Embedded Files
/* 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 com.sun.j3d.loaders.objectfile.ObjectFile;import org.jdesktop.j3d.loaders.vrml97.VrmlLoader;
import java.awt.event.KeyListener;import java.awt.event.KeyEvent;
import javax.media.j3d.WakeupOnCollisionEntry;import javax.media.j3d.WakeupOnCollisionExit;
import java.util.*;import java.io.*;
import com.sun.j3d.utils.image.TextureLoader;
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 TransformGroup tg_2 = null; private Transform3D t3d_2 = null; private TransformGroup tg_3 = null; private Transform3D t3d_3 = null; private TransformGroup tg_4 = null; private Transform3D t3d_4 = null;
private TransformGroup tg_5 = null; private Transform3D t3d_5 = null; private TransformGroup tg_6 = null; private Transform3D t3d_6 = null;
private MovingRover rover = null; private boolean cstate = true;
private boolean inCollision = false;
private Shape3D quad3D;
public Mykeynavbeh() { setLayout(new BorderLayout()); GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
canvas = new Canvas3D(config); add("Center", canvas); universe = new SimpleUniverse(canvas);
BranchGroup scene = createSceneGraph(); universe.getViewingPlatform().setNominalViewingTransform();
universe.getViewer().getView().setBackClipDistance(100.0);
canvas.addKeyListener(this);
universe.addBranchGraph(scene); }
private BranchGroup createSceneGraph() { BranchGroup objRoot = new BranchGroup();
BoundingSphere bounds = new BoundingSphere(new Point3d(), 10000.0);
viewtrans = universe.getViewingPlatform().getViewPlatformTransform(); universe.getViewer().getView().setDepthBufferFreezeTransparent(false);
KeyNavigatorBehavior keyNavBeh = new KeyNavigatorBehavior(viewtrans); keyNavBeh.setSchedulingBounds(bounds); PlatformGeometry platformGeom = new PlatformGeometry(); platformGeom.addChild(keyNavBeh); universe.getViewingPlatform().setPlatformGeometry(platformGeom);
Background bg = new Background(); bg.setColor(0.7f, 0.83f, 0.8f); bg.setApplicationBounds(bounds); objRoot.addChild(bg);
objRoot.addChild(createRover()); objRoot.addChild(createGround()); objRoot.addChild(createRocks()); objRoot.addChild(createBoard());
String versionString = (String) VirtualUniverse.getProperties().get("j3d.version"); System.out.println("versionString " + versionString);
return objRoot; }
private BranchGroup createRover() {
BranchGroup objRoot = new BranchGroup(); tg = new TransformGroup(); t3d = new Transform3D();
t3d.setTranslation(new Vector3d(-0.4, -1.0, -2.0)); t3d.setRotation(new AxisAngle4f(0.0f, 1.0f, 0.0f, 2.6f)); t3d.setScale(1.0);
tg.setTransform(t3d);
rover = new MovingRover("model/rover_without_arm_mast_camera_fn_uv.wrl"); tg.addChild(rover.tg); rover.tg.addChild(createArm()); rover.tg.addChild(createMast_Camera());
tg.addChild(rover); tg.setCollidable(false);
objRoot.addChild(tg); objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createArm() {
BranchGroup objRoot = new BranchGroup();
tg_2 = new TransformGroup(); t3d_2 = new Transform3D(); tg_2.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_2.setTranslation(new Vector3d(0.09, 0.36, 0.57)); t3d_2.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_2.setScale(1.0);
tg_2.setTransform(t3d_2);
tg_2.addChild(createObjLoad("model/lower_arm.obj")); tg_2.setCollidable(false);
tg_3 = new TransformGroup(); t3d_3 = new Transform3D(); tg_3.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_3.setTranslation(new Vector3d(-0.08, 0.2, 0.414)); t3d_3.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_3.setScale(1.0);
tg_3.setTransform(t3d_3);
tg_3.addChild(createObjLoad("model/upper_arm.obj")); tg_3.addChild(createTriangle());
tg_4 = new TransformGroup(); t3d_4 = new Transform3D(); tg_4.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_4.setTranslation(new Vector3d(-0.02, -0.4, 0.215)); t3d_4.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_4.setScale(1.0);
tg_4.setTransform(t3d_4);
tg_4.addChild(createObjLoad("model/drill.obj"));
BoundingSphere bounds = new BoundingSphere(new Point3d(), 10000.0);
CollisionDetector cd = new CollisionDetector(quad3D); cd.setSchedulingBounds(bounds);
tg_2.addChild(cd);
tg_3.addChild(tg_4);
tg_2.addChild(tg_3); objRoot.addChild(tg_2);
// objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createMast_Camera() {
BranchGroup objRoot = new BranchGroup();
tg_5 = new TransformGroup(); t3d_5 = new Transform3D(); tg_5.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_5.setTranslation(new Vector3d(0.0, -0.022, 0.47)); t3d_5.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_5.setScale(1.0);
tg_5.setTransform(t3d_5);
tg_5.addChild(createWrlLoad("model/mast_fn.wrl"));
tg_6 = new TransformGroup(); t3d_6 = new Transform3D(); tg_6.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_6.setTranslation(new Vector3d(0.01, 1.2, 0.0)); t3d_6.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_6.setScale(1.0);
tg_6.setTransform(t3d_6);
tg_6.addChild(createWrlLoad("model/camera_fn.wrl"));
tg_5.addChild(tg_6); objRoot.addChild(tg_5);
// objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
public BranchGroup createTriangle() {
BranchGroup root = new BranchGroup(); TransformGroup tg = new TransformGroup();
Appearance ap = new Appearance();
float z = 0.14f; float y = 0.29f;
TransparencyAttributes attr = new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.0f); attr.setTransparency(1.0f); // Transparent // attr.setTransparency(0.0f); // Opaque ap.setTransparencyAttributes(attr);
TextureLoader loader = new TextureLoader("model/transparent.png", this); ap.setTexture(loader.getTexture());
// PolygonAttributes pattr = new PolygonAttributes(); // pattr.setPolygonMode(PolygonAttributes.POLYGON_FILL); // pattr.setCullFace(PolygonAttributes.CULL_NONE); // ap.setPolygonAttributes(pattr);
// ColoringAttributes ca = new ColoringAttributes(); // ca.setColor(new Color3f(1.0f, 1.0f, 1.0f)); // ap.setColoringAttributes(ca);
Point3f[] vertex = new Point3f[4]; vertex[0] = new Point3f(0.0f, y, z * 0.1f); vertex[1] = new Point3f(0.0f, y, -z * 0.1f); vertex[2] = new Point3f(0.0f, -y, -z); vertex[3] = new Point3f(0.0f, -y, z);
QuadArray quadA = new QuadArray(vertex.length, GeometryArray.COORDINATES | GeometryArray.NORMALS);
quadA.setCoordinates(0, vertex); quad3D = new Shape3D(quadA, ap);
Transform3D t3d = new Transform3D(); t3d.setScale(1.0); t3d.setRotation(new AxisAngle4d(1, 0, 0, Math.toRadians(-30))); t3d.setTranslation(new Vector3d(0.0, -0.24, 0.135));
tg.setTransform(t3d);
tg.addChild(quad3D);
root.addChild(tg);
root.compile();
return root; }
private BranchGroup createGround() {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D();
t3d.setTranslation(new Vector3d(0.0, -1.0, -2.0)); t3d.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d.setScale(1.0);
tg.setTransform(t3d);
tg.addChild(createObjLoad("model/ground.obj")); tg.setCollidable(false);
objRoot.addChild(tg);
objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createRocks() {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D(); TransformGroup tg_rocks = new TransformGroup();
t3d.setTranslation(new Vector3d(-10.0, -1.0, -2.0)); t3d.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d.setScale(1.0);
tg.setTransform(t3d);
tg_rocks.addChild(createObjLoad("model/rocks.obj")); tg_rocks.setCollidable(false);
SharedGroup shared = new SharedGroup(); shared.addChild(tg_rocks);
TransformGroup tg_link = null; Transform3D t3d_link = new Transform3D();
for (float x = -1.0f; x <= 1.0f; x += 0.2f) { for (float z = -1.0f; z <= 1.0f; z += 0.05f) {
t3d_link.setScale(0.25);
t3d_link.setTranslation(new Vector3d((x - 0.05) * (Math.random() * 50), 0.0, z * (Math.random() * 50)));
tg_link = new TransformGroup(t3d_link);
tg_link.addChild(new Link(shared)); tg.addChild(tg_link); }
}
objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
private BranchGroup createObjLoad(String filename) {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D(); t3d.setScale(1.0); tg.setTransform(t3d);
ObjectFile loader = new ObjectFile(); Scene s = null;
File file = new java.io.File(filename);
try { s = loader.load(file.toURI().toURL()); } catch (Exception e) { System.err.println(e); System.exit(1); }
tg.addChild(s.getSceneGroup());
objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
private BranchGroup createWrlLoad(String filename) {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D(); t3d.setScale(1.0); tg.setTransform(t3d);
VrmlLoader loader = new VrmlLoader(); Scene s = null;
try { s = loader.load(filename); } catch (Exception e) { System.err.println(e); System.exit(1); }
tg.addChild(s.getSceneGroup());
objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
public BranchGroup createBoard() {
BranchGroup root = new BranchGroup(); TransformGroup tg = new TransformGroup();
Appearance ap = new Appearance();
float size = 1.0f;
TransparencyAttributes attr = new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.0f); attr.setTransparency(1.0f); // Transparent // attr.setTransparency(0.0f); // Opaque ap.setTransparencyAttributes(attr);
ColoringAttributes ca = new ColoringAttributes(); ca.setColor(new Color3f(1.0f, 1.0f, 1.0f)); ap.setColoringAttributes(ca);
Point3f[] vertex = new Point3f[4]; vertex[0] = new Point3f(size, size, 0.0f); vertex[1] = new Point3f(-size, size, 0.0f); vertex[2] = new Point3f(-size, -size, 0.0f); vertex[3] = new Point3f(size, -size, 0.0f);
QuadArray quadA = new QuadArray(vertex.length, GeometryArray.COORDINATES | GeometryArray.NORMALS);
quadA.setCoordinates(0, vertex); Shape3D quad3D = new Shape3D(quadA, ap);
Transform3D t3d = new Transform3D(); t3d.setScale(50.0); t3d.setRotation(new AxisAngle4d(1, 0, 0, Math.toRadians(-90))); t3d.setTranslation(new Vector3d(0.0, -1.0, 0.0));
tg.setTransform(t3d);
tg.addChild(quad3D);
root.addChild(tg);
root.compile();
return root; }
private Light createLight() { DirectionalLight light = new DirectionalLight(true, new Color3f(1.0f, 1.0f, 1.0f), new Vector3f(-0.4f, -0.5f, -0.1f));
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') { cstate = true; rover.setEnable(cstate); }
if (key == 's') {
t3dstep.rotY(Math.PI / 32); rover.tg.getTransform(rover.t3d); rover.t3d.get(matrix); rover.t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); rover.t3d.mul(t3dstep); rover.t3d.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); rover.tg.setTransform(rover.t3d);
}
if (key == 'f') {
t3dstep.rotY(-Math.PI / 32); rover.tg.getTransform(rover.t3d); rover.t3d.get(matrix); rover.t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); rover.t3d.mul(t3dstep); rover.t3d.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); rover.tg.setTransform(rover.t3d);
}
if ((key == 'm') && (!inCollision)) {
t3dstep.rotX(Math.PI / 32); tg_2.getTransform(t3d_2); t3d_2.get(matrix); t3d_2.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_2.mul(t3dstep); t3d_2.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_2.setTransform(t3d_2);
}
if (key == 'u') {
t3dstep.rotX(-Math.PI / 32); tg_2.getTransform(t3d_2); t3d_2.get(matrix); t3d_2.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_2.mul(t3dstep); t3d_2.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_2.setTransform(t3d_2);
}
if ((key == ',') && (!inCollision)) {
t3dstep.rotX(Math.PI / 32); tg_3.getTransform(t3d_3); t3d_3.get(matrix); t3d_3.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_3.mul(t3dstep); t3d_3.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_3.setTransform(t3d_3);
}
if ((key == 'i') && (!inCollision)) {
t3dstep.rotX(-Math.PI / 32); tg_3.getTransform(t3d_3); t3d_3.get(matrix); t3d_3.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_3.mul(t3dstep); t3d_3.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_3.setTransform(t3d_3);
}
if ((key == '.') && (!inCollision)) {
t3dstep.rotX(Math.PI / 32); tg_4.getTransform(t3d_4); t3d_4.get(matrix); t3d_4.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_4.mul(t3dstep); t3d_4.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_4.setTransform(t3d_4);
}
if ((key == 'o') && (!inCollision)) {
t3dstep.rotX(-Math.PI / 32); tg_4.getTransform(t3d_4); t3d_4.get(matrix); t3d_4.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_4.mul(t3dstep); t3d_4.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_4.setTransform(t3d_4);
}
if (key == '6') {
t3dstep.rotY(Math.PI / 32); tg_5.getTransform(t3d_5); t3d_5.get(matrix); t3d_5.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_5.mul(t3dstep); t3d_5.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_5.setTransform(t3d_5);
}
if (key == '7') {
t3dstep.rotY(-Math.PI / 32); tg_5.getTransform(t3d_5); t3d_5.get(matrix); t3d_5.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_5.mul(t3dstep); t3d_5.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_5.setTransform(t3d_5);
}
if (key == '8') {
t3dstep.rotX(Math.PI / 32); tg_6.getTransform(t3d_6); t3d_6.get(matrix); t3d_6.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_6.mul(t3dstep); t3d_6.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_6.setTransform(t3d_6);
}
if (key == '9') {
t3dstep.rotX(-Math.PI / 32); tg_6.getTransform(t3d_6); t3d_6.get(matrix); t3d_6.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_6.mul(t3dstep); t3d_6.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_6.setTransform(t3d_6);
}
if (key == 'x') { cstate = false; rover.setEnable(cstate); }
}
public void keyReleased(KeyEvent e) { }
public void keyPressed(KeyEvent e) { }
class CollisionDetector extends Behavior {
private Shape3D shape;
private WakeupOnCollisionEntry wEnter; private WakeupOnCollisionExit wExit;
public CollisionDetector(Shape3D s) { shape = s; inCollision = false;
}
public void initialize() { wEnter = new WakeupOnCollisionEntry(shape); wExit = new WakeupOnCollisionExit(shape); wakeupOn(wEnter); }
public void processStimulus(Enumeration criteria) {
inCollision = !inCollision; if (inCollision) {
System.out.println("Collision: ");
wakeupOn(wExit); } else { wakeupOn(wEnter); } } }
class MovingRover extends Behavior {
public TransformGroup tg = null; public Transform3D t3d = null; private Transform3D t3dstep = new Transform3D(); private WakeupOnElapsedFrames wakeFrame = null;
public MovingRover(String filename) {
tg = new TransformGroup(); t3d = new Transform3D();
t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d.setScale(1.0); tg.setTransform(t3d);
tg.addChild(createWrlLoad(filename));
/* * VrmlLoader loader = new VrmlLoader(); Scene s = null; * * try { s = loader.load(filename); } catch (Exception e) { * System.err.println(e); System.exit(1); } * * tg.addChild(s.getSceneGroup()); */
tg.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
BoundingSphere bounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), 1000.0); this.setSchedulingBounds(bounds); }
public void initialize() { wakeFrame = new WakeupOnElapsedFrames(0); wakeupOn(wakeFrame); }
public void processStimulus(Enumeration criteria) { t3dstep.set(new Vector3d(0.0, 0.0, 0.003f)); tg.getTransform(t3d); t3d.mul(t3dstep); tg.setTransform(t3d);
wakeupOn(wakeFrame); } }
}
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 com.sun.j3d.loaders.objectfile.ObjectFile;import org.jdesktop.j3d.loaders.vrml97.VrmlLoader;
import java.awt.event.KeyListener;import java.awt.event.KeyEvent;
import javax.media.j3d.WakeupOnCollisionEntry;import javax.media.j3d.WakeupOnCollisionExit;
import java.util.*;import java.io.*;
import com.sun.j3d.utils.image.TextureLoader;
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 TransformGroup tg_2 = null; private Transform3D t3d_2 = null; private TransformGroup tg_3 = null; private Transform3D t3d_3 = null; private TransformGroup tg_4 = null; private Transform3D t3d_4 = null;
private TransformGroup tg_5 = null; private Transform3D t3d_5 = null; private TransformGroup tg_6 = null; private Transform3D t3d_6 = null;
private MovingRover rover = null; private boolean cstate = true;
private boolean inCollision = false;
private Shape3D quad3D;
public Mykeynavbeh() { setLayout(new BorderLayout()); GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
canvas = new Canvas3D(config); add("Center", canvas); universe = new SimpleUniverse(canvas);
BranchGroup scene = createSceneGraph(); universe.getViewingPlatform().setNominalViewingTransform();
universe.getViewer().getView().setBackClipDistance(100.0);
canvas.addKeyListener(this);
universe.addBranchGraph(scene); }
private BranchGroup createSceneGraph() { BranchGroup objRoot = new BranchGroup();
BoundingSphere bounds = new BoundingSphere(new Point3d(), 10000.0);
viewtrans = universe.getViewingPlatform().getViewPlatformTransform(); universe.getViewer().getView().setDepthBufferFreezeTransparent(false);
KeyNavigatorBehavior keyNavBeh = new KeyNavigatorBehavior(viewtrans); keyNavBeh.setSchedulingBounds(bounds); PlatformGeometry platformGeom = new PlatformGeometry(); platformGeom.addChild(keyNavBeh); universe.getViewingPlatform().setPlatformGeometry(platformGeom);
Background bg = new Background(); bg.setColor(0.7f, 0.83f, 0.8f); bg.setApplicationBounds(bounds); objRoot.addChild(bg);
objRoot.addChild(createRover()); objRoot.addChild(createGround()); objRoot.addChild(createRocks()); objRoot.addChild(createBoard());
String versionString = (String) VirtualUniverse.getProperties().get("j3d.version"); System.out.println("versionString " + versionString);
return objRoot; }
private BranchGroup createRover() {
BranchGroup objRoot = new BranchGroup(); tg = new TransformGroup(); t3d = new Transform3D();
t3d.setTranslation(new Vector3d(-0.4, -1.0, -2.0)); t3d.setRotation(new AxisAngle4f(0.0f, 1.0f, 0.0f, 2.6f)); t3d.setScale(1.0);
tg.setTransform(t3d);
rover = new MovingRover("model/rover_without_arm_mast_camera_fn_uv.wrl"); tg.addChild(rover.tg); rover.tg.addChild(createArm()); rover.tg.addChild(createMast_Camera());
tg.addChild(rover); tg.setCollidable(false);
objRoot.addChild(tg); objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createArm() {
BranchGroup objRoot = new BranchGroup();
tg_2 = new TransformGroup(); t3d_2 = new Transform3D(); tg_2.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_2.setTranslation(new Vector3d(0.09, 0.36, 0.57)); t3d_2.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_2.setScale(1.0);
tg_2.setTransform(t3d_2);
tg_2.addChild(createObjLoad("model/lower_arm.obj")); tg_2.setCollidable(false);
tg_3 = new TransformGroup(); t3d_3 = new Transform3D(); tg_3.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_3.setTranslation(new Vector3d(-0.08, 0.2, 0.414)); t3d_3.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_3.setScale(1.0);
tg_3.setTransform(t3d_3);
tg_3.addChild(createObjLoad("model/upper_arm.obj")); tg_3.addChild(createTriangle());
tg_4 = new TransformGroup(); t3d_4 = new Transform3D(); tg_4.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_4.setTranslation(new Vector3d(-0.02, -0.4, 0.215)); t3d_4.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_4.setScale(1.0);
tg_4.setTransform(t3d_4);
tg_4.addChild(createObjLoad("model/drill.obj"));
BoundingSphere bounds = new BoundingSphere(new Point3d(), 10000.0);
CollisionDetector cd = new CollisionDetector(quad3D); cd.setSchedulingBounds(bounds);
tg_2.addChild(cd);
tg_3.addChild(tg_4);
tg_2.addChild(tg_3); objRoot.addChild(tg_2);
// objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createMast_Camera() {
BranchGroup objRoot = new BranchGroup();
tg_5 = new TransformGroup(); t3d_5 = new Transform3D(); tg_5.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_5.setTranslation(new Vector3d(0.0, -0.022, 0.47)); t3d_5.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_5.setScale(1.0);
tg_5.setTransform(t3d_5);
tg_5.addChild(createWrlLoad("model/mast_fn.wrl"));
tg_6 = new TransformGroup(); t3d_6 = new Transform3D(); tg_6.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
t3d_6.setTranslation(new Vector3d(0.01, 1.2, 0.0)); t3d_6.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d_6.setScale(1.0);
tg_6.setTransform(t3d_6);
tg_6.addChild(createWrlLoad("model/camera_fn.wrl"));
tg_5.addChild(tg_6); objRoot.addChild(tg_5);
// objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
public BranchGroup createTriangle() {
BranchGroup root = new BranchGroup(); TransformGroup tg = new TransformGroup();
Appearance ap = new Appearance();
float z = 0.14f; float y = 0.29f;
TransparencyAttributes attr = new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.0f); attr.setTransparency(1.0f); // Transparent // attr.setTransparency(0.0f); // Opaque ap.setTransparencyAttributes(attr);
TextureLoader loader = new TextureLoader("model/transparent.png", this); ap.setTexture(loader.getTexture());
// PolygonAttributes pattr = new PolygonAttributes(); // pattr.setPolygonMode(PolygonAttributes.POLYGON_FILL); // pattr.setCullFace(PolygonAttributes.CULL_NONE); // ap.setPolygonAttributes(pattr);
// ColoringAttributes ca = new ColoringAttributes(); // ca.setColor(new Color3f(1.0f, 1.0f, 1.0f)); // ap.setColoringAttributes(ca);
Point3f[] vertex = new Point3f[4]; vertex[0] = new Point3f(0.0f, y, z * 0.1f); vertex[1] = new Point3f(0.0f, y, -z * 0.1f); vertex[2] = new Point3f(0.0f, -y, -z); vertex[3] = new Point3f(0.0f, -y, z);
QuadArray quadA = new QuadArray(vertex.length, GeometryArray.COORDINATES | GeometryArray.NORMALS);
quadA.setCoordinates(0, vertex); quad3D = new Shape3D(quadA, ap);
Transform3D t3d = new Transform3D(); t3d.setScale(1.0); t3d.setRotation(new AxisAngle4d(1, 0, 0, Math.toRadians(-30))); t3d.setTranslation(new Vector3d(0.0, -0.24, 0.135));
tg.setTransform(t3d);
tg.addChild(quad3D);
root.addChild(tg);
root.compile();
return root; }
private BranchGroup createGround() {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D();
t3d.setTranslation(new Vector3d(0.0, -1.0, -2.0)); t3d.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d.setScale(1.0);
tg.setTransform(t3d);
tg.addChild(createObjLoad("model/ground.obj")); tg.setCollidable(false);
objRoot.addChild(tg);
objRoot.addChild(createLight());
objRoot.compile();
return objRoot;
}
private BranchGroup createRocks() {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D(); TransformGroup tg_rocks = new TransformGroup();
t3d.setTranslation(new Vector3d(-10.0, -1.0, -2.0)); t3d.setRotation(new AxisAngle4f(0.0f, 0.0f, 0.0f, 0.0f)); t3d.setScale(1.0);
tg.setTransform(t3d);
tg_rocks.addChild(createObjLoad("model/rocks.obj")); tg_rocks.setCollidable(false);
SharedGroup shared = new SharedGroup(); shared.addChild(tg_rocks);
TransformGroup tg_link = null; Transform3D t3d_link = new Transform3D();
for (float x = -1.0f; x <= 1.0f; x += 0.2f) { for (float z = -1.0f; z <= 1.0f; z += 0.05f) {
t3d_link.setScale(0.25);
t3d_link.setTranslation(new Vector3d((x - 0.05) * (Math.random() * 50), 0.0, z * (Math.random() * 50)));
tg_link = new TransformGroup(t3d_link);
tg_link.addChild(new Link(shared)); tg.addChild(tg_link); }
}
objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
private BranchGroup createObjLoad(String filename) {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D(); t3d.setScale(1.0); tg.setTransform(t3d);
ObjectFile loader = new ObjectFile(); Scene s = null;
File file = new java.io.File(filename);
try { s = loader.load(file.toURI().toURL()); } catch (Exception e) { System.err.println(e); System.exit(1); }
tg.addChild(s.getSceneGroup());
objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
private BranchGroup createWrlLoad(String filename) {
BranchGroup objRoot = new BranchGroup();
TransformGroup tg = new TransformGroup(); Transform3D t3d = new Transform3D(); t3d.setScale(1.0); tg.setTransform(t3d);
VrmlLoader loader = new VrmlLoader(); Scene s = null;
try { s = loader.load(filename); } catch (Exception e) { System.err.println(e); System.exit(1); }
tg.addChild(s.getSceneGroup());
objRoot.addChild(tg);
objRoot.compile();
return objRoot;
}
public BranchGroup createBoard() {
BranchGroup root = new BranchGroup(); TransformGroup tg = new TransformGroup();
Appearance ap = new Appearance();
float size = 1.0f;
TransparencyAttributes attr = new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.0f); attr.setTransparency(1.0f); // Transparent // attr.setTransparency(0.0f); // Opaque ap.setTransparencyAttributes(attr);
ColoringAttributes ca = new ColoringAttributes(); ca.setColor(new Color3f(1.0f, 1.0f, 1.0f)); ap.setColoringAttributes(ca);
Point3f[] vertex = new Point3f[4]; vertex[0] = new Point3f(size, size, 0.0f); vertex[1] = new Point3f(-size, size, 0.0f); vertex[2] = new Point3f(-size, -size, 0.0f); vertex[3] = new Point3f(size, -size, 0.0f);
QuadArray quadA = new QuadArray(vertex.length, GeometryArray.COORDINATES | GeometryArray.NORMALS);
quadA.setCoordinates(0, vertex); Shape3D quad3D = new Shape3D(quadA, ap);
Transform3D t3d = new Transform3D(); t3d.setScale(50.0); t3d.setRotation(new AxisAngle4d(1, 0, 0, Math.toRadians(-90))); t3d.setTranslation(new Vector3d(0.0, -1.0, 0.0));
tg.setTransform(t3d);
tg.addChild(quad3D);
root.addChild(tg);
root.compile();
return root; }
private Light createLight() { DirectionalLight light = new DirectionalLight(true, new Color3f(1.0f, 1.0f, 1.0f), new Vector3f(-0.4f, -0.5f, -0.1f));
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') { cstate = true; rover.setEnable(cstate); }
if (key == 's') {
t3dstep.rotY(Math.PI / 32); rover.tg.getTransform(rover.t3d); rover.t3d.get(matrix); rover.t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); rover.t3d.mul(t3dstep); rover.t3d.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); rover.tg.setTransform(rover.t3d);
}
if (key == 'f') {
t3dstep.rotY(-Math.PI / 32); rover.tg.getTransform(rover.t3d); rover.t3d.get(matrix); rover.t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); rover.t3d.mul(t3dstep); rover.t3d.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); rover.tg.setTransform(rover.t3d);
}
if ((key == 'm') && (!inCollision)) {
t3dstep.rotX(Math.PI / 32); tg_2.getTransform(t3d_2); t3d_2.get(matrix); t3d_2.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_2.mul(t3dstep); t3d_2.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_2.setTransform(t3d_2);
}
if (key == 'u') {
t3dstep.rotX(-Math.PI / 32); tg_2.getTransform(t3d_2); t3d_2.get(matrix); t3d_2.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_2.mul(t3dstep); t3d_2.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_2.setTransform(t3d_2);
}
if ((key == ',') && (!inCollision)) {
t3dstep.rotX(Math.PI / 32); tg_3.getTransform(t3d_3); t3d_3.get(matrix); t3d_3.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_3.mul(t3dstep); t3d_3.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_3.setTransform(t3d_3);
}
if ((key == 'i') && (!inCollision)) {
t3dstep.rotX(-Math.PI / 32); tg_3.getTransform(t3d_3); t3d_3.get(matrix); t3d_3.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_3.mul(t3dstep); t3d_3.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_3.setTransform(t3d_3);
}
if ((key == '.') && (!inCollision)) {
t3dstep.rotX(Math.PI / 32); tg_4.getTransform(t3d_4); t3d_4.get(matrix); t3d_4.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_4.mul(t3dstep); t3d_4.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_4.setTransform(t3d_4);
}
if ((key == 'o') && (!inCollision)) {
t3dstep.rotX(-Math.PI / 32); tg_4.getTransform(t3d_4); t3d_4.get(matrix); t3d_4.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_4.mul(t3dstep); t3d_4.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_4.setTransform(t3d_4);
}
if (key == '6') {
t3dstep.rotY(Math.PI / 32); tg_5.getTransform(t3d_5); t3d_5.get(matrix); t3d_5.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_5.mul(t3dstep); t3d_5.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_5.setTransform(t3d_5);
}
if (key == '7') {
t3dstep.rotY(-Math.PI / 32); tg_5.getTransform(t3d_5); t3d_5.get(matrix); t3d_5.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_5.mul(t3dstep); t3d_5.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_5.setTransform(t3d_5);
}
if (key == '8') {
t3dstep.rotX(Math.PI / 32); tg_6.getTransform(t3d_6); t3d_6.get(matrix); t3d_6.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_6.mul(t3dstep); t3d_6.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_6.setTransform(t3d_6);
}
if (key == '9') {
t3dstep.rotX(-Math.PI / 32); tg_6.getTransform(t3d_6); t3d_6.get(matrix); t3d_6.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d_6.mul(t3dstep); t3d_6.setTranslation(new Vector3d(matrix.m03, matrix.m13, matrix.m23)); tg_6.setTransform(t3d_6);
}
if (key == 'x') { cstate = false; rover.setEnable(cstate); }
}
public void keyReleased(KeyEvent e) { }
public void keyPressed(KeyEvent e) { }
class CollisionDetector extends Behavior {
private Shape3D shape;
private WakeupOnCollisionEntry wEnter; private WakeupOnCollisionExit wExit;
public CollisionDetector(Shape3D s) { shape = s; inCollision = false;
}
public void initialize() { wEnter = new WakeupOnCollisionEntry(shape); wExit = new WakeupOnCollisionExit(shape); wakeupOn(wEnter); }
public void processStimulus(Enumeration criteria) {
inCollision = !inCollision; if (inCollision) {
System.out.println("Collision: ");
wakeupOn(wExit); } else { wakeupOn(wEnter); } } }
class MovingRover extends Behavior {
public TransformGroup tg = null; public Transform3D t3d = null; private Transform3D t3dstep = new Transform3D(); private WakeupOnElapsedFrames wakeFrame = null;
public MovingRover(String filename) {
tg = new TransformGroup(); t3d = new Transform3D();
t3d.setTranslation(new Vector3d(0.0, 0.0, 0.0)); t3d.setScale(1.0); tg.setTransform(t3d);
tg.addChild(createWrlLoad(filename));
/* * VrmlLoader loader = new VrmlLoader(); Scene s = null; * * try { s = loader.load(filename); } catch (Exception e) { * System.err.println(e); System.exit(1); } * * tg.addChild(s.getSceneGroup()); */
tg.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
BoundingSphere bounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), 1000.0); this.setSchedulingBounds(bounds); }
public void initialize() { wakeFrame = new WakeupOnElapsedFrames(0); wakeupOn(wakeFrame); }
public void processStimulus(Enumeration criteria) { t3dstep.set(new Vector3d(0.0, 0.0, 0.003f)); tg.getTransform(t3d); t3d.mul(t3dstep); tg.setTransform(t3d);
wakeupOn(wakeFrame); } }
}
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