one.empty3.library.core.Turtle Maven / Gradle / Ivy

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3D rendering engine. Plus modeling. Expected glsl textures 3d and 2d rendering
There is a newer version: 2024.5.10
/*
 * Copyright (c) 2023. Manuel Daniel Dahmen
 *
 *
 *    Copyright 2012-2023 Manuel Daniel Dahmen
 *
 *    Licensed under the Apache License, Version 2.0 (the "License");
 *    you may not use this file except in compliance with the License.
 *    You may obtain a copy of the License at
 *
 *        http://www.apache.org/licenses/LICENSE-2.0
 *
 *    Unless required by applicable law or agreed to in writing, software
 *    distributed under the License is distributed on an "AS IS" BASIS,
 *    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *    See the License for the specific language governing permissions and
 *    limitations under the License.
 */

package one.empty3.library.core;

import one.empty3.library.Matrix33;
import one.empty3.library.Point3D;
import one.empty3.library.Representable;
import one.empty3.library.StructureMatrix;
import one.empty3.library.core.nurbs.ParametricCurve;

/*__
 * Created by manue on 07-09-19.
 */
public class Turtle extends ParametricCurve {
    private StructureMatrix matrixAndPoint = new StructureMatrix<>(1, Representable.class);
    private StructureMatrix actualOrientation = new StructureMatrix<>(0, Matrix33.class);
    private StructureMatrix actualPosition = new StructureMatrix<>(0, Point3D.class);

    private Matrix33 rX(double angle)
    {
        return new Matrix33(
                new Double[]
                        {
                              1d, 0d, 0d,
                               0d, Math.cos(angle), Math.sin(angle),
                               0d, -Math.sin(angle), Math.cos(angle),
                        }
        );
    }
    private Matrix33 rY(double angle)
    {
        return new Matrix33(
                new Double[]
                        {
                                 Math.cos(angle),0d, Math.sin(angle),
                                 0d, 1d, 0d,
                                 -Math.sin(angle),0d, Math.cos(angle),
                        }
        );
    }
    private Matrix33 rZ(double angle)
    {
        return new Matrix33(
                new Double[]
                        {
                                Math.cos(angle), Math.sin(angle),0d,
                                -Math.sin(angle), Math.cos(angle), 0d,
                                0d, 0d, 1d,
                        }
        );
    }

    private Matrix33 matriceAngulaire(int axe, double angle)
    {
        if(axe==0)
        {
            return actualOrientation.getElem().mult(rX(angle));
        }
        if(axe==1)
        {
            return actualOrientation.getElem().mult(rY(angle));
        }
        if(axe==2)
        {
            return actualOrientation.getElem().mult(rZ(angle));
        }
        return null;
    }


    public Turtle()
    {
        actualOrientation.setElem(new Matrix33());
        actualPosition.setElem(new Point3D(Point3D.O0));

        matrixAndPoint.add(1, actualPosition.getElem());
        matrixAndPoint.add(1, actualOrientation.getElem());
    }

    public void left(double angle, double distance)
    {

        Matrix33 matrix33 = matriceAngulaire(2, angle);
        matrixAndPoint.add(1, matrix33);
    }
    public void right(double angle, double distance)
    {
        Matrix33 matrix33 = matriceAngulaire(2, angle);
        matrixAndPoint.add(1, matrix33);
    }
    public void up(double angle, double distance)
    {
        Matrix33 matrix33 = matriceAngulaire(0, angle);
        matrixAndPoint.add(1, matrix33);
    }
    public void down(double angle, double distance)
    {
        Matrix33 matrix33 = matriceAngulaire(0, angle);
        matrixAndPoint.add(1, matrix33);
    }
    public void rear(double angle, double distance)
    {
        Point3D plus = actualOrientation.getElem().mult(Point3D.Z.mult(distance));
        matrixAndPoint.add(1, plus);
        actualPosition .setElem(actualPosition.getElem().plus(plus));

    }
    public void forwards(double angle, double distance)
    {
        Point3D plus = actualOrientation.getElem().mult(Point3D.Z.mult(distance));
        matrixAndPoint.add(1, plus);
        actualPosition.setElem(actualPosition.getElem().plus(plus));

    }
    public void rotate(double angleHorizLR, double angleVertDU, double angleForwardsSquiv)
    {

    }
    public Point3D getPosition()
    {
        return actualPosition.getElem();
    }
    public Point3D getDirection()
    {
        return actualOrientation.getElem().mult(Point3D.Z).norme1();
    }
    public void clearPointsBefore()
    {

    }

    @Override
    public void declareProperties() {
        super.declareProperties();
        getDeclaredDataStructure().put("actualPosition", actualPosition);
        getDeclaredDataStructure().put("actualOrientation", actualOrientation);
        getDeclaredDataStructure().put("matrixAndPoint", matrixAndPoint);
    }

    public void computeAll()
    {
        Point3D pos = Point3D.O0;
        Matrix33 orient= Matrix33.I;
        for(int i=0; i