Points3DPanel.java

package org.myrobotlab.openni;

// Points3DPanel.java
// Andrew Davison, September 2011, ad@fivedots.coe.psu.ac.th

/* This class builds a Java 3D scene consisting of a dark green 
 and blue tiled surface with labels along the X and Z axes, 
 a blue background, lit from two different directions. 

 The user (viewer) can move through the scene by moving the mouse.

 A points cloud of the Kinect's depth map is displayed spread out
 along the -z axis, with different colors assigned to different
 depths. The points cloud is implemented as an instance of the
 PointsShape class, a subclass of Shape3D.

 All of the scene graph, apart from the PointsShape object,
 comes from the Checkers3D example in Chapter 15,
 "Killer Game Programming in Java"
 (http://fivedots.coe.psu.ac.th/~ad/jg/ch8/), and is explained
 in detail there.
 */

import java.awt.BorderLayout;
import java.awt.Dimension;
import java.awt.GraphicsConfiguration;

import javax.media.j3d.AmbientLight;
import javax.media.j3d.Appearance;
import javax.media.j3d.Background;
import javax.media.j3d.BoundingSphere;
import javax.media.j3d.BranchGroup;
import javax.media.j3d.Canvas3D;
import javax.media.j3d.ColoringAttributes;
import javax.media.j3d.DirectionalLight;
import javax.media.j3d.GeometryArray;
import javax.media.j3d.IndexedTriangleArray;
import javax.media.j3d.LineArray;
import javax.media.j3d.LineAttributes;
import javax.media.j3d.PolygonAttributes;
import javax.media.j3d.Shape3D;
import javax.media.j3d.Transform3D;
import javax.media.j3d.TransformGroup;
import javax.swing.JPanel;
import javax.vecmath.Color3f;
import javax.vecmath.Point3d;
import javax.vecmath.Point3f;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import com.sun.j3d.utils.behaviors.vp.OrbitBehavior;
import com.sun.j3d.utils.geometry.Box;
import com.sun.j3d.utils.universe.SimpleUniverse;
import com.sun.j3d.utils.universe.ViewingPlatform;

public class Points3DPanel extends JPanel
// Holds the 3D canvas
{
  private static final long serialVersionUID = 1L;
  private static final int PWIDTH = 512; // size of panel
  private static final int PHEIGHT = 512;
  private static final int BOUNDSIZE = 100; // larger than world
  private static final Point3d USERPOSN = new Point3d(0, 7, 17);
  // initial user position

  private SimpleUniverse su;
  private BranchGroup sceneBG;
  private BoundingSphere bounds; // for environment nodes

  public Points3DPanel(PointsShape ptsShape) {
    setLayout(new BorderLayout());
    setOpaque(false);

    setPreferredSize(new Dimension(PWIDTH, PHEIGHT));

    GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
    Canvas3D canvas3D = new Canvas3D(config);
    add("Center", canvas3D);
    canvas3D.setFocusable(true);
    canvas3D.requestFocus(); // the canvas now has focus, so receives key
    // events

    su = new SimpleUniverse(canvas3D);

    createSceneGraph(ptsShape);
    initUserPosition(); // set user's viewpoint
    orbitControls(canvas3D); // controls for moving the viewpoint

    su.addBranchGraph(sceneBG);
  } // end of Points3DPanel()

  private void addBackground()
  // A blue sky
  {
    Background back = new Background();
    back.setApplicationBounds(bounds);
    // back.setColor(0.17f, 0.65f, 0.92f); // sky colour
    back.setColor(0.0f, 0.0f, 0.0f); // sky colour
    sceneBG.addChild(back);
  } // end of addBackground()

  public void addKinectShape() {
    // create an appearance
    Appearance ap = new Appearance();

    // render as a wireframe
    PolygonAttributes polyAttrbutes = new PolygonAttributes();
    polyAttrbutes.setPolygonMode(PolygonAttributes.POLYGON_LINE);
    polyAttrbutes.setCullFace(PolygonAttributes.CULL_NONE);
    ap.setPolygonAttributes(polyAttrbutes);

    Box kinect = new Box(0.6f, 0.1f, 0.2f, ap);

    // scale and move start position to (-4,0,0) // change later
    TransformGroup posnTG = new TransformGroup();
    Transform3D t3d = new Transform3D();
    // t3d.setScale(0.5);
    t3d.setTranslation(new Vector3d(0f, 2.4f, 6.0f));
    posnTG.setTransform(t3d);
    posnTG.addChild(kinect);

    Color3f red = new Color3f(1.0f, 0.0f, 0.0f);

    // line pattern dot-dash
    ColoringAttributes ca = new ColoringAttributes(red, ColoringAttributes.NICEST);
    Point3f[] dotDashPts = new Point3f[2];
    dotDashPts[0] = new Point3f(0.0f, 0.0f, 0.0f);
    dotDashPts[1] = new Point3f(4.9f, 4.7f, -5.0f);
    LineArray dotDash = new LineArray(2, GeometryArray.COORDINATES);
    dotDash.setCoordinates(0, dotDashPts);
    LineAttributes dotDashLa = new LineAttributes();
    dotDashLa.setLineWidth(4.0f);
    dotDashLa.setLinePattern(LineAttributes.PATTERN_DASH);
    Appearance dotDashApp = new Appearance();
    dotDashApp.setLineAttributes(dotDashLa);
    dotDashApp.setColoringAttributes(ca);
    Shape3D dotDashShape = new Shape3D(dotDash, dotDashApp);
    posnTG.addChild(dotDashShape);

    // Shape3D pyramid = createPyramid();
    // posnTG.addChild(pyramid);

    sceneBG.addChild(posnTG);
  }

  /**
   * This is the only method different from the Checkers3D example in Chapter 15
   * of "Killer Game Programming in Java"
   * (http://fivedots.coe.psu.ac.th/~ad/jg/ch8/).
   * 
   * All the hard work is done inside the PointsShape object. The transform
   * group is used to position (and perhaps scale) the points cloud.
   */
  private void addPointsShape(PointsShape ptsShape) {
    // scale and move start position to (-4,0,0) // change later
    TransformGroup posnTG = new TransformGroup();
    Transform3D t3d = new Transform3D();
    // t3d.setScale(0.5);
    // t3d.setTranslation(new Vector3d(-3.2f, 2.4f, 0.0f));// 6.40 / 2
    t3d.setTranslation(new Vector3d(0f, 0f, 0.0f));// 6.40 / 2
    posnTG.setTransform(t3d);
    posnTG.addChild(ptsShape);
    sceneBG.addChild(posnTG);
  }

  Shape3D createPyramid() {
    IndexedTriangleArray pyGeom = new IndexedTriangleArray(5, GeometryArray.COORDINATES | GeometryArray.COLOR_3, 12);

    pyGeom.setCoordinate(0, new Point3f(0.0f, 0.7f, 0.0f));
    pyGeom.setCoordinate(1, new Point3f(-0.4f, 0.0f, -0.4f));
    pyGeom.setCoordinate(2, new Point3f(-0.4f, 0.0f, 0.4f));
    pyGeom.setCoordinate(3, new Point3f(0.4f, 0.0f, 0.4f));
    pyGeom.setCoordinate(4, new Point3f(0.4f, 0.0f, -0.4f));

    pyGeom.setCoordinateIndex(0, 0);
    pyGeom.setCoordinateIndex(1, 1);
    pyGeom.setCoordinateIndex(2, 2);
    pyGeom.setCoordinateIndex(3, 0);
    pyGeom.setCoordinateIndex(4, 2);
    pyGeom.setCoordinateIndex(5, 3);
    pyGeom.setCoordinateIndex(6, 0);
    pyGeom.setCoordinateIndex(7, 3);
    pyGeom.setCoordinateIndex(8, 4);
    pyGeom.setCoordinateIndex(9, 0);
    pyGeom.setCoordinateIndex(10, 4);
    pyGeom.setCoordinateIndex(11, 1);

    Color3f c = new Color3f(0.6f, 0.5f, 0.55f);
    pyGeom.setColor(0, c);
    pyGeom.setColor(1, c);
    pyGeom.setColor(2, c);
    pyGeom.setColor(3, c);
    pyGeom.setColor(4, c);

    Shape3D pyramid = new Shape3D(pyGeom);
    return pyramid;
  }

  /**
   * initialize the scene
   * 
   * @param ptsShape
   */
  private void createSceneGraph(PointsShape ptsShape) {
    sceneBG = new BranchGroup(); // global?
    bounds = new BoundingSphere(new Point3d(0, 0, 0), BOUNDSIZE);

    lightScene(); // add the lights
    addBackground(); // add the sky
    // sceneBG.addChild(new CheckerFloor().getBG()); // add the floor

    addPointsShape(ptsShape);
    addKinectShape();

    sceneBG.compile(); // fix the scene
  }

  private void initUserPosition()
  // Set the user's initial viewpoint using lookAt()
  {
    ViewingPlatform vp = su.getViewingPlatform();
    TransformGroup steerTG = vp.getViewPlatformTransform();

    Transform3D t3d = new Transform3D();
    steerTG.getTransform(t3d);

    // args are: viewer posn, where looking, up direction
    t3d.lookAt(USERPOSN, new Point3d(0, 0, 0), new Vector3d(0, 1, 0));
    t3d.invert();

    steerTG.setTransform(t3d);
  } // end of initUserPosition()

  private void lightScene()
  /* One ambient light, 2 directional lights */
  {
    Color3f white = new Color3f(1.0f, 1.0f, 1.0f);

    // Set up the ambient light
    AmbientLight ambientLightNode = new AmbientLight(white);
    ambientLightNode.setInfluencingBounds(bounds);
    sceneBG.addChild(ambientLightNode);

    // Set up the directional lights
    Vector3f light1Direction = new Vector3f(-1.0f, -1.0f, -1.0f);
    // left, down, backwards
    Vector3f light2Direction = new Vector3f(1.0f, -1.0f, 1.0f);
    // right, down, forwards

    DirectionalLight light1 = new DirectionalLight(white, light1Direction);
    light1.setInfluencingBounds(bounds);
    sceneBG.addChild(light1);

    DirectionalLight light2 = new DirectionalLight(white, light2Direction);
    light2.setInfluencingBounds(bounds);
    sceneBG.addChild(light2);
  } // end of lightScene()

  /**
   * OrbitBehaviour allows the user to rotate around the scene, and to zoom in
   * and out.
   */
  private void orbitControls(Canvas3D c) {
    OrbitBehavior orbit = new OrbitBehavior(c, OrbitBehavior.REVERSE_ALL);
    orbit.setSchedulingBounds(bounds);

    ViewingPlatform vp = su.getViewingPlatform();
    vp.setViewPlatformBehavior(orbit);
  } // end of orbitControls()

} // end of Points3DPanel class