Flying Java 3D - Java 3D: How to Make a Walking Little Alien Robot

Java 3D: How to Make a Walking Little Alien Robot

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/* Mykeynavbeh.java * Originally based on code from BackgroundApp.java * @(#)BackgroundApp.java 1.1 00/09/22 14:03 * * portions Copyright (c) 1996-2000 Sun Microsystems, Inc. All Rights Reserved. * * Sun grants you ("Licensee") a non-exclusive, royalty free, license to use, * modify and redistribute this software in source and binary code form, * provided that i) this copyright notice and license appear on all copies of * the software; and ii) Licensee does not utilize the software in a manner * which is disparaging to Sun. * * This software is provided "AS IS," without a warranty of any kind. ALL * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES, INCLUDING ANY * IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR * NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN AND ITS LICENSORS SHALL NOT BE * LIABLE FOR ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING * OR DISTRIBUTING THE SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL SUN OR ITS * LICENSORS BE LIABLE FOR ANY LOST REVENUE, PROFIT OR DATA, OR FOR DIRECT, * INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER * CAUSED AND REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF * OR INABILITY TO USE SOFTWARE, EVEN IF SUN HAS BEEN ADVISED OF THE * POSSIBILITY OF SUCH DAMAGES. * * This software is not designed or intended for use in on-line control of * aircraft, air traffic, aircraft navigation or aircraft communications; or in * the design, construction, operation or maintenance of any nuclear * facility. Licensee represents and warrants that it will not use or * redistribute the Software for such purposes. */
import java.applet.*;import java.awt.*;
import javax.media.j3d.*;import javax.vecmath.*;
import com.sun.j3d.utils.applet.MainFrame;import com.sun.j3d.utils.universe.SimpleUniverse;import com.sun.j3d.utils.universe.PlatformGeometry;import com.sun.j3d.utils.behaviors.keyboard.*;
import com.sun.j3d.loaders.Scene;
import java.awt.event.KeyListener;import java.awt.event.KeyEvent;
import java.util.*;
import com.sun.j3d.utils.geometry.Cylinder;import com.sun.j3d.utils.geometry.Sphere;
public class Mykeynavbeh extends Applet implements KeyListener {
private SimpleUniverse universe = null; private Canvas3D canvas = null; private TransformGroup viewtrans = null;
private TransformGroup tg = null; private Transform3D t3d = null; private Transform3D t3dstep = new Transform3D();
private Matrix4d matrix = new Matrix4d();
private Switch selector = new Switch(Switch.CHILD_MASK); private BitSet flag_i = new BitSet(3);
private int count = 0;
public Mykeynavbeh() { setLayout(new BorderLayout()); GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
canvas = new Canvas3D(config); add("Center", canvas); universe = new SimpleUniverse(canvas);
canvas.addKeyListener(this);
BranchGroup scene = createSceneGraph(); universe.getViewingPlatform().setNominalViewingTransform();
universe.getViewer().getView().setBackClipDistance(100.0); universe.addBranchGraph(scene); }
private BranchGroup createSceneGraph() { BranchGroup objRoot = new BranchGroup();
BoundingSphere bounds = new BoundingSphere(new Point3d(), 10000.0);
viewtrans = universe.getViewingPlatform().getViewPlatformTransform();
KeyNavigatorBehavior keyNavBeh = new KeyNavigatorBehavior(viewtrans); keyNavBeh.setSchedulingBounds(bounds); PlatformGeometry platformGeom = new PlatformGeometry(); platformGeom.addChild(keyNavBeh); universe.getViewingPlatform().setPlatformGeometry(platformGeom);
objRoot.addChild(createAlienRobot1());
return objRoot; }
private BranchGroup createAlienRobot1() {
BranchGroup objRoot = new BranchGroup();
tg = new TransformGroup(); t3d = new Transform3D();
tg.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d.setTranslation(new Vector3d(0.0, 0.0, -15.0)); t3d.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d.setScale(1.0);
tg.setTransform(t3d);
tg.addChild(createAlienRobot2()); objRoot.addChild(createLight()); objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
private BranchGroup createAlienRobot2() {
BranchGroup objRoot = new BranchGroup();
selector.setCapability(Switch.ALLOW_SWITCH_WRITE);
flag_i.clear(0); flag_i.set(2); selector.setChildMask(flag_i);
selector.addChild(createAlienRobot3(0.5, -0.5, -2.08, -2.08, -0.55, 0.45, -0.78f, 0.78f, 0.4f, -0.4f)); selector.addChild(createAlienRobot3(-0.5, 0.5, -2.08, -2.08, 0.45, -0.55, 0.78f, -0.78f, -0.4f, 0.4f)); selector.addChild(createAlienRobot3(0.0, 0.0, -1.78, -1.78, -0.05, -0.05, 0.0f, 0.0f, 0.0f, 0.0f));
objRoot.addChild(selector);
// objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createAlienRobot3(double rarm_z, double larm_z, double rleg_y, double lleg_y, double rleg_z, double lleg_z, float rarm_r, float larm_r, float rleg_r, float lleg_r) {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D();
t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); tg.setTransform(t3d);
tg.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
TransformGroup tg_sp_f = new TransformGroup(); Transform3D t3d_sp_f = new Transform3D();
t3d_sp_f.setTranslation(new Vector3d(0.0, 1.0, 0.0)); tg_sp_f.setTransform(t3d_sp_f);
Appearance ap_sp_f = createAppearance(new Color3f(0.6f, 0.45f, 0.4f)); tg_sp_f.addChild(new Sphere(0.5f, ap_sp_f));
TransformGroup tg_sp_re = new TransformGroup(); Transform3D t3d_sp_re = new Transform3D();
t3d_sp_re.setTranslation(new Vector3d(-0.2, 1.0, 0.4)); tg_sp_re.setTransform(t3d_sp_re);
Appearance ap_sp_re = createAppearance(new Color3f(0.0f, 0.0f, 0.0f)); tg_sp_re.addChild(new Sphere(0.08f, ap_sp_re));
TransformGroup tg_sp_le = new TransformGroup(); Transform3D t3d_sp_le = new Transform3D();
t3d_sp_le.setTranslation(new Vector3d(0.2, 1.0, 0.4)); tg_sp_le.setTransform(t3d_sp_le);
Appearance ap_sp_le = createAppearance(new Color3f(0.0f, 0.0f, 0.0f)); tg_sp_le.addChild(new Sphere(0.08f, ap_sp_le));
TransformGroup tg_sp_rant = new TransformGroup(); Transform3D t3d_sp_rant = new Transform3D();
t3d_sp_rant.setTranslation(new Vector3d(-1.1, 2.6, 0.0)); tg_sp_rant.setTransform(t3d_sp_rant);
Appearance ap_sp_rant = createAppearance(new Color3f(1.0f, 1.0f, 0.0f)); tg_sp_rant.addChild(new Sphere(0.3f, ap_sp_rant));
TransformGroup tg_sp_lant = new TransformGroup(); Transform3D t3d_sp_lant = new Transform3D();
t3d_sp_lant.setTranslation(new Vector3d(1.1, 2.6, 0.0)); tg_sp_lant.setTransform(t3d_sp_lant);
Appearance ap_sp_lant = createAppearance(new Color3f(1.0f, 1.0f, 0.0f)); tg_sp_lant.addChild(new Sphere(0.3f, ap_sp_lant));
TransformGroup tg_cy_mo = new TransformGroup(); Transform3D t3d_cy_mo = new Transform3D();
t3d_cy_mo.setTranslation(new Vector3d(0.0, 0.75, 0.405)); t3d_cy_mo.setRotation(new AxisAngle4f(0.0f, 0.0f, 1.0f, 1.57f)); tg_cy_mo.setTransform(t3d_cy_mo);
Appearance ap_cy_mo = createAppearance(new Color3f(1.0f, 0.0f, 0.0f)); tg_cy_mo.addChild(new Cylinder(0.015f, 0.1f, ap_cy_mo));
TransformGroup tg_sp_h = new TransformGroup(); Transform3D t3d_sp_h = new Transform3D();
t3d_sp_h.setTranslation(new Vector3d(0.0, 1.3, -0.3)); tg_sp_h.setTransform(t3d_sp_h);
Appearance ap_sp_h = createAppearance(new Color3f(1.0f, 1.0f, 0.4f)); tg_sp_h.addChild(new Sphere(0.8f, ap_sp_h));
TransformGroup tg_cy_rant = new TransformGroup(); Transform3D t3d_cy_rant = new Transform3D();
t3d_cy_rant.setTranslation(new Vector3d(-0.86, 2.1, 0.0)); t3d_cy_rant.setRotation(new AxisAngle4f(0.0f, 0.0f, 1.0f, 0.5f)); tg_cy_rant.setTransform(t3d_cy_rant);
Appearance ap_cy_rant = createAppearance(new Color3f(1.0f, 1.0f, 0.0f)); tg_cy_rant.addChild(new Cylinder(0.05f, 1.0f, ap_cy_rant));
TransformGroup tg_cy_lant = new TransformGroup(); Transform3D t3d_cy_lant = new Transform3D();
t3d_cy_lant.setTranslation(new Vector3d(0.8, 2.1, 0.0)); t3d_cy_lant.setRotation(new AxisAngle4f(0.0f, 0.0f, 1.0f, -0.5f)); tg_cy_lant.setTransform(t3d_cy_lant);
Appearance ap_cy_lant = createAppearance(new Color3f(1.0f, 1.0f, 0.0f)); tg_cy_lant.addChild(new Cylinder(0.05f, 1.0f, ap_cy_lant));
TransformGroup tg_cy_t = new TransformGroup(); Transform3D t3d_cy_t = new Transform3D();
t3d_cy_t.setTranslation(new Vector3d(0.0, -0.4, 0.0)); tg_cy_t.setTransform(t3d_cy_t);
Appearance ap_cy_t = createAppearance(new Color3f(0.0f, 1.0f, 0.0f)); tg_cy_t.addChild(new Cylinder(0.4f, 1.8f, ap_cy_t));
TransformGroup tg_cy_rarm = new TransformGroup(); Transform3D t3d_cy_rarm = new Transform3D();
t3d_cy_rarm.setTranslation(new Vector3d(-0.6, -0.5, rarm_z)); t3d_cy_rarm.setRotation(new AxisAngle4f(1.0f, 0.0f, 0.0f, rarm_r)); tg_cy_rarm.setTransform(t3d_cy_rarm);
Appearance ap_cy_rarm = createAppearance(new Color3f(0.0f, 1.0f, 0.0f)); tg_cy_rarm.addChild(new Cylinder(0.08f, 1.5f, ap_cy_rarm));
TransformGroup tg_cy_larm = new TransformGroup(); Transform3D t3d_cy_larm = new Transform3D();
t3d_cy_larm.setTranslation(new Vector3d(0.6, -0.5, larm_z)); t3d_cy_larm.setRotation(new AxisAngle4f(1.0f, 0.0f, 0.0f, larm_r)); tg_cy_larm.setTransform(t3d_cy_larm);
Appearance ap_cy_larm = createAppearance(new Color3f(0.0f, 1.0f, 0.0f)); tg_cy_larm.addChild(new Cylinder(0.08f, 1.5f, ap_cy_larm));
TransformGroup tg_cy_rleg = new TransformGroup(); Transform3D t3d_cy_rleg = new Transform3D();
t3d_cy_rleg.setTranslation(new Vector3d(-0.2, rleg_y, rleg_z)); t3d_cy_rleg.setRotation(new AxisAngle4f(1.0f, 0.0f, 0.0f, rleg_r)); tg_cy_rleg.setTransform(t3d_cy_rleg);
Appearance ap_cy_rleg = createAppearance(new Color3f(0.0f, 1.0f, 0.0f)); tg_cy_rleg.addChild(new Cylinder(0.1f, 1.8f, ap_cy_rleg));
TransformGroup tg_cy_lleg = new TransformGroup(); Transform3D t3d_cy_lleg = new Transform3D();
t3d_cy_lleg.setTranslation(new Vector3d(0.2, lleg_y, lleg_z)); t3d_cy_lleg.setRotation(new AxisAngle4f(1.0f, 0.0f, 0.0f, lleg_r)); tg_cy_lleg.setTransform(t3d_cy_lleg);
Appearance ap_cy_lleg = createAppearance(new Color3f(0.0f, 1.0f, 0.0f)); tg_cy_lleg.addChild(new Cylinder(0.1f, 1.8f, ap_cy_lleg));
TransformGroup tg_sp_b = new TransformGroup(); Transform3D t3d_sp_b = new Transform3D();
t3d_sp_b.setTranslation(new Vector3d(0.0, -0.7, 0.0)); tg_sp_b.setTransform(t3d_sp_b);
Appearance ap_sp_b = createAppearance(new Color3f(1.0f, 1.0f, 1.0f)); tg_sp_b.addChild(new Sphere(0.45f, ap_sp_b));
tg.addChild(tg_sp_f); tg.addChild(tg_cy_t); tg.addChild(tg_cy_rarm); tg.addChild(tg_cy_larm); tg.addChild(tg_cy_rleg); tg.addChild(tg_cy_lleg); tg.addChild(tg_sp_b); tg.addChild(tg_sp_h); tg.addChild(tg_sp_re); tg.addChild(tg_sp_le); tg.addChild(tg_cy_mo); tg.addChild(tg_cy_rant); tg.addChild(tg_cy_lant); tg.addChild(tg_sp_rant); tg.addChild(tg_sp_lant);
objRoot.addChild(tg);
// objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private Appearance createAppearance(Color3f col) { Appearance ap = new Appearance(); Material ma = new Material(); ma.setDiffuseColor(col); ma.setEmissiveColor(col); ap.setMaterial(ma); return ap; }
private Light createLight() { DirectionalLight light = new DirectionalLight(true, new Color3f(1.0f, 1.0f, 1.0f), new Vector3f(-0.3f, 0.2f, -1.0f));
light.setInfluencingBounds(new BoundingSphere(new Point3d(), 10000.0));
return light; }
public static void main(String[] args) { Mykeynavbeh applet = new Mykeynavbeh(); Frame frame = new MainFrame(applet, 800, 600); }
public void keyTyped(KeyEvent e) { char key = e.getKeyChar();
if (key == 'd') { flag_i.clear(); flag_i.set(count % 2); selector.setChildMask(flag_i);
t3dstep.set(new Vector3d(0.0, 0.0, 0.5)); tg.getTransform(t3d); t3d.mul(t3dstep); tg.setTransform(t3d);
count++; }
if (key == 's') {
flag_i.clear(); flag_i.set(count % 2); selector.setChildMask(flag_i);
t3dstep.set(new Vector3d(0.0, 0.0, 0.25)); tg.getTransform(t3d); t3d.mul(t3dstep); tg.setTransform(t3d);
t3dstep.rotY(Math.PI / 32); tg.getTransform(t3d); t3d.get(matrix); t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d.mul(t3dstep); t3d.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg.setTransform(t3d);
count++;
}
if (key == 'f') {
flag_i.clear(); flag_i.set(count % 2); selector.setChildMask(flag_i);
t3dstep.set(new Vector3d(0.0, 0.0, 0.25)); tg.getTransform(t3d); t3d.mul(t3dstep); tg.setTransform(t3d);
t3dstep.rotY(-Math.PI / 32); tg.getTransform(t3d); t3d.get(matrix); t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d.mul(t3dstep); t3d.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg.setTransform(t3d);
count++;
}
if (key == 'x') { flag_i.clear(); flag_i.set(2); selector.setChildMask(flag_i); }
}
public void keyReleased(KeyEvent e) { }
public void keyPressed(KeyEvent e) { }
}

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