper.applyMatrix(gl2, pose);
		anchor.render(gl2);
		
		if(!inTest) {
			for( int i=0;i<BONE_NAMES.length;++i) {
				models[i].render(gl2);
			}
		} else {
			links.get(0).render(gl2);
		}
		
		boolean showBones=false;
		if(showBones==true) {
			Vector3d p0 = MatrixHelper.getPosition(this.getPoseWorld());
			for( int i=0;i<BONE_NAMES.length;++i) {
				Matrix4d m = links.get(i).getPoseWorld();
				Vector3d p1 = MatrixHelper.getPosition(m);

				IntBuffer depthFunc = IntBuffer.allocate(1);
				gl2.glGetIntegerv(GL2.GL_DEPTH_FUNC, depthFunc);
				gl2.glDepthFunc(GL2.GL_ALWAYS);
				gl2.glDisable(GL2.GL_TEXTURE_2D);
				gl2.glDisable(GL2.GL_LIGHTING);
				
				gl2.glPushMatrix();
				gl2.glColor3d(1, 1, 1);
				gl2.glBegin(GL2.GL_LINES);
				gl2.glVertex3d(p0.x,p0.y,p0.z);
				gl2.glVertex3d(p1.x,p1.y,p1.z);
				gl2.glEnd();
				p0=p1;
				gl2.glDepthFunc(depthFunc.get());
				
				MatrixHelper.applyMatrix(gl2, m);
				PrimitiveSolids.drawStar(gl2, 15);
				gl2.glPopMatrix();
			}
		}
	gl2.glPopMatrix();
	
	// don't call super.render()
}

Example 18

Source File: SkyBoxEntity.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

public void render(GL2 gl2,CameraEntity camera) {		
	//gl2.glDisable(GL2.GL_DEPTH_TEST);
	gl2.glDisable(GL2.GL_LIGHTING);
	gl2.glDisable(GL2.GL_COLOR_MATERIAL);
	gl2.glEnable(GL2.GL_TEXTURE_2D);
	gl2.glPushMatrix();
		gl2.glColor3f(1, 1, 1);
		Vector3d p = camera.getPosition();
		gl2.glTranslated(-p.x,-p.y,-p.z);

		skyboxtextureXPos.render(gl2);
		gl2.glBegin(GL2.GL_TRIANGLE_FAN);
			gl2.glTexCoord2d(0,1);  gl2.glVertex3d(10, 10, 10);
			gl2.glTexCoord2d(1,1);  gl2.glVertex3d(10, -10, 10);
			gl2.glTexCoord2d(1,0);  gl2.glVertex3d(10, -10, -10);
			gl2.glTexCoord2d(0,0);  gl2.glVertex3d(10, 10, -10);
		gl2.glEnd();

		skyboxtextureXNeg.render(gl2);
		gl2.glBegin(GL2.GL_TRIANGLE_FAN);
			gl2.glTexCoord2d(0,1);  gl2.glVertex3d(-10, -10, 10);
			gl2.glTexCoord2d(1,1);  gl2.glVertex3d(-10, 10, 10);
			gl2.glTexCoord2d(1,0);  gl2.glVertex3d(-10, 10, -10);
			gl2.glTexCoord2d(0,0);  gl2.glVertex3d(-10, -10, -10);
		gl2.glEnd();

		skyboxtextureYPos.render(gl2);
		gl2.glBegin(GL2.GL_TRIANGLE_FAN);
			gl2.glTexCoord2d(0,1);  gl2.glVertex3d(-10, 10, 10);
			gl2.glTexCoord2d(1,1);  gl2.glVertex3d(10, 10, 10);
			gl2.glTexCoord2d(1,0);  gl2.glVertex3d(10, 10, -10);
			gl2.glTexCoord2d(0,0);  gl2.glVertex3d(-10, 10, -10);
		gl2.glEnd();

		skyboxtextureYNeg.render(gl2);
		gl2.glBegin(GL2.GL_TRIANGLE_FAN);
			gl2.glTexCoord2d(0,1);  gl2.glVertex3d(10, -10, 10);
			gl2.glTexCoord2d(1,1);  gl2.glVertex3d(-10, -10, 10);
			gl2.glTexCoord2d(1,0);  gl2.glVertex3d(-10, -10, -10);
			gl2.glTexCoord2d(0,0);  gl2.glVertex3d(10, -10, -10);
		gl2.glEnd();

		skyboxtextureZPos.render(gl2);
		gl2.glBegin(GL2.GL_TRIANGLE_FAN);
			gl2.glTexCoord2d(0,0);  gl2.glVertex3d(-10, 10, 10);
			gl2.glTexCoord2d(1,0);  gl2.glVertex3d( 10, 10, 10);
			gl2.glTexCoord2d(1,1);  gl2.glVertex3d( 10,-10, 10);
			gl2.glTexCoord2d(0,1);  gl2.glVertex3d(-10,-10, 10);
		gl2.glEnd();

		skyboxtextureZNeg.render(gl2);
		gl2.glBegin(GL2.GL_TRIANGLE_FAN);
			gl2.glTexCoord2d(0,0);  gl2.glVertex3d(-10,-10, -10);
			gl2.glTexCoord2d(1,0);  gl2.glVertex3d( 10,-10, -10);
			gl2.glTexCoord2d(1,1);  gl2.glVertex3d( 10, 10, -10);
			gl2.glTexCoord2d(0,1);  gl2.glVertex3d(-10, 10, -10);
		gl2.glEnd();
		
	gl2.glPopMatrix();
	gl2.glEnable(GL2.GL_DEPTH_TEST);
}

Example 19

Source File: DragBallEntity.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

public void renderTranslation(GL2 gl2) {
	// camera forward is -z axis 
	RobotOverlord ro = (RobotOverlord)getRoot();
	PoseEntity camera = ro.viewport.getAttachedTo();
	Vector3d lookAtVector = subject.getPosition();
	lookAtVector.sub(camera.getPosition());
	lookAtVector.normalize();

	float r = (majorAxis==Axis.X) ? 1 : 0.5f;
	float g = (majorAxis==Axis.Y) ? 1 : 0.5f;
	float b = (majorAxis==Axis.Z) ? 1 : 0.5f;

	Vector3d fx = MatrixHelper.getXAxis(FOR);
	Vector3d fy = MatrixHelper.getYAxis(FOR);
	Vector3d fz = MatrixHelper.getZAxis(FOR);
	// should we hide an axis if it points almost the same direction as the camera?
	boolean drawX = (Math.abs(lookAtVector.dot(fx))<0.95);
	boolean drawY = (Math.abs(lookAtVector.dot(fy))<0.95);
	boolean drawZ = (Math.abs(lookAtVector.dot(fz))<0.95);

	if(drawX) {
		gl2.glColor3f(r,0,0);
		renderTranslationHandle(gl2,new Vector3d(1,0,0));
	}
	if(drawY) {
		gl2.glColor3f(0,g,0);
		renderTranslationHandle(gl2,new Vector3d(0,1,0));
	}
	if(drawZ) {
		gl2.glColor3f(0,0,b);
		renderTranslationHandle(gl2,new Vector3d(0,0,1));
	}
	
	if(isActivelyMoving) {
		// the distance moved.
		gl2.glBegin(GL2.GL_LINES);
		gl2.glColor3f(255,255,255);
		gl2.glVertex3d(0,0,0);
		gl2.glVertex3d(
				(startMatrix.m03-resultMatrix.m03)/ballSize.get(),
				(startMatrix.m13-resultMatrix.m13)/ballSize.get(),
				(startMatrix.m23-resultMatrix.m23)/ballSize.get());
		gl2.glEnd();
	}
}

Example 20

Source File: ViewportEntity.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

public void showPickingTest(GL2 gl2) {
	renderChosenProjection(gl2);
	gl2.glPushMatrix();

	Ray r = rayPick();

	double cx=cursorX;
	double cy=cursorY;
       int w = canvasWidth;
       int h = canvasHeight;
       setCursor(0,0);        Ray tl = rayPick();
       setCursor(w,0);        Ray tr = rayPick();
       setCursor(0,h);        Ray bl = rayPick();
       setCursor(w,h);        Ray br = rayPick();
	cursorX=cx;
	cursorY=cy;

       double scale=20;
       tl.direction.scale(scale);
       tr.direction.scale(scale);
       bl.direction.scale(scale);
       br.direction.scale(scale);
       r.direction .scale(scale);
       
       Vector3d tl2 = new Vector3d(tl.direction);
       Vector3d tr2 = new Vector3d(tr.direction);
       Vector3d bl2 = new Vector3d(bl.direction);
       Vector3d br2 = new Vector3d(br.direction);
       Vector3d r2  = new Vector3d(r.direction );
       
       tl2.add(tl.start);
       tr2.add(tr.start);
       bl2.add(bl.start);
       br2.add(br.start);
       r2.add(r.start);
       
       gl2.glDisable(GL2.GL_TEXTURE_2D);
	gl2.glDisable(GL2.GL_LIGHTING);
	
       gl2.glColor3d(1, 0, 0);
	gl2.glBegin(GL2.GL_LINES);
	gl2.glVertex3d(tl.start.x, tl.start.y, tl.start.z);		gl2.glVertex3d(tl2.x, tl2.y, tl2.z);
	gl2.glVertex3d(tr.start.x, tr.start.y, tr.start.z);		gl2.glVertex3d(tr2.x, tr2.y, tr2.z);
	gl2.glVertex3d(bl.start.x, bl.start.y, bl.start.z);		gl2.glVertex3d(bl2.x, bl2.y, bl2.z);
	gl2.glVertex3d(br.start.x, br.start.y, br.start.z);		gl2.glVertex3d(br2.x, br2.y, br2.z);

       gl2.glColor3d(1, 1, 1);
	gl2.glVertex3d(r.start.x, r.start.y, r.start.z);		gl2.glVertex3d(r2.x,r2.y,r2.z);
	gl2.glEnd();
       gl2.glColor3d(0, 1, 0);
	gl2.glBegin(GL2.GL_LINE_LOOP);
	gl2.glVertex3d(tl2.x, tl2.y, tl2.z);
	gl2.glVertex3d(tr2.x, tr2.y, tr2.z);
	gl2.glVertex3d(br2.x, br2.y, br2.z);
	gl2.glVertex3d(bl2.x, bl2.y, bl2.z);
	gl2.glEnd();
       gl2.glColor3d(0, 0, 1);
	gl2.glBegin(GL2.GL_LINE_LOOP);
	gl2.glVertex3d(tl.start.x, tl.start.y, tl.start.z);
	gl2.glVertex3d(tr.start.x, tr.start.y, tr.start.z);
	gl2.glVertex3d(br.start.x, br.start.y, br.start.z);
	gl2.glVertex3d(bl.start.x, bl.start.y, bl.start.z);
	gl2.glEnd();
	
	PrimitiveSolids.drawStar(gl2,r2,5);
	gl2.glPopMatrix();
}