one.empty3.growth.graphics.Turtle3D_1 Maven / Gradle / Ivy

Go to download
/*
 * 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.growth.graphics;

import one.empty3.library.*;

import java.awt.*;
import java.util.logging.Level;
import java.util.logging.Logger;

public class Turtle3D_1 {

    private Matrix33 repereTurtle;
    private ZBuffer zBuffer;
    private Point3D position = Point3D.O0;
    private Point3D anglesXYZ = Point3D.X;

    private double diametre;
    private Color color = Color.BLACK;

    private Matrix33 matriceRepereULH() {
        return /* RZ */new Matrix33(new double[]{
                Math.cos(anglesXYZ.getX()), -Math.sin(anglesXYZ.getX()), 0,
                Math.sin(anglesXYZ.getX()), Math.cos(anglesXYZ.getX()), 0,
                0, 0, 1
        }).mult( /* RY */new Matrix33(new double[]{
                Math.cos(anglesXYZ.getX()), 0, Math.sin(anglesXYZ.getX()),
                0, 1, 0,
                -Math.sin(anglesXYZ.getX()), 0, Math.cos(anglesXYZ.getX())
        })).mult( /* RX */new Matrix33(new double[]{
                1, 0, 0,
                0, Math.cos(anglesXYZ.getX()), -Math.sin(anglesXYZ.getX()),
                0, Math.sin(anglesXYZ.getX()), Math.cos(anglesXYZ.getX())
        }));
    }

    private void angleRot(double angleU, double angleL, double angleH) {

        Matrix33[] ulhMatrices =
                new Matrix33[]{
                        new Matrix33(new double[]{
                                Math.cos(angleU), Math.sin(angleU), 0,
                                -Math.sin(angleU), Math.cos(angleU), 0,
                                0, 0, 1

                        }),
                        new Matrix33(new double[]{
                                Math.cos(angleL), 0, -Math.sin(angleL),
                                0, 1, 0,
                                Math.sin(angleL), 0, Math.cos(angleL)
                        }),
                        new Matrix33(new double[]{
                                1, 0, 0,
                                0, Math.cos(angleH), -Math.sin(angleH),
                                0, Math.sin(angleH), Math.cos(angleH)
                        })
                };
        Matrix33 matriceRepereTurtle = ulhMatrices[2].mult(ulhMatrices[1]).mult(ulhMatrices[0]);
        Matrix33 baseRepere = matriceRepereULH();
        this.repereTurtle = matriceRepereTurtle.mult(baseRepere); // TODO Check order
    }

    public Turtle3D_1(Point3D position, Point3D angleXYZ, double diametre) {
        this.position = position;
        this.anglesXYZ = angleXYZ;
        this.diametre = diametre;
    }

    public Turtle3D_1(ZBuffer zBuffer) {
        repereTurtle = matriceRepereULH();
        this.zBuffer = zBuffer;
        if (zBuffer.scene() == null)
            zBuffer.scene(new Scene());
    }

    public Point3D getPosition() {
        return position;
    }

    public void setPosition(Point3D position) {
        this.position = position;
    }

    public Point3D getAnglesXYZ() {
        return anglesXYZ;
    }

    public void setAnglesXYZ(Point3D anglesXYZ) {
        this.anglesXYZ = anglesXYZ;
    }

    public double getDiametre() {
        return diametre;
    }

    public void setDiametre(double diametre) {
        this.diametre = diametre;
    }

    public void line(double distance) {
        Point3D newPosition = position.plus(matriceRepereULH().mult(Point3D.X.mult(distance)));
        LineSegment droite = new LineSegment(position, newPosition);
        droite.texture(new ColorTexture(color));
        zBuffer.scene().add(droite);
        position = newPosition;
        Logger.getAnonymousLogger().log(Level.INFO, ""+position);
    }

    public void move(double distance) {
        position = position.plus(repereTurtle.mult(Point3D.X.mult(distance)));

    }

    public void rotateU(double rads) {
        angleRot(rads, 0, 0);

    }

    public void rotateL(double rads) {
        angleRot(0, rads, 0);

    }

    public void rotateH(double rads) {
        angleRot(0, 0, rads);

    }

    @Override
    public boolean equals(Object o) {
        if (this == o) return true;
        if (!(o instanceof Turtle3D_1)) return false;

        Turtle3D_1 turtle = (Turtle3D_1) o;

        return (getPosition() != null ? getPosition().equals(turtle.getPosition()) : turtle.getPosition() == null) && (getAnglesXYZ() != null ? getAnglesXYZ().equals(turtle.getAnglesXYZ()) : turtle.getAnglesXYZ() == null);
    }

    @Override
    public int hashCode() {
        int result = getPosition() != null ? getPosition().hashCode() : 0;
        result = 31 * result + (getAnglesXYZ() != null ? getAnglesXYZ().hashCode() : 0);
        return result;
    }

    public Image returnImage() {
        zBuffer.draw();
        ECBufferedImage image = zBuffer.image();
        return image;

    }

    public void setColor(Color color) {
        this.color = color;
    }


}