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package us.ihmc.jme;
import com.jme3.asset.AssetManager;
import com.jme3.material.Material;
import com.jme3.math.ColorRGBA;
import com.jme3.scene.Mesh;
import com.jme3.texture.Texture;
import javafx.scene.paint.Color;
import us.ihmc.euclid.axisAngle.AxisAngle;
import us.ihmc.euclid.geometry.interfaces.ConvexPolygon2DReadOnly;
import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
import us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly;
import us.ihmc.euclid.tuple3D.Point3D;
import us.ihmc.euclid.tuple3D.Point3D32;
import us.ihmc.euclid.tuple3D.Vector3D32;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
import us.ihmc.graphicsDescription.MeshDataGenerator;
import us.ihmc.graphicsDescription.MeshDataHolder;
import us.ihmc.graphicsDescription.TexCoord2f;
import java.util.List;
public class JMEMultiColorMeshBuilder
{
private static final int DEFAULT_RES = 32;
private int hueResolution = 256;
private int saturationResolution = -1;
private int brightnessResolution = -1;
JMEMeshBuilder meshBuilder = new JMEMeshBuilder();
public JMEMultiColorMeshBuilder()
{
}
public void addCylinder(double height, double radius, Tuple3DReadOnly offset, AxisAngle orientation, Color color)
{
addMesh(MeshDataGenerator.Cylinder(radius, height, DEFAULT_RES), offset, orientation, color);
}
public void addCone(double height, double radius, Tuple3DReadOnly offset, AxisAngle orientation, Color color)
{
addMesh(MeshDataGenerator.Cone(height, radius, DEFAULT_RES), offset, orientation, color);
}
public void addSphere(float radius, Tuple3DReadOnly offset, Color color)
{
addMesh(MeshDataGenerator.Sphere(radius, DEFAULT_RES, DEFAULT_RES), offset, new AxisAngle(), color);
}
public void addBox(double lx, double ly, double lz, Tuple3DReadOnly offset, Color color)
{
addMesh(MeshDataGenerator.Cube(lx, ly, lz, true, null), offset, new AxisAngle(), color);
}
/**
* Add a 2D polygon to this builder.
*
* @param transformToWorld the transform from the polygon's local coordinates to world. Not
* modified.
* @param polygon the polygon to render.
* @param color color of the polygon. Color accuracy depends on the color palette in use.
*/
public void addPolygon(RigidBodyTransformReadOnly transformToWorld, ConvexPolygon2DReadOnly polygon, Color color)
{
addMesh(MeshDataGenerator.Polygon(transformToWorld, polygon), color);
}
/**
* Add a 3D line to this builder.
*
* @param x0 x-coordinate of the line start.
* @param y0 y-coordinate of the line start.
* @param z0 z-coordinate of the line start.
* @param xf x-coordinate of the line end.
* @param yf y-coordinate of the line end.
* @param zf z-coordinate of the line end.
* @param lineWidth width of the line.
* @param color color of the line. Color accuracy depends on the color palette in use.
*/
public void addLine(double x0, double y0, double z0, double xf, double yf, double zf, double lineWidth, Color color)
{
addMesh(MeshDataGenerator.Line(x0, y0, z0, xf, yf, zf, lineWidth), color);
}
/**
* Add a 3D line to this builder.
*
* @param start start coordinate of the line. Not modified.
* @param end end coordinate of the line. Not modified.
* @param lineWidth width of the line.
* @param color color of the line. Color accuracy depends on the color palette in use.
*/
public void addLine(Tuple3DReadOnly start, Tuple3DReadOnly end, double lineWidth, Color color)
{
addLine(start.getX(), start.getY(), start.getZ(), end.getX(), end.getY(), end.getZ(), lineWidth, color);
}
/**
* Add a series of connected 2D lines to this builder.
*
* @param transformToWorld the transform from the mult-line local coordinates to world. Not
* modified.
* @param points coordinates of the line end points. Not modified.
* @param lineWidth width of the lines.
* @param color color of the multi-line. Color accuracy depends on the color palette in
* use.
* @param close whether the end of the given array of points should be connected to the
* beginning or not.
*/
public void addMultiLine(RigidBodyTransformReadOnly transformToWorld, List points, double lineWidth, Color color, boolean close)
{
if (points.size() < 2)
return;
Point3D start = new Point3D();
Point3D end = new Point3D();
for (int i = 1; i < points.size(); i++)
{
Point2DReadOnly start2d = points.get(i - 1);
Point2DReadOnly end2d = points.get(i);
start.set(start2d.getX(), start2d.getY(), 0.0);
end.set(end2d.getX(), end2d.getY(), 0.0);
transformToWorld.transform(start);
transformToWorld.transform(end);
addLine(start, end, lineWidth, color);
}
if (close)
{
Point2DReadOnly start2d = points.get(points.size() - 1);
Point2DReadOnly end2d = points.get(0);
start.set(start2d.getX(), start2d.getY(), 0.0);
end.set(end2d.getX(), end2d.getY(), 0.0);
transformToWorld.transform(start);
transformToWorld.transform(end);
addLine(start, end, lineWidth, color);
}
}
/**
* Combines the given mesh with the mesh contained in this builder while specifying the color of the
* given mesh.
*
* @param meshDataHolder the mesh to combine. Not modified.
* @param color color of the given mesh. Color accuracy depends on the color palette in
* use.
*/
public void addMesh(MeshDataHolder meshDataHolder, Color color)
{
meshBuilder.addMesh(setColor(meshDataHolder, color));
}
public void addMesh(MeshDataHolder meshDataHolder, Tuple3DReadOnly offset, AxisAngle orientation, Color color)
{
meshBuilder.addMesh(setColor(meshDataHolder, color), offset, orientation);
}
private MeshDataHolder setColor(MeshDataHolder input, Color color)
{
if (input == null)
return null;
Point3D32[] vertices = input.getVertices();
int[] triangleIndices = input.getTriangleIndices();
Vector3D32[] vertexNormals = input.getVertexNormals();
TexCoord2f[] inputTexturePoints = input.getTexturePoints();
TexCoord2f[] outputTexturePoints = new TexCoord2f[inputTexturePoints.length];
float[] textureLocation = getTextureLocation(color);
for (int i = 0; i < inputTexturePoints.length; i++)
outputTexturePoints[i] = new TexCoord2f(textureLocation);
return new MeshDataHolder(vertices, outputTexturePoints, triangleIndices, vertexNormals);
}
public float[] getTextureLocation(Color color)
{
float x;
// if (hueResolution != -1)
x = (float) (color.getHue() / 360.0);
// else if (saturationResolution != -1)
// x = (float) color.getSaturation();
// else
// x = (float) color.getBrightness();
float y = 0.5f;
return new float[] {x, y};
}
public Mesh generateMesh()
{
return meshBuilder.generateMesh();
}
public Material generateMaterial(AssetManager assetManager)
{
Material material = new Material(assetManager, "Common/MatDefs/Light/Lighting.j3md");
Texture texture = assetManager.loadTexture("palette.png");
material.setTexture("DiffuseMap", texture);
material.setColor("Diffuse", ColorRGBA.White);
return material;
}
}
