us.ihmc.scs2.definition.visual.VisualDefinitionFactory Maven / Gradle / Ivy
package us.ihmc.scs2.definition.visual;
import java.net.URL;
import java.net.URLClassLoader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import us.ihmc.euclid.Axis3D;
import us.ihmc.euclid.axisAngle.AxisAngle;
import us.ihmc.euclid.geometry.interfaces.ConvexPolygon2DReadOnly;
import us.ihmc.euclid.geometry.tools.EuclidGeometryTools;
import us.ihmc.euclid.orientation.interfaces.Orientation3DBasics;
import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
import us.ihmc.euclid.shape.convexPolytope.ConvexPolytope3D;
import us.ihmc.euclid.shape.convexPolytope.interfaces.ConvexPolytope3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Box3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Capsule3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Cylinder3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Ellipsoid3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.PointShape3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Ramp3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Shape3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Sphere3DReadOnly;
import us.ihmc.euclid.shape.primitives.interfaces.Torus3DReadOnly;
import us.ihmc.euclid.transform.AffineTransform;
import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
import us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly;
import us.ihmc.euclid.tuple3D.Vector3D;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
import us.ihmc.log.LogTools;
import us.ihmc.scs2.definition.geometry.ArcTorus3DDefinition;
import us.ihmc.scs2.definition.geometry.Box3DDefinition;
import us.ihmc.scs2.definition.geometry.Capsule3DDefinition;
import us.ihmc.scs2.definition.geometry.Cone3DDefinition;
import us.ihmc.scs2.definition.geometry.ConvexPolytope3DDefinition;
import us.ihmc.scs2.definition.geometry.Cylinder3DDefinition;
import us.ihmc.scs2.definition.geometry.Ellipsoid3DDefinition;
import us.ihmc.scs2.definition.geometry.ExtrudedPolygon2DDefinition;
import us.ihmc.scs2.definition.geometry.GeometryDefinition;
import us.ihmc.scs2.definition.geometry.HemiEllipsoid3DDefinition;
import us.ihmc.scs2.definition.geometry.ModelFileGeometryDefinition;
import us.ihmc.scs2.definition.geometry.ModelFileGeometryDefinition.SubMeshDefinition;
import us.ihmc.scs2.definition.geometry.Polygon2DDefinition;
import us.ihmc.scs2.definition.geometry.Polygon3DDefinition;
import us.ihmc.scs2.definition.geometry.PyramidBox3DDefinition;
import us.ihmc.scs2.definition.geometry.Ramp3DDefinition;
import us.ihmc.scs2.definition.geometry.Sphere3DDefinition;
import us.ihmc.scs2.definition.geometry.Torus3DDefinition;
import us.ihmc.scs2.definition.geometry.TruncatedCone3DDefinition;
/**
* This class is a factory that simplifies the construction of {@code VisualDefinition}s.
*/
public class VisualDefinitionFactory
{
private static final MaterialDefinition DEFAULT_MATERIAL = new MaterialDefinition(ColorDefinitions.Black());
/**
* The transform that is used for creating the next visual definition.
*/
private final AffineTransform currentTransform = new AffineTransform();
private final AffineTransform previousTransform = new AffineTransform();
/**
* Output of this factory: the list of visual definitions created so far.
*/
private final List visualDefinitions = new ArrayList<>();
/**
* Default material used for the method without an explicit material. It can be modified by the user
* after construction of the factory.
*/
private MaterialDefinition defaultMaterial = new MaterialDefinition(DEFAULT_MATERIAL);
/**
* New factory, ready to create visuals.
*/
public VisualDefinitionFactory()
{
}
/**
* Output of this factory: the list of visual definitions created so far.
*
* @return the visual definitions this factory has created.
*/
public List getVisualDefinitions()
{
return visualDefinitions;
}
/**
* The default material to use with this factory.
*
* This material is used when adding a visual to this factory without specifying any material or
* color.
*
*
* @return the default material.
*/
public MaterialDefinition getDefaultMaterial()
{
return defaultMaterial;
}
/**
* Changes the default material to a new material that only has the given {@code diffuseColor}
* defined.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* @param diffuseColor the diffuse color used to create the new default material.
* @see ColorDefinitions
*/
public void setDefaultMaterial(ColorDefinition diffuseColor)
{
setDefaultMaterial(new MaterialDefinition(diffuseColor));
}
/**
* Changes the default material.
*
* @param defaultMaterial the new default material.
*/
public void setDefaultMaterial(MaterialDefinition defaultMaterial)
{
this.defaultMaterial = defaultMaterial;
}
/**
* The transform that is used to create the visual definitions. Modifying it results in modifying
* the pose/scale of the next visual definitions, the ones that are already created do not change.
*
* @return the current transform.
*/
public AffineTransform getCurrentTransform()
{
return currentTransform;
}
/**
* Sets the transform to identity, so the next visuals will have no additional offset regarding
* their pose.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* @see AffineTransform#setIdentity()
*/
public void identity()
{
identity(false);
}
/**
* Sets the transform to identity, so the next visuals will have no additional offset regarding
* their pose.
*
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see AffineTransform#setIdentity()
*/
public void identity(boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().setIdentity();
}
currentTransform.setIdentity();
}
/**
* Appends the given {@code transform} to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param transform the rigid-body transform to append to the factory's transform. Not modified.
* @see AffineTransform#multiply(RigidBodyTransformReadOnly)
*/
public void appendTransform(RigidBodyTransformReadOnly transform)
{
appendTransform(transform, false);
}
/**
* Appends the given {@code transform} to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param transform the rigid-body transform to append to the factory's transform. Not
* modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see AffineTransform#multiply(RigidBodyTransformReadOnly)
*/
public void appendTransform(RigidBodyTransformReadOnly transform, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().multiply(transform);
}
currentTransform.multiply(transform);
}
/**
* Appends a translation to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* Use this method if the translation (x, y, z) is expressed in the local coordinates described by
* the factory's transform. Otherwise, use {@link #prependTranslation(double, double, double)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param x the translation distance along the x-axis.
* @param y the translation distance along the y-axis.
* @param z the translation distance along the z-axis.
* @see AffineTransform#appendTranslation(double, double, double)
*/
public void appendTranslation(double x, double y, double z)
{
appendTranslation(x, y, z, false);
}
/**
* Appends a translation to the factory's transform.
*
* Use this method if the translation (x, y, z) is expressed in the local coordinates described by
* the factory's transform. Otherwise, use {@link #prependTranslation(double, double, double)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param x the translation distance along the x-axis.
* @param y the translation distance along the y-axis.
* @param z the translation distance along the z-axis.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see AffineTransform#appendTranslation(double, double, double)
*/
public void appendTranslation(double x, double y, double z, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().appendTranslation(x, y, z);
}
currentTransform.appendTranslation(x, y, z);
}
/**
* Appends a translation to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* Use this method if the {@code translation} is expressed in the local coordinates described by the
* factory's transform. Otherwise, use {@link #prependTranslation(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param translation tuple containing the translation to apply to the factory's transform. Not
* modified.
* @see AffineTransform#appendTranslation(Tuple3DReadOnly)
*/
public void appendTranslation(Tuple3DReadOnly translation)
{
appendTranslation(translation, false);
}
/**
* Appends a translation to the factory's transform.
*
* Use this method if the {@code translation} is expressed in the local coordinates described by the
* factory's transform. Otherwise, use {@link #prependTranslation(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param translation tuple containing the translation to apply to the factory's transform.
* Not modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see AffineTransform#appendTranslation(Tuple3DReadOnly)
*/
public void appendTranslation(Tuple3DReadOnly translation, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().appendTranslation(translation);
}
currentTransform.appendTranslation(translation);
}
/**
* Convenience method that creates an axis-angle and appends it to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param rotationAngle the rotation angle magnitude in radians.
* @param rotationAxis the axis of rotation, expected to be a unit-vector. Not modified.
* @see Orientation3DBasics#append(Orientation3DReadOnly)
*/
public void appendRotation(double rotationAngle, Vector3DReadOnly rotationAxis)
{
appendRotation(rotationAngle, rotationAxis, false);
}
/**
* Convenience method that creates an axis-angle and appends it to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param rotationAngle the rotation angle magnitude in radians.
* @param rotationAxis the axis of rotation, expected to be a unit-vector. Not modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see Orientation3DBasics#append(Orientation3DReadOnly)
*/
public void appendRotation(double rotationAngle, Vector3DReadOnly rotationAxis, boolean applyToAllVisuals)
{
appendRotation(new AxisAngle(rotationAxis, rotationAngle), applyToAllVisuals);
}
/**
* Appends the given orientation to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param orientation the orientation to append to the factory's transform. Not modified.
* @see Orientation3DBasics#append(Orientation3DReadOnly)
*/
public void appendRotation(Orientation3DReadOnly orientation)
{
appendRotation(orientation, false);
}
/**
* Appends the given orientation to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param orientation the orientation to append to the factory's transform. Not modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see Orientation3DBasics#append(Orientation3DReadOnly)
*/
public void appendRotation(Orientation3DReadOnly orientation, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().appendOrientation(orientation);
}
currentTransform.appendOrientation(orientation);
}
/**
* Appends the scale factor to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactor the scale to apply.
*/
public void appendScale(double scaleFactor)
{
appendScale(scaleFactor, false);
}
/**
* Appends the scale factor to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactor the scale to apply.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
*/
public void appendScale(double scaleFactor, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().appendScale(scaleFactor);
}
currentTransform.appendScale(scaleFactor);
}
/**
* Appends the scale factors to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* If the scale factor are different for each axis, pay attention to whether you should use append
* or prepend. When using append, the scale factors are applied to the local axes that the factory's
* transform describe. If the scale factors are meant to scale the axes of the world frame, consider
* using {@link #prependScale(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactors the scale to append.
*/
public void appendScale(Tuple3DReadOnly scaleFactors)
{
currentTransform.appendScale(scaleFactors);
}
/**
* Appends the scale factors to the factory's transform.
*
* If the scale factor are different for each axis, pay attention to whether you should use append
* or prepend. When using append, the scale factors are applied to the local axes that the factory's
* transform describe. If the scale factors are meant to scale the axes of the world frame, consider
* using {@link #prependScale(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactors the scale to append.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
*/
public void appendScale(Tuple3DReadOnly scaleFactors, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().appendScale(scaleFactors);
}
currentTransform.appendScale(scaleFactors);
}
/**
* Prepends the given {@code transform} to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param transform the rigid-body transform to prepend to the factory's transform. Not modified.
* @see AffineTransform#multiply(RigidBodyTransformReadOnly)
*/
public void prependTransform(RigidBodyTransformReadOnly transform)
{
prependTransform(transform, false);
}
/**
* Prepends the given {@code transform} to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param transform the rigid-body transform to prepend to the factory's transform. Not
* modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see AffineTransform#multiply(RigidBodyTransformReadOnly)
*/
public void prependTransform(RigidBodyTransformReadOnly transform, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().preMultiply(transform);
}
currentTransform.preMultiply(transform);
}
/**
* Adds the translation (x, y, z) to the factory's transform assuming it is expressed in the world
* coordinates.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* If the translation is expressed in the local coordinates described by the factory's transform,
* use {@link #appendTranslation(double, double, double)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param x the translation distance along the x-axis.
* @param y the translation distance along the y-axis.
* @param z the translation distance along the z-axis.
*/
public void prependTranslation(double x, double y, double z)
{
prependTranslation(x, y, z, false);
}
/**
* Adds the translation (x, y, z) to the factory's transform assuming it is expressed in the world
* coordinates.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* If the translation is expressed in the local coordinates described by the factory's transform,
* use {@link #appendTranslation(double, double, double)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param x the translation distance along the x-axis.
* @param y the translation distance along the y-axis.
* @param z the translation distance along the z-axis.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
*/
public void prependTranslation(double x, double y, double z, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().prependTranslation(x, y, z);
}
currentTransform.prependTranslation(x, y, z);
}
/**
* Adds the given {@code translation} to the factory's transform assuming it is expressed in the
* world frame.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* If the {@code translation} is expressed in the local coordinates described by the factory's
* transform, use {@link #appendTranslation(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param translation tuple containing the translation to apply to this pose 3D. Not modified.
*/
public void prependTranslation(Tuple3DReadOnly translation)
{
prependTranslation(translation, false);
}
/**
* Adds the given {@code translation} to the factory's transform assuming it is expressed in the
* world frame.
*
* If the {@code translation} is expressed in the local coordinates described by the factory's
* transform, use {@link #appendTranslation(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param translation tuple containing the translation to apply to this pose 3D. Not modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
*/
public void prependTranslation(Tuple3DReadOnly translation, boolean applyToAllVisuals)
{
prependTranslation(translation.getX(), translation.getY(), translation.getZ(), applyToAllVisuals);
}
/**
* Convenience method that creates an axis-angle and prepends it to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param rotationAngle the rotation angle magnitude in radians.
* @param rotationAxis the axis of rotation, expected to be a unit-vector. Not modified.
* @see Orientation3DBasics#prepend(Orientation3DReadOnly)
*/
public void prependRotation(double rotationAngle, Vector3DReadOnly rotationAxis)
{
prependRotation(rotationAngle, rotationAxis);
}
/**
* Convenience method that creates an axis-angle and prepends it to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param rotationAngle the rotation angle magnitude in radians.
* @param rotationAxis the axis of rotation, expected to be a unit-vector. Not modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see Orientation3DBasics#prepend(Orientation3DReadOnly)
*/
public void prependRotation(double rotationAngle, Vector3DReadOnly rotationAxis, boolean applyToAllVisuals)
{
prependRotation(new AxisAngle(rotationAxis, rotationAngle), applyToAllVisuals);
}
/**
* Prepends the given orientation to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param orientation the orientation to prepend to the factory's transform. Not modified.
* @see Orientation3DBasics#prepend(Orientation3DReadOnly)
*/
public void prependRotation(Orientation3DReadOnly orientation)
{
prependRotation(orientation, false);
}
/**
* Prepends the given orientation to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param orientation the orientation to prepend to the factory's transform. Not modified.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
* @see Orientation3DBasics#prepend(Orientation3DReadOnly)
*/
public void prependRotation(Orientation3DReadOnly orientation, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().prependOrientation(orientation);
}
currentTransform.prependOrientation(orientation);
}
/**
* Prepends the scale factor to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactor the scale to apply.
*/
public void prependScale(double scaleFactor)
{
prependScale(scaleFactor, false);
}
/**
* Prepends the scale factor to the factory's transform.
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactor the scale to apply.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
*/
public void prependScale(double scaleFactor, boolean applyToAllVisuals)
{
prependScale(new Vector3D(scaleFactor, scaleFactor, scaleFactor), applyToAllVisuals);
}
/**
* Prepends the scale factors to the factory's transform.
*
* Only the next visuals to be created are affected, the ones already created do not change.
*
*
* If the scale factor are different for each axis, pay attention to whether you should use append
* or prepend. When using prepend, the scale factors are applied to the world frame axes. If the
* scale factors are meant to scale the local axes that the factory's transform describe, consider
* using {@link #appendScale(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactors the scales to prepend.
*/
public void prependScale(Tuple3DReadOnly scaleFactors)
{
prependScale(scaleFactors, false);
}
/**
* Prepends the scale factors to the factory's transform.
*
* If the scale factor are different for each axis, pay attention to whether you should use append
* or prepend. When using prepend, the scale factors are applied to the world frame axes. If the
* scale factors are meant to scale the local axes that the factory's transform describe, consider
* using {@link #appendScale(Tuple3DReadOnly)}.
*
*
* The factory's transform can be reset to identity at any time using {@link #identity()}.
*
*
* @param scaleFactors the scales to prepend.
* @param applyToAllVisuals whether this operation should be applied to the existing visuals as
* well.
*/
public void prependScale(Tuple3DReadOnly scaleFactors, boolean applyToAllVisuals)
{
if (applyToAllVisuals)
{
for (int i = 0; i < visualDefinitions.size(); i++)
visualDefinitions.get(i).getOriginPose().prependScale(scaleFactors);
}
currentTransform.prependScale(scaleFactors);
}
/**
* Saves the current transform.
*/
public void saveCurrentTransform()
{
previousTransform.set(currentTransform);
}
/**
* Resets the current transform to its value when it was last saved via
* {@link #saveCurrentTransform()}.
*/
public void resetCurrentTransform()
{
currentTransform.set(previousTransform);
}
/**
* Adds a visual definition to this factory. It is not modified, but it is stored in this factory
* and is subject to future modifications done through this factory interface.
*
* @param visual the visual definition to add to this factory. The visual will be part of
* {@link #getVisualDefinitions()}.
* @return the visual itself.
*/
public VisualDefinition addVisualDefinition(VisualDefinition visual)
{
visualDefinitions.add(visual);
return visual;
}
/**
* Creates and adds a new visual definition for the given geometry.
*
* The pose of the new visual is initialized to the current value of {@link #getCurrentTransform()}.
*
*
* The new visual will use {@link #getDefaultMaterial()} for its material definition.
*
*
* @param geometry the geometry of the new visual.
* @return the new visual.
*/
public VisualDefinition addGeometryDefinition(GeometryDefinition geometry)
{
return addGeometryDefinition(geometry, defaultMaterial);
}
/**
* Creates and adds a new visual definition for the given geometry.
*
* The pose of the new visual is initialized to the current value of {@link #getCurrentTransform()}.
*
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* @param geometry the geometry of the new visual.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addGeometryDefinition(GeometryDefinition geometry, ColorDefinition diffuseColor)
{
return addGeometryDefinition(geometry, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds a new visual definition for the given geometry.
*
* The pose of the new visual is initialized to the current value of {@link #getCurrentTransform()}.
*
*
* @param geometry the geometry of the new visual.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addGeometryDefinition(GeometryDefinition geometry, MaterialDefinition material)
{
VisualDefinition visual = new VisualDefinition(new AffineTransform(currentTransform), geometry, material);
return addVisualDefinition(visual);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* @param fileURL the URL pointing to the model file.
* @return the new visual.
*/
public VisualDefinition addModelFile(URL fileURL)
{
return addModelFile(fileURL, null);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* The given material is typically used to override the model's material.
*
*
* @param fileURL the URL pointing to the model file.
* @param material the material expected to be used to override the model's material.
* @return the new visual.
*/
public VisualDefinition addModelFile(URL fileURL, MaterialDefinition material)
{
if (fileURL == null)
{
LogTools.error("The given fileURL is null.");
return null;
}
return addModelFile(fileURL.getFile(), material);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* @param fileName the path to the model file.
* @return the new visual.
*/
public VisualDefinition addModelFile(String fileName)
{
return addModelFile(fileName, null);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* @param fileName the path to the model file.
* @param resourceDirectories the directories where resources potentially needed by the model file
* can be found.
* @param resourceClassLoader allows to provide a custom resource loader. Particularly useful for
* loading a model file that is not on the class path. See
* {@link URLClassLoader}.
* @return the new visual.
*/
public VisualDefinition addModelFile(String fileName, List resourceDirectories, ClassLoader resourceClassLoader)
{
return addModelFile(fileName, resourceDirectories, resourceClassLoader, null);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* The given material is typically used to override the model's material.
*
*
* @param fileName the path to the model file.
* @param submesh the name of the submesh. The submesh is expected to be defined in the
* model file.
* @param centerSubmesh when {@code true}, the vertices of the submesh are expected to be
* centered at (0,0,0), removing any transform on the submesh.
* @param resourceDirectories the directories where resources potentially needed by the model file
* can be found.
* @param resourceClassLoader allows to provide a custom resource loader. Particularly useful for
* loading a model file that is not on the class path. See
* {@link URLClassLoader}.
* @return the new visual.
*/
public VisualDefinition addModelFile(String fileName,
String submesh,
boolean centerSubmesh,
List resourceDirectories,
ClassLoader resourceClassLoader)
{
return addModelFile(fileName, submesh, centerSubmesh, resourceDirectories, resourceClassLoader, null);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* The given material is typically used to override the model's material.
*
*
* @param fileName the path to the model file.
* @param material the material expected to be used to override the model's material.
* @return the new visual.
*/
public VisualDefinition addModelFile(String fileName, MaterialDefinition material)
{
if (fileName == null || fileName.equals(""))
{
LogTools.error("Error importing model file, filename is null or empty");
return null;
}
ModelFileGeometryDefinition modelFileGeometryDefinition = new ModelFileGeometryDefinition();
modelFileGeometryDefinition.setFileName(fileName);
return addGeometryDefinition(modelFileGeometryDefinition, material);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* The given material is typically used to override the model's material.
*
*
* @param fileName the path to the model file.
* @param resourceDirectories the directories where resources potentially needed by the model file
* can be found.
* @param resourceClassLoader allows to provide a custom resource loader. Particularly useful for
* loading a model file that is not on the class path. See
* {@link URLClassLoader}.
* @param material the material expected to be used to override the model's material.
* @return the new visual.
*/
public VisualDefinition addModelFile(String fileName, List resourceDirectories, ClassLoader resourceClassLoader, MaterialDefinition material)
{
return addModelFile(fileName, null, false, resourceDirectories, resourceClassLoader, material);
}
/**
* Creates and adds a new visual that can be used to import the model file.
*
* The given material is typically used to override the model's material.
*
*
* @param fileName the path to the model file.
* @param submesh the name of the submesh. The submesh is expected to be defined in the
* model file.
* @param centerSubmesh when {@code true}, the vertices of the submesh are expected to be
* centered at (0,0,0), removing any transform on the submesh.
* @param resourceDirectories the directories where resources potentially needed by the model file
* can be found.
* @param resourceClassLoader allows to provide a custom resource loader. Particularly useful for
* loading a model file that is not on the class path. See
* {@link URLClassLoader}.
* @param material the material expected to be used to override the model's material.
* @return the new visual.
*/
public VisualDefinition addModelFile(String fileName,
String submesh,
boolean centerSubmesh,
List resourceDirectories,
ClassLoader resourceClassLoader,
MaterialDefinition material)
{
ModelFileGeometryDefinition modelFileGeometryDefinition = new ModelFileGeometryDefinition(fileName);
modelFileGeometryDefinition.setResourceDirectories(resourceDirectories);
if (submesh != null)
modelFileGeometryDefinition.setSubmeshes(Collections.singletonList(new SubMeshDefinition(submesh, centerSubmesh)));
modelFileGeometryDefinition.setResourceClassLoader(resourceClassLoader);
return addGeometryDefinition(modelFileGeometryDefinition, material);
}
/**
* Creates and adds a new visual that represents the given shape.
*
* @param shape the 3D shape to creates a visual definition for. Not modified.
* @return the new visual or {@code null} if the shape is not supported.
*/
public VisualDefinition addShape(Shape3DReadOnly shape)
{
return addShape(shape, defaultMaterial);
}
/**
* Creates and adds a new visual that represents the given shape.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* @param shape the 3D shape to creates a visual definition for. Not modified.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual or {@code null} if the shape is not supported.
* @see ColorDefinitions
*/
public VisualDefinition addShape(Shape3DReadOnly shape, ColorDefinition diffuseColor)
{
return addShape(shape, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds a new visual that represents the given shape.
*
* @param shape the 3D shape to creates a visual definition for. Not modified.
* @param material the material of the new visual.
* @return the new visual or {@code null} if the shape is not supported.
*/
public VisualDefinition addShape(Shape3DReadOnly shape, MaterialDefinition material)
{
// Avoid using the save/resetCurrentTransform feature and leave it for the user.
AffineTransform localSaveCurrentTransform = new AffineTransform(currentTransform);
VisualDefinition visual;
if (shape instanceof Box3DReadOnly)
{
Box3DReadOnly box = (Box3DReadOnly) shape;
appendTransform(box.getPose());
visual = addBox(box.getSizeX(), box.getSizeY(), box.getSizeZ(), true, material);
}
else if (shape instanceof Capsule3DReadOnly)
{
Capsule3DReadOnly capsule = (Capsule3DReadOnly) shape;
appendTranslation(capsule.getPosition());
appendRotation(EuclidGeometryTools.axisAngleFromZUpToVector3D(capsule.getAxis()));
visual = addCapsule(capsule.getLength(), capsule.getRadius(), material);
}
else if (shape instanceof ConvexPolytope3DReadOnly)
{
ConvexPolytope3DReadOnly convexPolytope = (ConvexPolytope3DReadOnly) shape;
visual = addGeometryDefinition(new ConvexPolytope3DDefinition(new ConvexPolytope3D(convexPolytope)), material);
}
else if (shape instanceof Cylinder3DReadOnly)
{
Cylinder3DReadOnly cylinder = (Cylinder3DReadOnly) shape;
appendTranslation(cylinder.getPosition());
appendRotation(EuclidGeometryTools.axisAngleFromZUpToVector3D(cylinder.getAxis()));
visual = addCylinder(cylinder.getLength(), cylinder.getRadius(), material);
}
else if (shape instanceof Ellipsoid3DReadOnly)
{
Ellipsoid3DReadOnly ellipsoid = (Ellipsoid3DReadOnly) shape;
appendTransform(ellipsoid.getPose());
visual = addEllipsoid(ellipsoid.getRadiusX(), ellipsoid.getRadiusY(), ellipsoid.getRadiusZ(), material);
}
else if (shape instanceof PointShape3DReadOnly)
{
PointShape3DReadOnly pointShape = (PointShape3DReadOnly) shape;
appendTranslation(pointShape);
visual = addSphere(0.005, material); // Arbitrary radius
}
else if (shape instanceof Ramp3DReadOnly)
{
Ramp3DReadOnly ramp = (Ramp3DReadOnly) shape;
appendTransform(ramp.getPose());
appendTranslation(-0.5 * ramp.getSizeX(), 0.0, 0.0);
visual = addRamp(ramp.getSizeX(), ramp.getSizeY(), ramp.getSizeZ(), material);
}
else if (shape instanceof Sphere3DReadOnly)
{
Sphere3DReadOnly sphere = (Sphere3DReadOnly) shape;
appendTranslation(sphere.getPosition());
visual = addSphere(sphere.getRadius(), material);
}
else if (shape instanceof Torus3DReadOnly)
{
Torus3DReadOnly torus = (Torus3DReadOnly) shape;
appendTranslation(torus.getPosition());
appendRotation(EuclidGeometryTools.axisAngleFromZUpToVector3D(torus.getAxis()));
visual = addTorus(torus.getRadius(), torus.getTubeRadius(), material);
}
else
{
LogTools.error("Unsupported shape: {}", shape);
return null;
}
currentTransform.set(localSaveCurrentTransform);
return visual;
}
/**
* Creates and adds visual for a 3D coordinate system.
*
* Expected result for {@code addCoordinateSystem(0.25, ColorDefinitions.Cyan())}:
* 
*
*
* @param length the length of each arrow.
*/
public void addCoordinateSystem(double length)
{
addCoordinateSystem(length, defaultMaterial);
}
/**
* Creates and adds visual for a 3D coordinate system.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addCoordinateSystem(0.25, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of each arrow.
* @param arrowHeadDiffuseColor the diffuse color to use for the head of the arrows. Use
* {@code null} to match the color of the body and head for each arrow.
* @see ColorDefinitions
*/
public void addCoordinateSystem(double length, ColorDefinition arrowHeadDiffuseColor)
{
addCoordinateSystem(length, arrowHeadDiffuseColor == null ? null : new MaterialDefinition(arrowHeadDiffuseColor));
}
/**
* Creates and adds visual for a 3D coordinate system.
*
* Expected result for {@code addCoordinateSystem(0.25, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of each arrow.
* @param arrowHeadMaterial the material to use for the head of the arrows. Use {@code null} to
* match the material of the body and head for each arrow.
*/
public void addCoordinateSystem(double length, MaterialDefinition arrowHeadMaterial)
{
addCoordinateSystem(length,
new MaterialDefinition(ColorDefinitions.Red()),
new MaterialDefinition(ColorDefinitions.Lime()), // Lime is actually "full green" i.e. (r=0, g=1, b=0)
new MaterialDefinition(ColorDefinitions.Blue()),
arrowHeadMaterial);
}
/**
* Creates and adds visual for a 3D coordinate system.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addCoordinateSystem(0.25, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of each arrow.
* @param xAxisDiffuseColor the diffuse color for the x-axis.
* @param yAxisDiffuseColor the diffuse color for the y-axis.
* @param zAxisDiffuseColor the diffuse color for the z-axis.
* @param arrowHeadDiffuseColor the diffuse color to use for the head of the arrows. Use
* {@code null} to match the color of the body and head for each arrow.
* @see ColorDefinitions
*/
public void addCoordinateSystem(double length,
ColorDefinition xAxisDiffuseColor,
ColorDefinition yAxisDiffuseColor,
ColorDefinition zAxisDiffuseColor,
ColorDefinition arrowHeadDiffuseColor)
{
addCoordinateSystem(length,
new MaterialDefinition(xAxisDiffuseColor),
new MaterialDefinition(yAxisDiffuseColor),
new MaterialDefinition(zAxisDiffuseColor),
arrowHeadDiffuseColor == null ? null : new MaterialDefinition(arrowHeadDiffuseColor));
}
/**
* Creates and adds visual for a 3D coordinate system.
*
* Expected result for {@code addCoordinateSystem(0.25, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of each arrow.
* @param xAxisMaterial the material for the x-axis.
* @param yAxisMaterial the material for the y-axis.
* @param zAxisMaterial the material for the z-axis.
* @param arrowHeadMaterial the material to use for the head of the arrows. Use {@code null} to
* match the material of the body and head for each arrow.
*/
public void addCoordinateSystem(double length,
MaterialDefinition xAxisMaterial,
MaterialDefinition yAxisMaterial,
MaterialDefinition zAxisMaterial,
MaterialDefinition arrowHeadMaterial)
{
addArrow(Axis3D.X, length, xAxisMaterial, arrowHeadMaterial == null ? xAxisMaterial : arrowHeadMaterial);
addArrow(Axis3D.Y, length, yAxisMaterial, arrowHeadMaterial == null ? yAxisMaterial : arrowHeadMaterial);
addArrow(Axis3D.Z, length, zAxisMaterial, arrowHeadMaterial == null ? zAxisMaterial : arrowHeadMaterial);
}
/**
* Creates and adds visual for an arrow.
*
* Expected result for
* {@code addArrow(Axis3D.Z, 0.3, ColorDefinitions.Tomato(), ColorDefinitions.BlueViolet())}:
*
*
*
* @param axis the axis along which the arrow is to be drawn.
* @param length the total length of the arrow
*/
public void addArrow(Axis3D axis, double length)
{
addArrow(axis, length, defaultMaterial, defaultMaterial);
}
/**
* Creates and adds visual for an arrow.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for
* {@code addArrow(Axis3D.Z, 0.3, ColorDefinitions.Tomato(), ColorDefinitions.BlueViolet())}:
*
*
*
* @param axis the axis along which the arrow is to be drawn.
* @param length the total length of the arrow
* @param bodyDiffuseColor the diffuse color for the body.
* @param headDiffuseColor the diffuse color for the head.
* @see ColorDefinitions
*/
public void addArrow(Axis3D axis, double length, ColorDefinition bodyDiffuseColor, ColorDefinition headDiffuseColor)
{
addArrow(axis, length, new MaterialDefinition(bodyDiffuseColor), new MaterialDefinition(headDiffuseColor));
}
/**
* Creates and adds visual for an arrow.
*
* Expected result for
* {@code addArrow(Axis3D.Z, 0.3, ColorDefinitions.Tomato(), ColorDefinitions.BlueViolet())}:
*
*
*
* @param axis the axis along which the arrow is to be drawn.
* @param length the total length of the arrow
* @param bodyMaterial the material for the body.
* @param headMaterial the material for the head.
*/
public void addArrow(Axis3D axis, double length, MaterialDefinition bodyMaterial, MaterialDefinition headMaterial)
{
double coneHeight = 0.1 * length;
double cylinderLength = length - coneHeight;
double radius = 0.02 * length;
double coneRadius = 2.0 * radius;
// Avoid using the save/resetCurrentTransform feature and leave it for the user.
AffineTransform localSaveCurrentTransform = new AffineTransform(currentTransform);
switch (axis)
{
case X:
appendRotation(Math.PI / 2.0, Axis3D.Y);
break;
case Y:
appendRotation(-Math.PI / 2.0, Axis3D.X);
break;
case Z:
break;
default:
LogTools.error("Unexpected axis value: {}", axis);
break;
}
appendTranslation(0.0, 0.0, 0.5 * cylinderLength);
addCylinder(cylinderLength, radius, bodyMaterial);
appendTranslation(0.0, 0.0, 0.5 * cylinderLength);
addCone(coneHeight, coneRadius, headMaterial);
currentTransform.set(localSaveCurrentTransform);
}
/**
* Creates and adds the visual for a 3D box.
*
* Expected result for {@code addBox(0.1, 0.2, 0.3, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @return the new visual.
*/
public VisualDefinition addBox(double sizeX, double sizeY, double sizeZ)
{
return addBox(sizeX, sizeY, sizeZ, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D box.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addBox(0.1, 0.2, 0.3, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addBox(double sizeX, double sizeY, double sizeZ, ColorDefinition diffuseColor)
{
return addBox(sizeX, sizeY, sizeZ, true, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D box.
*
* Expected result for {@code addBox(0.1, 0.2, 0.3, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addBox(double sizeX, double sizeY, double sizeZ, MaterialDefinition material)
{
return addBox(sizeX, sizeY, sizeZ, true, material);
}
/**
* Creates and adds the visual for a 3D box.
*
* Expected result for {@code addBox(0.1, 0.2, 0.3, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @param centeredInTheCenter whether the box's origin should its center ({@code true}) or its z-
* face center ({@code false}).
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addBox(double sizeX, double sizeY, double sizeZ, boolean centeredInTheCenter, MaterialDefinition material)
{
return addGeometryDefinition(new Box3DDefinition(sizeX, sizeY, sizeZ, centeredInTheCenter), material);
}
/**
* Creates and adds the visual for a 3D ramp.
*
* Expected result for {@code addRamp(0.3, 0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @return the new visual.
*/
public VisualDefinition addRamp(double sizeX, double sizeY, double sizeZ)
{
return addRamp(sizeX, sizeY, sizeZ, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D ramp.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addRamp(0.3, 0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addRamp(double sizeX, double sizeY, double sizeZ, ColorDefinition diffuseColor)
{
return addRamp(sizeX, sizeY, sizeZ, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D ramp.
*
* Expected result for {@code addRamp(0.3, 0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param sizeX the size along the x-axis.
* @param sizeY the size along the y-axis.
* @param sizeZ the size along the z-axis.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addRamp(double sizeX, double sizeY, double sizeZ, MaterialDefinition material)
{
return addGeometryDefinition(new Ramp3DDefinition(sizeX, sizeY, sizeZ), material);
}
/**
* Creates and adds the visual for a 3D sphere.
*
* Expected result for {@code addSphere(0.15, ColorDefinitions.Cyan())}:
*
*
*
* @param radius the sphere radius.
* @return the new visual.
*/
public VisualDefinition addSphere(double radius)
{
return addSphere(radius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D sphere.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addSphere(0.15, ColorDefinitions.Cyan())}:
*
*
*
* @param radius the sphere radius.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addSphere(double radius, ColorDefinition diffuseColor)
{
return addSphere(radius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D sphere.
*
* Expected result for {@code addSphere(0.15, ColorDefinitions.Cyan())}:
*
*
*
* @param radius the sphere radius.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addSphere(double radius, MaterialDefinition material)
{
return addGeometryDefinition(new Sphere3DDefinition(radius), material);
}
/**
* Creates and adds the visual for a 3D capsule.
*
* Expected result for {@code addCapsule(0.2, 0.05, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of the cylindrical part of the capsule.
* @param radius the capsule radius.
* @return the new visual.
*/
public VisualDefinition addCapsule(double length, double radius)
{
return addCapsule(length, radius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D capsule.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addCapsule(0.2, 0.05, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of the cylindrical part of the capsule.
* @param radius the capsule radius.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addCapsule(double length, double radius, ColorDefinition diffuseColor)
{
return addCapsule(length, radius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D capsule.
*
* Expected result for {@code addCapsule(0.2, 0.05, ColorDefinitions.Cyan())}:
*
*
*
* @param length the length of the cylindrical part of the capsule.
* @param radius the capsule radius.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addCapsule(double length, double radius, MaterialDefinition material)
{
return addGeometryDefinition(new Capsule3DDefinition(length, radius), material);
}
/**
* Creates and adds the visual for a 3D ellipsoid.
*
* Expected result for {@code addEllipsoid(0.025, 0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param radiusX radius of the ellipsoid along the x-axis.
* @param radiusY radius of the ellipsoid along the y-axis.
* @param radiusZ radius of the ellipsoid along the z-axis.
* @return the new visual.
*/
public VisualDefinition addEllipsoid(double radiusX, double radiusY, double radiusZ)
{
return addEllipsoid(radiusX, radiusY, radiusZ, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D ellipsoid.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addEllipsoid(0.025, 0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param radiusX radius of the ellipsoid along the x-axis.
* @param radiusY radius of the ellipsoid along the y-axis.
* @param radiusZ radius of the ellipsoid along the z-axis.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addEllipsoid(double radiusX, double radiusY, double radiusZ, ColorDefinition diffuseColor)
{
return addEllipsoid(radiusX, radiusY, radiusZ, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D ellipsoid.
*
* Expected result for {@code addEllipsoid(0.025, 0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param radiusX radius of the ellipsoid along the x-axis.
* @param radiusY radius of the ellipsoid along the y-axis.
* @param radiusZ radius of the ellipsoid along the z-axis.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addEllipsoid(double radiusX, double radiusY, double radiusZ, MaterialDefinition material)
{
return addGeometryDefinition(new Ellipsoid3DDefinition(radiusX, radiusY, radiusZ), material);
}
/**
* Creates and adds the visual for a 3D cylinder.
*
* Expected result for {@code addCylinder(0.2, 0.05, ColorDefinitions.Cyan())}:
*
*
*
* @param length the cylinder length.
* @param radius the cylinder radius.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addCylinder(double length, double radius)
{
return addCylinder(length, radius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D cylinder.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addCylinder(0.2, 0.05, ColorDefinitions.Cyan())}:
*
*
*
* @param length the cylinder length.
* @param radius the cylinder radius.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addCylinder(double length, double radius, ColorDefinition diffuseColor)
{
return addCylinder(length, radius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D cylinder.
*
* Expected result for {@code addCylinder(0.2, 0.05, ColorDefinitions.Cyan())}:
*
*
*
* @param length the cylinder length.
* @param radius the cylinder radius.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addCylinder(double length, double radius, MaterialDefinition material)
{
return addGeometryDefinition(new Cylinder3DDefinition(length, radius, false), material);
}
/**
* Creates and adds the visual for a 3D cone.
*
* Expected result for {@code addCone(0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param height the cone length.
* @param radius the cone radius.
* @return the new visual.
*/
public VisualDefinition addCone(double height, double radius)
{
return addCone(height, radius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D cone.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addCone(0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param height the cone length.
* @param radius the cone radius.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addCone(double height, double radius, ColorDefinition diffuseColor)
{
return addCone(height, radius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D cone.
*
* Expected result for {@code addCone(0.2, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param height the cone length.
* @param radius the cone radius.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addCone(double height, double radius, MaterialDefinition material)
{
return addGeometryDefinition(new Cone3DDefinition(height, radius), material);
}
/**
* Creates and adds the visual for a 3D truncated cone.
*
* Expected result for {@code addTruncatedCone(0.2, 0.1, 0.04, ColorDefinitions.Cyan())}:
*
*
*
* @param height the height of the truncated cone.
* @param topRadius the radius of the top face.
* @param baseRadius the radius of the bottom face.
* @return the new visual.
*/
public VisualDefinition addTruncatedCone(double height, double baseRadius, double topRadius)
{
return addTruncatedCone(height, baseRadius, topRadius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D truncated cone.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addTruncatedCone(0.2, 0.1, 0.04, ColorDefinitions.Cyan())}:
*
*
*
* @param height the height of the truncated cone.
* @param topRadius the radius of the top face.
* @param baseRadius the radius of the bottom face.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addTruncatedCone(double height, double baseRadius, double topRadius, ColorDefinition diffuseColor)
{
return addTruncatedCone(height, baseRadius, topRadius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D truncated cone.
*
* Expected result for {@code addTruncatedCone(0.2, 0.1, 0.04, ColorDefinitions.Cyan())}:
*
*
*
* @param height the height of the truncated cone.
* @param topRadius the radius of the top face.
* @param baseRadius the radius of the bottom face.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addTruncatedCone(double height, double baseRadius, double topRadius, MaterialDefinition material)
{
return addTruncatedCone(height, baseRadius, baseRadius, topRadius, topRadius, material);
}
/**
* Creates and adds the visual for a 3D truncated cone.
*
* Expected result for
* {@code addTruncatedCone(0.175, 0.12, 0.075, 0.03, 0.06, ColorDefinitions.Cyan())}:
*
*
*
* @param height the height of the truncated cone.
* @param topRadiusX the radius of the top face along the x-axis.
* @param topRadiusY the radius of the top face along the y-axis.
* @param baseRadiusX the radius of the bottom face along the x-axis.
* @param baseRadiusY the radius of the bottom face along the y-axis.
* @return the new visual.
*/
public VisualDefinition addTruncatedCone(double height, double baseRadiusX, double baseRadiusY, double topRadiusX, double topRadiusY)
{
return addTruncatedCone(height, baseRadiusX, baseRadiusY, topRadiusX, topRadiusY, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D truncated cone.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for
* {@code addTruncatedCone(0.175, 0.12, 0.075, 0.03, 0.06, ColorDefinitions.Cyan())}:
*
*
*
* @param height the height of the truncated cone.
* @param topRadiusX the radius of the top face along the x-axis.
* @param topRadiusY the radius of the top face along the y-axis.
* @param baseRadiusX the radius of the bottom face along the x-axis.
* @param baseRadiusY the radius of the bottom face along the y-axis.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addTruncatedCone(double height,
double baseRadiusX,
double baseRadiusY,
double topRadiusX,
double topRadiusY,
ColorDefinition diffuseColor)
{
return addTruncatedCone(height, baseRadiusX, baseRadiusY, topRadiusX, topRadiusY, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D truncated cone.
*
* Expected result for
* {@code addTruncatedCone(0.175, 0.12, 0.075, 0.03, 0.06, ColorDefinitions.Cyan())}:
*
*
*
* @param height the height of the truncated cone.
* @param topRadiusX the radius of the top face along the x-axis.
* @param topRadiusY the radius of the top face along the y-axis.
* @param baseRadiusX the radius of the bottom face along the x-axis.
* @param baseRadiusY the radius of the bottom face along the y-axis.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addTruncatedCone(double height,
double baseRadiusX,
double baseRadiusY,
double topRadiusX,
double topRadiusY,
MaterialDefinition material)
{
return addGeometryDefinition(new TruncatedCone3DDefinition(height, topRadiusX, topRadiusY, baseRadiusX, baseRadiusY), material);
}
/**
* Creates and adds the visual for a 3D hemi-ellipsoid.
*
* Expected result for {@code addHemiEllipsoid(0.15, 0.05, 0.225, ColorDefinitions.Cyan())}:
*
*
*
* @param radiusX radius of the hemi-ellipsoid along the x-axis.
* @param radiusY radius of the hemi-ellipsoid along the y-axis.
* @param radiusZ radius of the hemi-ellipsoid along the z-axis.
* @return the new visual.
*/
public VisualDefinition addHemiEllipsoid(double radiusX, double radiusY, double radiusZ)
{
return addHemiEllipsoid(radiusX, radiusY, radiusZ, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D hemi-ellipsoid.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addHemiEllipsoid(0.15, 0.05, 0.225, ColorDefinitions.Cyan())}:
*
*
*
* @param radiusX radius of the hemi-ellipsoid along the x-axis.
* @param radiusY radius of the hemi-ellipsoid along the y-axis.
* @param radiusZ radius of the hemi-ellipsoid along the z-axis.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addHemiEllipsoid(double radiusX, double radiusY, double radiusZ, ColorDefinition diffuseColor)
{
return addHemiEllipsoid(radiusX, radiusY, radiusZ, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D hemi-ellipsoid.
*
* Expected result for {@code addHemiEllipsoid(0.15, 0.05, 0.225, ColorDefinitions.Cyan())}:
*
*
*
* @param radiusX radius of the hemi-ellipsoid along the x-axis.
* @param radiusY radius of the hemi-ellipsoid along the y-axis.
* @param radiusZ radius of the hemi-ellipsoid along the z-axis.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addHemiEllipsoid(double radiusX, double radiusY, double radiusZ, MaterialDefinition material)
{
return addGeometryDefinition(new HemiEllipsoid3DDefinition(radiusX, radiusY, radiusZ), material);
}
/**
* Creates and adds the visual for a 3D torus.
*
* Expected result for {@code addTorus(0.2, 0.025, ColorDefinitions.Cyan())}:
*
*
*
* @param majorRadius the radius from the torus centroid to the tube center.
* @param minorRadius the radius of the tube.
* @return the new visual.
*/
public VisualDefinition addTorus(double majorRadius, double minorRadius)
{
return addTorus(majorRadius, minorRadius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D torus.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addTorus(0.2, 0.025, ColorDefinitions.Cyan())}:
*
*
*
* @param majorRadius the radius from the torus centroid to the tube center.
* @param minorRadius the radius of the tube.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addTorus(double majorRadius, double minorRadius, ColorDefinition diffuseColor)
{
return addTorus(majorRadius, minorRadius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D torus.
*
* Expected result for {@code addTorus(0.2, 0.025, ColorDefinitions.Cyan())}:
*
*
*
* @param majorRadius the radius from the torus centroid to the tube center.
* @param minorRadius the radius of the tube.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addTorus(double majorRadius, double minorRadius, MaterialDefinition material)
{
return addGeometryDefinition(new Torus3DDefinition(majorRadius, minorRadius), material);
}
/**
* Creates and adds the visual for a 3D arc-torus.
*
* Expected result for
* {@code addArcTorus(0.25 * Math.PI, 1.75 * Math.PI, 0.2, 0.025, ColorDefinitions.Cyan())}:
*
*
*
* @param startAngle the angle at which the torus starts. The angle is in radians, it is expressed
* with respect to the x-axis, and a positive angle corresponds to a
* counter-clockwise rotation.
* @param endAngle the angle at which the torus ends. If {@code startAngle == endAngle} the torus
* will be closed. The angle is in radians, it is expressed with respect to the
* x-axis, and a positive angle corresponds to a counter-clockwise rotation.
* @param majorRadius the radius from the torus centroid to the tube center.
* @param minorRadius the radius of the tube.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addArcTorus(double startAngle, double endAngle, double majorRadius, double minorRadius)
{
return addArcTorus(startAngle, endAngle, majorRadius, minorRadius, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D arc-torus.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for
* {@code addArcTorus(0.25 * Math.PI, 1.75 * Math.PI, 0.2, 0.025, ColorDefinitions.Cyan())}:
*
*
*
* @param startAngle the angle at which the torus starts. The angle is in radians, it is expressed
* with respect to the x-axis, and a positive angle corresponds to a
* counter-clockwise rotation.
* @param endAngle the angle at which the torus ends. If {@code startAngle == endAngle} the
* torus will be closed. The angle is in radians, it is expressed with respect
* to the x-axis, and a positive angle corresponds to a counter-clockwise
* rotation.
* @param majorRadius the radius from the torus centroid to the tube center.
* @param minorRadius the radius of the tube.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addArcTorus(double startAngle, double endAngle, double majorRadius, double minorRadius, ColorDefinition diffuseColor)
{
return addArcTorus(startAngle, endAngle, majorRadius, minorRadius, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D arc-torus.
*
* Expected result for
* {@code addArcTorus(0.25 * Math.PI, 1.75 * Math.PI, 0.2, 0.025, ColorDefinitions.Cyan())}:
*
*
*
* @param startAngle the angle at which the torus starts. The angle is in radians, it is expressed
* with respect to the x-axis, and a positive angle corresponds to a
* counter-clockwise rotation.
* @param endAngle the angle at which the torus ends. If {@code startAngle == endAngle} the torus
* will be closed. The angle is in radians, it is expressed with respect to the
* x-axis, and a positive angle corresponds to a counter-clockwise rotation.
* @param majorRadius the radius from the torus centroid to the tube center.
* @param minorRadius the radius of the tube.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addArcTorus(double startAngle, double endAngle, double majorRadius, double minorRadius, MaterialDefinition material)
{
return addGeometryDefinition(new ArcTorus3DDefinition(startAngle, endAngle, majorRadius, minorRadius), material);
}
/**
* Creates and adds the visual for a 3D pyramid-box.
*
* Expected result for {@code addPyramidBox(0.15, 0.075, 0.15, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param boxSizeX the size of the box along the x-axis.
* @param boxSizeY the size of the box along the y-axis.
* @param boxSizeZ the size of the box along the z-axis.
* @param pyramidHeight the height for each pyramid.
* @return the new visual.
*/
public VisualDefinition addPyramidBox(double boxSizeX, double boxSizeY, double boxSizeZ, double pyramidHeight)
{
return addPyramidBox(boxSizeX, boxSizeY, boxSizeZ, pyramidHeight, defaultMaterial);
}
/**
* Creates and adds the visual for a 3D pyramid-box.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for {@code addPyramidBox(0.15, 0.075, 0.15, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param boxSizeX the size of the box along the x-axis.
* @param boxSizeY the size of the box along the y-axis.
* @param boxSizeZ the size of the box along the z-axis.
* @param pyramidHeight the height for each pyramid.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addPyramidBox(double boxSizeX, double boxSizeY, double boxSizeZ, double pyramidHeight, ColorDefinition diffuseColor)
{
return addPyramidBox(boxSizeX, boxSizeY, boxSizeZ, pyramidHeight, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a 3D pyramid-box.
*
* Expected result for {@code addPyramidBox(0.15, 0.075, 0.15, 0.1, ColorDefinitions.Cyan())}:
*
*
*
* @param boxSizeX the size of the box along the x-axis.
* @param boxSizeY the size of the box along the y-axis.
* @param boxSizeZ the size of the box along the z-axis.
* @param pyramidHeight the height for each pyramid.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addPyramidBox(double boxSizeX, double boxSizeY, double boxSizeZ, double pyramidHeight, MaterialDefinition material)
{
return addGeometryDefinition(new PyramidBox3DDefinition(boxSizeX, boxSizeY, boxSizeZ, pyramidHeight), material);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param convexPolygon2D the convex polygon to create a visual for.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(ConvexPolygon2DReadOnly convexPolygon2D)
{
return addPolygon2D(convexPolygon2D, defaultMaterial);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for a polygon 2D:
*
*
*
* @param convexPolygon2D the convex polygon to create a visual for.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addPolygon2D(ConvexPolygon2DReadOnly convexPolygon2D, ColorDefinition diffuseColor)
{
return addPolygon2D(convexPolygon2D, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param convexPolygon2D the convex polygon to create a visual for.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(ConvexPolygon2DReadOnly convexPolygon2D, MaterialDefinition material)
{
return addPolygon2D(convexPolygon2D.getPolygonVerticesView(), !convexPolygon2D.isClockwiseOrdered(), material);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(List polygonPoints, boolean counterClockwiseOrdered)
{
return addPolygon2D(polygonPoints, counterClockwiseOrdered, defaultMaterial);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for a polygon 2D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addPolygon2D(List polygonPoints, boolean counterClockwiseOrdered, ColorDefinition diffuseColor)
{
return addPolygon2D(polygonPoints, counterClockwiseOrdered, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(List polygonPoints, boolean counterClockwiseOrdered, MaterialDefinition material)
{
return addGeometryDefinition(new Polygon2DDefinition(Polygon2DDefinition.toPoint2DDefinitionList(polygonPoints), counterClockwiseOrdered), material);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param counterClockwiseOrdered the winding of the vertices.
* @param material the material of the new visual.
* @param polygonPoints the polygon's vertices.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(MaterialDefinition material, boolean counterClockwiseOrdered, Point2DReadOnly... polygonPoints)
{
return addPolygon2D(Arrays.asList(polygonPoints), counterClockwiseOrdered, material);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(Point2DReadOnly[] polygonPoints, boolean counterClockwiseOrdered)
{
return addPolygon2D(Arrays.asList(polygonPoints), counterClockwiseOrdered, defaultMaterial);
}
/**
* Creates and adds the visual for a polygon 2D.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for a polygon 2D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addPolygon2D(Point2DReadOnly[] polygonPoints, boolean counterClockwiseOrdered, ColorDefinition diffuseColor)
{
return addPolygon2D(Arrays.asList(polygonPoints), counterClockwiseOrdered, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a polygon 2D.
*
* Expected result for a polygon 2D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addPolygon2D(Point2DReadOnly[] polygonPoints, boolean counterClockwiseOrdered, MaterialDefinition material)
{
return addPolygon2D(Arrays.asList(polygonPoints), counterClockwiseOrdered, material);
}
/**
* Creates and adds the visual for a list of 2D polygons.
*
* @param convexPolygon2Ds the list of polygons to create the visuals for.
* @see #addPolygon2D(ConvexPolygon2DReadOnly)
*/
public void addPolygon2Ds(List convexPolygon2Ds)
{
addPolygon2Ds(convexPolygon2Ds, defaultMaterial);
}
/**
* Creates and adds the visual for a list of 2D polygons.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* @param convexPolygon2Ds the list of polygons to create the visuals for.
* @param diffuseColor the diffuse color of the new visual.
* @see #addPolygon2D(ConvexPolygon2DReadOnly, ColorDefinition)
* @see ColorDefinitions
*/
public void addPolygon2Ds(List convexPolygon2Ds, ColorDefinition diffuseColor)
{
addPolygon2Ds(convexPolygon2Ds, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a list of 2D polygons.
*
* @param convexPolygon2Ds the list of polygons to create the visuals for.
* @param material the material of the new visuals.
* @see #addPolygon2D(ConvexPolygon2DReadOnly, MaterialDefinition)
*/
public void addPolygon2Ds(List convexPolygon2Ds, MaterialDefinition material)
{
for (int i = 0; i < convexPolygon2Ds.size(); i++)
{
addPolygon2D(convexPolygon2Ds.get(i), material);
}
}
/**
* Creates and adds the visual for a polygon 3D.
*
* Expected result for a polygon 3D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @return the new visual.
*/
public VisualDefinition addPolygon3D(List polygonPoints, boolean counterClockwiseOrdered)
{
return addPolygon3D(polygonPoints, counterClockwiseOrdered, defaultMaterial);
}
/**
* Creates and adds the visual for a polygon 3D.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for a polygon 3D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addPolygon3D(List polygonPoints, boolean counterClockwiseOrdered, ColorDefinition diffuseColor)
{
return addPolygon3D(polygonPoints, counterClockwiseOrdered, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a polygon 3D.
*
* Expected result for a polygon 3D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addPolygon3D(List polygonPoints, boolean counterClockwiseOrdered, MaterialDefinition material)
{
return addGeometryDefinition(new Polygon3DDefinition(Polygon3DDefinition.toPoint3DDefinitionList(polygonPoints), counterClockwiseOrdered), material);
}
/**
* Creates and adds the visual for a polygon 3D.
*
* Expected result for a polygon 3D:
*
*
*
* @param counterClockwiseOrdered the winding of the vertices.
* @param material the material of the new visual.
* @param polygonPoints the polygon's vertices.
* @return the new visual.
*/
public VisualDefinition addPolygon3D(MaterialDefinition material, boolean counterClockwiseOrdered, Point3DReadOnly... polygonPoints)
{
return addPolygon3D(Arrays.asList(polygonPoints), counterClockwiseOrdered, material);
}
/**
* Creates and adds the visual for a polygon 3D.
*
* Expected result for a polygon 3D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @return the new visual.
*/
public VisualDefinition addPolygon3D(Point3DReadOnly[] polygonPoints, boolean counterClockwiseOrdered)
{
return addPolygon3D(Arrays.asList(polygonPoints), counterClockwiseOrdered, defaultMaterial);
}
/**
* Creates and adds the visual for a polygon 3D.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for a polygon 3D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addPolygon3D(Point3DReadOnly[] polygonPoints, boolean counterClockwiseOrdered, ColorDefinition diffuseColor)
{
return addPolygon3D(Arrays.asList(polygonPoints), counterClockwiseOrdered, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for a polygon 3D.
*
* Expected result for a polygon 3D:
*
*
*
* @param polygonPoints the polygon's vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addPolygon3D(Point3DReadOnly[] polygonPoints, boolean counterClockwiseOrdered, MaterialDefinition material)
{
return addPolygon3D(Arrays.asList(polygonPoints), counterClockwiseOrdered, material);
}
/**
* Creates and adds the visual for an extruded polygon.
*
* Expected result for an extruded polygon:
*
*
*
* @param convexPolygon2D the polygon to create the visual for.
* @param extrusionHeight the thickness of the extrusion.
* @return the new visual.
*/
public VisualDefinition addExtrudedPolygon(ConvexPolygon2DReadOnly convexPolygon2D, double extrusionHeight)
{
return addExtrudedPolygon(convexPolygon2D, extrusionHeight, defaultMaterial);
}
/**
* Creates and adds the visual for an extruded polygon.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for an extruded polygon:
*
*
*
* @param convexPolygon2D the polygon to create the visual for.
* @param extrusionHeight the thickness of the extrusion.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addExtrudedPolygon(ConvexPolygon2DReadOnly convexPolygon2D, double extrusionHeight, ColorDefinition diffuseColor)
{
return addExtrudedPolygon(convexPolygon2D, extrusionHeight, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for an extruded polygon.
*
* Expected result for an extruded polygon:
*
*
*
* @param convexPolygon2D the polygon to create the visual for.
* @param extrusionHeight the thickness of the extrusion.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addExtrudedPolygon(ConvexPolygon2DReadOnly convexPolygon2D, double extrusionHeight, MaterialDefinition material)
{
return addExtrudedPolygon(convexPolygon2D.getPolygonVerticesView(), !convexPolygon2D.isClockwiseOrdered(), extrusionHeight, material);
}
/**
* Creates and adds the visual for an extruded polygon.
*
* Expected result for an extruded polygon:
*
*
*
* @param polygonPoints the polygon vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param extrusionHeight the thickness of the extrusion.
* @return the new visual.
*/
public VisualDefinition addExtrudedPolygon(List polygonPoints, boolean counterClockwiseOrdered, double extrusionHeight)
{
return addExtrudedPolygon(polygonPoints, counterClockwiseOrdered, extrusionHeight, defaultMaterial);
}
/**
* Creates and adds the visual for an extruded polygon.
*
* See {@link ColorDefinitions} for generic colors and color parsers.
*
*
* Expected result for an extruded polygon:
*
*
*
* @param polygonPoints the polygon vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param extrusionHeight the thickness of the extrusion.
* @param diffuseColor the diffuse color of the new visual.
* @return the new visual.
* @see ColorDefinitions
*/
public VisualDefinition addExtrudedPolygon(List polygonPoints,
boolean counterClockwiseOrdered,
double extrusionHeight,
ColorDefinition diffuseColor)
{
return addExtrudedPolygon(polygonPoints, counterClockwiseOrdered, extrusionHeight, new MaterialDefinition(diffuseColor));
}
/**
* Creates and adds the visual for an extruded polygon.
*
* Expected result for an extruded polygon:
*
*
*
* @param polygonPoints the polygon vertices.
* @param counterClockwiseOrdered the winding of the vertices.
* @param extrusionHeight the thickness of the extrusion.
* @param material the material of the new visual.
* @return the new visual.
*/
public VisualDefinition addExtrudedPolygon(List polygonPoints,
boolean counterClockwiseOrdered,
double extrusionHeight,
MaterialDefinition material)
{
return addGeometryDefinition(new ExtrudedPolygon2DDefinition(ExtrudedPolygon2DDefinition.toPoint2DDefinitionList(polygonPoints),
counterClockwiseOrdered,
extrusionHeight),
material);
}
}