us.ihmc.scs2.sessionVisualizer.jfx.controllers.camera.Camera3DOptionsPaneController Maven / Gradle / Ivy
package us.ihmc.scs2.sessionVisualizer.jfx.controllers.camera;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import org.apache.commons.lang3.mutable.MutableBoolean;
import javafx.beans.property.DoubleProperty;
import javafx.beans.property.ObjectProperty;
import javafx.beans.property.Property;
import javafx.beans.property.ReadOnlyObjectProperty;
import javafx.beans.value.ChangeListener;
import javafx.collections.FXCollections;
import javafx.fxml.FXML;
import javafx.scene.Node;
import javafx.scene.PerspectiveCamera;
import javafx.scene.control.ComboBox;
import javafx.scene.control.Label;
import javafx.scene.control.RadioButton;
import javafx.scene.control.TextField;
import javafx.scene.control.ToggleGroup;
import javafx.scene.control.Tooltip;
import javafx.scene.image.ImageView;
import javafx.scene.transform.Transform;
import us.ihmc.scs2.sessionVisualizer.jfx.controllers.camera.CameraFocalPointHandler.TrackingTargetType;
import us.ihmc.scs2.sessionVisualizer.jfx.controllers.editor.YoCompositeEditorPaneController;
import us.ihmc.scs2.sessionVisualizer.jfx.controllers.editor.searchTextField.DoubleSearchField;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.ReferenceFrameManager;
import us.ihmc.scs2.sessionVisualizer.jfx.managers.YoCompositeSearchManager;
import us.ihmc.scs2.sessionVisualizer.jfx.properties.YoDoubleProperty;
import us.ihmc.scs2.sessionVisualizer.jfx.tools.CompositePropertyTools;
import us.ihmc.scs2.sessionVisualizer.jfx.yoComposite.CompositeProperty;
import us.ihmc.scs2.sessionVisualizer.jfx.yoComposite.Tuple3DProperty;
import us.ihmc.scs2.sessionVisualizer.jfx.yoComposite.YoCompositeCollection;
import us.ihmc.scs2.sharedMemory.LinkedYoRegistry;
public class Camera3DOptionsPaneController
{
@FXML
private RadioButton trackCoordinatesButton, trackNodeButton;
@FXML
private YoCompositeEditorPaneController yoCoordinateEditorController;
@FXML
private TextField trackingNodeTextField;
@FXML
private TextField xFocalPointCurrentTextField, yFocalPointCurrentTextField, zFocalPointCurrentTextField;
@FXML
private ComboBox cameraPositionComboxBox;
// The following controls are for either:
// - x, y, z
// - distance, yaw, pitch
// - distance, yaw, z
/** Label using for either "x" or "distance". */
@FXML
private Label cameraLabel1;
/** Label using for either "y" or "yaw". */
@FXML
private Label cameraLabel2;
/** Label using for either "z" or "pitch". */
@FXML
private Label cameraLabel3;
/** Entry for setting either "x" or "distance". */
@FXML
private TextField cameraTextField1;
/** Entry for setting either "y" or "yaw". */
@FXML
private TextField cameraTextField2;
/** Entry for setting either "z" or "pitch". */
@FXML
private TextField cameraTextField3;
/** Validation for either "x" or "distance". */
@FXML
private ImageView cameraValidImageView1;
/** Validation for either "y" or "yaw". */
@FXML
private ImageView cameraValidImageView2;
/** Validation for either "z" or "pitch". */
@FXML
private ImageView cameraValidImageView3;
@FXML
private TextField xCameraCurrentTextField, yCameraCurrentTextField, zCameraCurrentTextField;
private Label[] cameraLabels;
private TextField[] cameraTextFields;
private final DoubleSearchField[] cameraCoordinatesSearchFields = new DoubleSearchField[3];
private final List cleanupTasks = new ArrayList<>();
public void initialize(PerspectiveCameraController cameraController,
YoCompositeSearchManager searchManager,
LinkedYoRegistry linkedRootRegistry,
ReferenceFrameManager referenceFrameManager)
{
initializeFocalPointControls(cameraController, searchManager, linkedRootRegistry, referenceFrameManager);
initializeCameraControls(cameraController, searchManager, linkedRootRegistry);
}
public void initializeFocalPointControls(PerspectiveCameraController cameraController,
YoCompositeSearchManager searchManager,
LinkedYoRegistry linkedRootRegistry,
ReferenceFrameManager referenceFrameManager)
{
PerspectiveCamera camera = cameraController.getCamera();
CameraFocalPointHandler focalPointHandler = cameraController.getFocalPointHandler();
ObjectProperty targetTypeProperty = focalPointHandler.targetTypeProperty();
ToggleGroup toggleGroup = new ToggleGroup();
toggleGroup.getToggles().addAll(trackCoordinatesButton, trackNodeButton); // TODO initialize which one is selected
trackNodeButton.setSelected(targetTypeProperty.get() == TrackingTargetType.Node);
trackCoordinatesButton.setSelected(targetTypeProperty.get() == TrackingTargetType.YoCoordinates);
MutableBoolean updatingTarget = new MutableBoolean(false);
toggleGroup.selectedToggleProperty().addListener((o, oldValue, newValue) ->
{
if (updatingTarget.booleanValue())
return;
updatingTarget.setTrue();
if (newValue == trackNodeButton)
targetTypeProperty.set(TrackingTargetType.Node);
else if (newValue == trackCoordinatesButton)
targetTypeProperty.set(TrackingTargetType.YoCoordinates);
else
targetTypeProperty.set(TrackingTargetType.Disabled);
updatingTarget.setFalse();
});
ChangeListener targetTypeChangeListener = (o, oldValue, newValue) ->
{
if (updatingTarget.booleanValue())
return;
updatingTarget.setTrue();
trackNodeButton.setSelected(targetTypeProperty.get() == TrackingTargetType.Node);
trackCoordinatesButton.setSelected(targetTypeProperty.get() == TrackingTargetType.YoCoordinates);
updatingTarget.setFalse();
};
targetTypeProperty.addListener(targetTypeChangeListener);
cleanupTasks.add(() -> targetTypeProperty.removeListener(targetTypeChangeListener));
targetTypeChangeListener.changed(targetTypeProperty, null, targetTypeProperty.get());
ChangeListener focalPointTransformChangeListener = (o, oldValue, newValue) ->
{
xFocalPointCurrentTextField.setText(Double.toString(newValue.getTx()));
yFocalPointCurrentTextField.setText(Double.toString(newValue.getTy()));
zFocalPointCurrentTextField.setText(Double.toString(newValue.getTz()));
};
Node focalPoint = cameraController.getFocalPointViz();
focalPoint.localToSceneTransformProperty().addListener(focalPointTransformChangeListener);
cleanupTasks.add(() -> focalPoint.localToSceneTransformProperty().removeListener(focalPointTransformChangeListener));
focalPointTransformChangeListener.changed(focalPoint.localToSceneTransformProperty(), null, focalPoint.getLocalToSceneTransform());
ChangeListener cameraTransformChangeListener = (o, oldValue, newValue) ->
{
xCameraCurrentTextField.setText(Double.toString(newValue.getTx()));
yCameraCurrentTextField.setText(Double.toString(newValue.getTy()));
zCameraCurrentTextField.setText(Double.toString(newValue.getTz()));
};
camera.localToSceneTransformProperty().addListener(cameraTransformChangeListener);
cleanupTasks.add(() -> camera.localToSceneTransformProperty().removeListener(cameraTransformChangeListener));
cameraTransformChangeListener.changed(camera.localToSceneTransformProperty(), null, camera.getLocalToSceneTransform());
YoCompositeCollection yoTuple3DCollection = searchManager.getYoTuple3DCollection();
if (yoTuple3DCollection == null)
{
yoCoordinateEditorController.getMainPane().setDisable(true);
// Happens when no session is loaded
}
else
{
ObjectProperty coordinatesToTrack = focalPointHandler.coordinatesToTrackProperty();
yoCoordinateEditorController.initialize(searchManager, referenceFrameManager, linkedRootRegistry, yoTuple3DCollection, true);
yoCoordinateEditorController.setCompositeName("Tracking Coordinates");
yoCoordinateEditorController.getMainPane().disableProperty().bind(trackCoordinatesButton.selectedProperty().not());
if (coordinatesToTrack.get() != null)
yoCoordinateEditorController.setInput(coordinatesToTrack.get());
yoCoordinateEditorController.addInputListener((coords, frame) -> coordinatesToTrack.set(new Tuple3DProperty(frame, coords)));
}
trackingNodeTextField.setEditable(false); // We use this field to provide info about the currently selected Node
trackingNodeTextField.setTooltip(new Tooltip("To select a node to track, right click on it in the 3D view and select in the context menu."));
trackingNodeTextField.disableProperty().bind(trackNodeButton.selectedProperty().not());
ObjectProperty nodeToTrack = focalPointHandler.nodeToTrackProperty();
trackingNodeTextField.setText(nodeToTrack.get() == null ? "null" : nodeToTrack.get().getId());
ChangeListener nodeTrackedChangeListener = (o, oldValue, newValue) ->
{
if (newValue == null)
trackingNodeTextField.setText("No node being tracked");
else if (newValue.getId() == null || newValue.getId().isBlank())
trackingNodeTextField.setText("Tracking node w/o id");
else
trackingNodeTextField.setText(newValue.getId());
};
nodeToTrack.addListener(nodeTrackedChangeListener);
cleanupTasks.add(() -> nodeToTrack.removeListener(nodeTrackedChangeListener));
nodeTrackedChangeListener.changed(nodeToTrack, null, nodeToTrack.get());
}
@SuppressWarnings({"rawtypes", "unchecked"})
public void initializeCameraControls(PerspectiveCameraController cameraController,
YoCompositeSearchManager searchManager,
LinkedYoRegistry linkedRootRegistry)
{
ReadOnlyObjectProperty currentCameraPose = cameraController.getCamera().localToSceneTransformProperty();
CameraOrbitHandler orbitHandler = cameraController.getOrbitHandler();
Property cameraPositionCoordinatesToTrack = cameraController.cameraPositionCoordinatesToTrackProperty();
Property cameraOrbitalCoordinatesToTrack = cameraController.cameraOrbitalCoordinatesToTrackProperty();
Property cameraLevelOrbitalCoordinatesToTrack = cameraController.cameraLevelOrbitalCoordinatesToTrackProperty();
cameraLabels = new Label[] {cameraLabel1, cameraLabel2, cameraLabel3};
cameraTextFields = new TextField[] {cameraTextField1, cameraTextField2, cameraTextField3};
cameraPositionComboxBox.setItems(FXCollections.observableArrayList(CameraControlMode.values()));
cameraCoordinatesSearchFields[0] = new DoubleSearchField(cameraTextField1, searchManager, linkedRootRegistry, cameraValidImageView1);
cameraCoordinatesSearchFields[1] = new DoubleSearchField(cameraTextField2, searchManager, linkedRootRegistry, cameraValidImageView2);
cameraCoordinatesSearchFields[2] = new DoubleSearchField(cameraTextField3, searchManager, linkedRootRegistry, cameraValidImageView3);
MutableBoolean updatingCameraTextFields = new MutableBoolean(false);
for (int i = 0; i < cameraCoordinatesSearchFields.length; i++)
{
cameraCoordinatesSearchFields[i].setupAutoCompletion();
int supplierIndex = i;
cameraCoordinatesSearchFields[i].supplierProperty().addListener((o, oldValue, newValue) ->
{
if (updatingCameraTextFields.booleanValue())
return;
CameraControlMode controlMode = cameraController.cameraControlMode().getValue();
CompositeProperty composite = switch (controlMode)
{
case Position -> cameraPositionCoordinatesToTrack.getValue();
case Orbital -> cameraOrbitalCoordinatesToTrack.getValue();
case LevelOrbital -> cameraLevelOrbitalCoordinatesToTrack.getValue();
};
DoubleProperty[] components = Arrays.copyOf(composite.componentValueProperties(), 3);
components[supplierIndex] = newValue;
switch (controlMode)
{
case Position:
cameraPositionCoordinatesToTrack.setValue(new Tuple3DProperty(components));
break;
case Orbital:
cameraOrbitalCoordinatesToTrack.setValue(new OrbitalCoordinateProperty(components));
break;
case LevelOrbital:
cameraLevelOrbitalCoordinatesToTrack.setValue(new LevelOrbitalCoordinateProperty(components));
break;
}
});
}
cameraPositionComboxBox.getSelectionModel().selectedItemProperty().addListener((o, oldValue, newValue) ->
{
cameraController.cameraControlMode().setValue(newValue);
CompositeProperty composite = switch (newValue)
{
case Position:
if (cameraPositionCoordinatesToTrack.getValue() == null)
cameraPositionCoordinatesToTrack.setValue(new Tuple3DProperty(currentCameraPose.get().getTx(),
currentCameraPose.get().getTy(),
currentCameraPose.get().getTz()));
yield cameraPositionCoordinatesToTrack.getValue();
case Orbital:
if (cameraOrbitalCoordinatesToTrack.getValue() == null)
cameraOrbitalCoordinatesToTrack.setValue(new OrbitalCoordinateProperty(orbitHandler.distanceProperty().get(),
orbitHandler.longitudeProperty().get(),
orbitHandler.latitudeProperty().get()));
yield cameraOrbitalCoordinatesToTrack.getValue();
case LevelOrbital:
if (cameraLevelOrbitalCoordinatesToTrack.getValue() == null)
cameraLevelOrbitalCoordinatesToTrack.setValue(new LevelOrbitalCoordinateProperty(orbitHandler.distanceProperty().get(),
orbitHandler.longitudeProperty().get(),
currentCameraPose.get().getTz()));
yield cameraLevelOrbitalCoordinatesToTrack.getValue();
default:
throw new IllegalStateException("Unexpected type: " + newValue);
};
updatingCameraTextFields.setTrue();
for (int i = 0; i < 3; i++)
{
cameraLabels[i].setText(composite.getComponentIdentifiers()[i]);
cameraTextFields[i].setText(CompositePropertyTools.toDoublePropertyName(composite.componentValueProperties()[i]));
}
updatingCameraTextFields.setFalse();
});
{
CameraControlMode[] controlModes = {CameraControlMode.Position, CameraControlMode.Orbital, CameraControlMode.LevelOrbital};
Property[] cameraCoordinatesProperties = {cameraPositionCoordinatesToTrack, cameraOrbitalCoordinatesToTrack, cameraLevelOrbitalCoordinatesToTrack};
for (int i = 0; i < cameraCoordinatesProperties.length; i++)
{
CameraControlMode controlMode = controlModes[i];
Property cameraCoordinatesProperty = cameraCoordinatesProperties[i];
List> componentChangeListeners = new ArrayList<>();
for (int componentIndex = 0; componentIndex < 3; componentIndex++)
{
int componentIndexFinal = componentIndex;
componentChangeListeners.add((o, oldValue, newValue) ->
{
if (cameraController.cameraControlMode().getValue() != controlMode)
return;
if (cameraTextFields[componentIndexFinal].isFocused())
return;
updatingCameraTextFields.setTrue();
CompositeProperty cameraCoordinates = (CompositeProperty) cameraCoordinatesProperty.getValue();
cameraTextFields[componentIndexFinal].setText(CompositePropertyTools.toDoublePropertyName(cameraCoordinates.componentValueProperties()[componentIndexFinal]));
updatingCameraTextFields.setFalse();
});
}
ChangeListener cameraCoordinatesChangeListener = (o, oldValue, newValue) ->
{
if (oldValue != null && oldValue.componentValueProperties() != null)
{
for (int componentIndex = 0; componentIndex < 3; componentIndex++)
{
DoubleProperty componentValueProperty = oldValue.componentValueProperties()[componentIndex];
if (componentValueProperty != null && !(componentValueProperty instanceof YoDoubleProperty))
componentValueProperty.removeListener(componentChangeListeners.get(componentIndex));
}
}
if (newValue != null && newValue.componentValueProperties() != null)
{
for (int componentIndex = 0; componentIndex < 3; componentIndex++)
{
DoubleProperty componentValueProperty = newValue.componentValueProperties()[componentIndex];
if (componentValueProperty != null && !(componentValueProperty instanceof YoDoubleProperty))
componentValueProperty.addListener(componentChangeListeners.get(componentIndex));
}
}
};
cameraCoordinatesProperty.addListener(cameraCoordinatesChangeListener);
cleanupTasks.add(() ->
{
cameraCoordinatesProperty.removeListener(cameraCoordinatesChangeListener);
// Remove component listeners
cameraCoordinatesChangeListener.changed(null, (CompositeProperty) cameraCoordinatesProperty.getValue(), null);
});
}
}
cameraPositionComboxBox.getSelectionModel().select(cameraController.cameraControlMode().getValue());
}
public void closeAndDispose()
{
cleanupTasks.forEach(Runnable::run);
cleanupTasks.clear();
}
}
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