package Savage.Tools.Animation;
import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Geometry3D.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Interpolation.*;
import org.web3d.x3d.jsail.Navigation.*;
import org.web3d.x3d.jsail.Networking.*;
import org.web3d.x3d.jsail.Rendering.*;
import org.web3d.x3d.jsail.Scripting.*;
import org.web3d.x3d.jsail.Shape.*;
import org.web3d.x3d.jsail.Text.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
* Prototype to provide a set of waypoints, plus either leg durations or speed, and return position/orientation interpolation values. Included example can be stopped/started via TouchSensor mouse over floor Box.
Related links: Catalog page WaypointInterpolatorPrototype, source WaypointInterpolatorPrototype.java, X3D Resources, X3D Scene Authoring Hints, and X3D Tooltips.
This program uses the
X3D Java Scene Access Interface Library (X3DJSAIL).
It has been produced using the
X3dToJava.xslt
stylesheet
(version control)
which is used to create Java source code from an original .x3d model.
* @author Don Brutzman, Curtis Blais, Jeff Weekley, Jane Wu
*/
public class WaypointInterpolatorPrototype
{
/** Default constructor to create this object. */
public WaypointInterpolatorPrototype ()
{
initialize();
}
/** Create and initialize the X3D model for this object. */
public final void initialize()
{
try { // catch-all
x3dModel = new X3D().setProfile(X3D.PROFILE_IMMERSIVE).setVersion(X3D.VERSION_3_2)
.setHead(new head()
.addMeta(new meta().setName(meta.NAME_TITLE ).setContent("WaypointInterpolatorPrototype.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Prototype to provide a set of waypoints, plus either leg durations or speed, and return position/orientation interpolation values. Included example can be stopped/started via TouchSensor mouse over floor Box."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("Don Brutzman, Curtis Blais, Jeff Weekley, Jane Wu"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("6 April 2001"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("23 August 2023"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Tools/Animation/WaypointInterpolatorPrototype.x3d"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Tools/Animation/WaypointInterpolatorExample.x3d"))
.addMeta(new meta().setName(meta.NAME_WARNING ).setContent("browsers do not compute pitch angle consistently"))
.addMeta(new meta().setName(meta.NAME_GENERATOR ).setContent("X3D-Edit 4.0, https://www.web3d.org/x3d/tools/X3D-Edit"))
.addMeta(new meta().setName(meta.NAME_LICENSE ).setContent("../../license.html")))
.setScene(new Scene()
.addChild(new WorldInfo().setTitle("WaypointInterpolatorPrototype.x3d"))
.addChild(new ProtoDeclare("WaypointInterpolator").setName("WaypointInterpolator").setAppinfo("Reads waypoints and legSpeeds/legDurations/defaultSpeed to provide a customizable position/orientation interpolator.")
.setProtoInterface(new ProtoInterface()
.addField(new field().setName("description").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Short description of what is animated by this WaypointInterpolator."))
.addField(new field().setName("waypoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,0.0,0.0}))).setAppinfo("Waypoints being traversed with interpolation of intermediate positions and orientations."))
.addField(new field().setName("add_waypoint").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("Add another single waypoint to array of waypoints recalculate interpolator values."))
.addField(new field().setName("set_waypoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("Replace all waypoints recalculate interpolator values."))
.addField(new field().setName("pitchUpDownForVerticalWaypoints").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(false).setAppinfo("Whether to pitch child geometry (such as a vehicle) up or down to match vertical slope"))
.addComments(" Priority of use: legSpeeds (m/sec), legDurations (seconds), defaultSpeed (m/sec) ")
.addField(new field().setName("legSpeeds").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Units m/sec. If used, array lengths for legSpeeds and legDurations must be one less than number of waypoints.")
.addComments(" default initialization is empty array [] "))
.addField(new field().setName("legDurations").setType(field.TYPE_MFTIME).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Units in seconds. If used, array lengths for legSpeeds and legDurations must be one less than number of waypoints.")
.addComments(" default initialization is empty array [] "))
.addField(new field().setName("defaultSpeed").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(1).setAppinfo("Units m/sec."))
.addField(new field().setName("turningRate").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(90).setAppinfo("turningRate (degrees/second) also determines standoff distance prior to waypoint where turn commences. If 0 turns are instantaneous."))
.addField(new field().setName("totalDuration").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("Output calculation summing all leg durations, useful for setting TimeSensor cycleInterval. Units in seconds."))
.addComments(" interpolation fields ")
.addField(new field().setName("set_fraction").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("exposed PositionInterpolator and OrientationInterpolator setting"))
.addField(new field().setName("position_changed").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("exposed PositionInterpolator setting"))
.addField(new field().setName("orientation_changed").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("exposed OrientationInterpolator setting"))
.addComments(" display-related fields ")
.addField(new field().setName("lineColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(0.6,0.6,0.6)).setAppinfo("default color for non-active line segments"))
.addField(new field().setName("highlightSegmentColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(0.3,0.3,1.0)).setAppinfo("active segment highlight color"))
.addField(new field().setName("transparency").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(0).setAppinfo("1.0 is completely transparent, 0.0 is completely opaque."))
.addField(new field().setName("labelDisplayMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue("waypoints").setAppinfo("allowed values: none; waypoints (produce labels at each waypoint); or interpolation (produce single moving label at interpolator time course speed location)"))
.addField(new field().setName("heightLabel").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue("altitude").setAppinfo("allowed values: altitude depth (negate Y value) none"))
.addField(new field().setName("labelOffset").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(new SFVec3f(0.0,-1.0,0.0)).setAppinfo("heightLabel relative location"))
.addField(new field().setName("labelFontSize").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(1).setAppinfo("heightLabel text size"))
.addField(new field().setName("labelColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(new SFColor(0.8,0.8,0.8)).setAppinfo("heightLabel text color"))
.addField(new field().setName("traceEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(false).setAppinfo("enable console output to trace script computations and prototype progress"))
.addField(new field().setName("outputInitializationComputations").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(true).setAppinfo("Output the number of waypoints totalDistance and totalDuration to console upon initialization"))
.addField(new field().setName("verticalDropLineColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(0.4,0.4,0.4)).setAppinfo("default color for vertical drop-line segments"))
.addField(new field().setName("verticalDropLineTransparency").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(1).setAppinfo("1.0 is completely transparent, 0.0 is completely opaque.")))
.setProtoBody(new ProtoBody()
.addComments(" First node in prototype determines node type of prototype. This prototype extends PositionInterpolator and OrientationInterpolator functionality. Nevertheless, a Group node is wrapped around all of them in order to avoid a Prototype bug in CosmoPlayer. ")
.addChild(new Group()
.addComments(" key, keyValue will be generated by WaypointTrackScript. set_fraction is a common input to both interpolators. Interpolator value outputs are returned via the corresponding Prototype field interfaces. ")
.addChild(new PositionInterpolator("WaypointPI.instance").setKey(new double[] {0.0,0.5,1.0}).setKeyValue(new MFVec3f(new double[] {0.0,0.0,0.0,1.0,1.0,1.0,2.0,2.0,2.0}))
.setIS(new IS()
.addConnect(new connect().setNodeField("set_fraction").setProtoField("set_fraction"))
.addConnect(new connect().setNodeField("value_changed").setProtoField("position_changed"))))
.addChild(new OrientationInterpolator("WaypointOI.instance")
.setIS(new IS()
.addConnect(new connect().setNodeField("set_fraction").setProtoField("set_fraction"))
.addConnect(new connect().setNodeField("value_changed").setProtoField("orientation_changed"))))
.addChild(new Group("CoordinateLabelsAndViewpointsGroup"))
.addChild(new Script("WaypointTrackScript").setDirectOutput(true).setSourceCode("""
ecmascript:
function tracePrint (outputValue)
{
if (traceEnabled) forcePrint (outputValue);
}
function forcePrint (outputValue)
{
// try to ensure outputValue is converted to string despite browser idiosyncracies
outputString = outputValue.toString(); // utility function according to spec
if (outputString == null) outputString = outputValue; // direct cast
Browser.println ('[WaypointInterpolator ' + description + '] ' + outputString);
}
function distance (p1, p2)
{
return Math.sqrt (
(p2.x - p1.x) * (p2.x - p1.x) +
(p2.y - p1.y) * (p2.y - p1.y) +
(p2.z - p1.z) * (p2.z - p1.z));
}
function normalize2Pi (angle)
{
twoPi = 2 * Math.PI;
x = angle;
while (x >= twoPi) x = x - twoPi;
while (x < 0) x = x + twoPi;
return x;
}
function normalizePi (angle)
{
twoPi = 2 * Math.PI;
x = angle;
while (x >= Math.PI) x = x - twoPi;
while (x < -Math.PI) x = x + twoPi;
return x;
}
function degrees (angle)
{
return angle * 180.0 / Math.PI;
}
function radians (theta)
{
return theta * Math.PI / 180.0;
}
function initialize ()
{
saveTrace = traceEnabled;
traceEnabled = true; // debug use
outputInitializationComputations = true; // debug use
scriptError = false;
traceEnabled= false; // set traceEnabled=true for selective debug during initialization only
forcePrint ('initializing new ' + waypoints.length + '-point WaypointInterpolator ' + description);
tracePrint ('Browser.name =' + Browser.name);
tracePrint ('WaypointPI.key =' + WaypointPI.key.toString());
tracePrint ('WaypointPI.keyValue=' + WaypointPI.keyValue.toString());
// TODO forcePrint ('Returning, initialization trace complete.');
// TODO return;
previousFractionIndex = -1;
tracePrint ('waypoints =' + waypoints.toString());
if ((waypoints.length == 2) &&
(waypoints[0].x == 0) && (waypoints[0].y == 0) && (waypoints[0].z == 0) &&
(waypoints[1].x == 0) && (waypoints[1].y == 0) && (waypoints[1].z == 0))
{
tracePrint ('[default waypoints, no action needed]');
return;
}
if (waypoints.length < 2)
{
forcePrint ('*** error: insufficient waypoints, WaypointInterpolator ignored ***');
scriptError=true;
return;
}
if ( heightLabel.toLowerCase()!='altitude' &&
heightLabel.toLowerCase()!='depth' &&
heightLabel.toLowerCase()!='none')
{
forcePrint ('*** error, heightLabel =' + heightLabel + ', allowed values (none, altitude, depth) ***');
heightLabel ='none';
}
useDefaultSpeed = false; // initialize booleans
useLegSpeeds = false;
useLegDurations = false;
if ((legSpeeds.length == 0) && (legDurations.length == 0)) // use defaultSpeed
{
tracePrint ('defaultSpeed =' + defaultSpeed.toString() + ' meters/second');
if (defaultSpeed <= 0)
{
forcePrint ('*** error, defaultSpeed <= 0 ***');
scriptError=true;
return;
}
else
{
useDefaultSpeed = true;
tracePrint ('useDefaultSpeed = true');
}
}
else if (legSpeeds.length > 0)
{
tracePrint ('legSpeeds =' + legSpeeds.toString() + ' meters/second');
if (legSpeeds.length != waypoints.length - 1)
{
forcePrint ('*** error, legSpeeds.length (' + legSpeeds.length + ' must be one less than waypoints.length (' + waypoints.length + ') ***');
scriptError=true;
return;
}
for (i = 0; i < legSpeeds.length; i++)
{
if (legSpeeds[i] <= 0)
{
forcePrint ('*** error, legSpeeds[' + i + '] zero or negative ***');
scriptError=true;
return;
}
}
if (legDurations.length > 0)
tracePrint ('warning: legDurations ignored, useLegSpeeds=true');
else tracePrint ('useLegSpeeds=true');
useLegSpeeds=true;
}
else // legDurations.length > 0
{
// Xj3D X3DFieldreader.java line 1920: parse error fails to read MFTime values; PositionInterpolator.key destination uses MFFloat anyway
forcePrint ('legDurations =' + legDurations.toString() + ' seconds');
if ((legDurations.length != 1) && (legDurations.length != waypoints.length - 1))
{
forcePrint ('*** error, legDurations.length must be one less than waypoints.length ***');
scriptError=true;
return;
}
for (i = 0; i < legDurations.length; i++)
{
if (legDurations[i] < 0)
{
legDurations[i] = Math.abs(legDurations[i]);
forcePrint ('*** error, legDurations[' + i + ']= -' + legDurations[i]
+ ' is less than zero ***');
scriptError=true;
return;
}
else if (legDurations[i] == 0)
{
forcePrint ('*** Warning, zero value encountered/ignored: ' +
'legDurations[' + i + '] =' + legDurations[i]);
}
}
tracePrint ('useLegDurations=true');
useLegDurations=true;
}
positionKeyValueArray = waypoints;
for (i = 0; i < (waypoints.length - 1); i++)
{
distances[i] = Math.sqrt (
(waypoints[i+1].x - waypoints[i].x) * (waypoints[i+1].x - waypoints[i].x) +
(waypoints[i+1].y - waypoints[i].y) * (waypoints[i+1].y - waypoints[i].y) +
(waypoints[i+1].z - waypoints[i].z) * (waypoints[i+1].z - waypoints[i].z));
totalDistance += distances[i];
pointIndicesAccumulator[i]= i;
}
forcePrint ('distances =' + distances.toString() + ' meters');
forcePrint ('totalDistance =' + Math.round (totalDistance * 10)/10 + ' meters');
pointIndicesAccumulator[waypoints.length - 1]= waypoints.length - 1;
pointIndicesAccumulator[waypoints.length] = -1;
for (i = 0; i < (waypoints.length ); i++)
{
verticalDropLineIndicesAccumulator[3*i] = 2*i;
verticalDropLineIndicesAccumulator[3*i+ 1] = 2*i + 1;
verticalDropLineIndicesAccumulator[3*i+ 2] = -1;
verticalDropLinePointsAccumulator[2*i] = waypoints[i];
verticalDropLinePointsAccumulator[2*i+1] = new SFVec3f(waypoints[i].x, 0.0, waypoints[i].z);
}
pointIndices = pointIndicesAccumulator;
tracePrint ('pointIndices =' + pointIndices.toString());
verticalDropLineIndices = verticalDropLineIndicesAccumulator;
tracePrint ('verticalDropLineIndices =' + verticalDropLineIndices.toString());
verticalDropLinePoints = verticalDropLinePointsAccumulator;
tracePrint ('verticalDropLinePoints =' + verticalDropLinePoints.toString());
totalDurationAccumulator = 0.0;
for (i = 0; i < (waypoints.length - 1); i++)
{
if (useDefaultSpeed)
{
totalDurationAccumulator += distances[i] / defaultSpeed;
}
else if (useLegSpeeds)
{
totalDurationAccumulator += distances[i] / legSpeeds[i];
}
else // useLegDurations
{
totalDurationAccumulator += legDurations[i];
// forcePrint ('legDurations[' + i + ']=' + legDurations[i]);
// forcePrint ('totalDurationAccumulator=' + totalDurationAccumulator + ' seconds');
}
}
totalDuration = totalDurationAccumulator; // send SFTime eventOut
hours = Math.floor (totalDuration / 3600.0); // % is modulo operator, provides remainder
minutes = Math.floor ((totalDuration - hours * 3600) / 60.0);
seconds = Math.round ((totalDuration - hours * 3600 - minutes * 60) * 10) / 10; // 0.1 sec resolution
if (totalDuration <= 0)
{
forcePrint ('*** error: totalDuration=' + totalDuration + ' seconds (' +
hours + ' hours,' + minutes + ' minutes,' + seconds + ' seconds)');
scriptError=true;
return;
}
else if (outputInitializationComputations)
forcePrint ('totalDuration =' + Math.round (totalDuration * 10)/10 + ' seconds (' +
hours + ' hours,' + minutes + ' minutes,' + seconds + ' seconds)');
positionKey[0] = 0;
for (i = 1; i < waypoints.length; i++)
{
if (useDefaultSpeed)
{
positionKey[i] = i / (waypoints.length - 1); // simple fraction
}
else if (useLegSpeeds)
{
positionKey[i] = ((distances[i-1] / legSpeeds[i-1]) / totalDuration) + positionKey[i-1];
}
else // useLegDurations
{
positionKey[i] = (legDurations[i-1] / totalDuration) + positionKey[i-1];
}
}
positionKey[waypoints.length-1] = 1.0; // avoid roundup greater than 1.0
tracePrint ('positionKey.length =' + positionKey.length);
tracePrint ('positionKey =' + positionKey.toString());
tracePrint ('positionKeyValueArray.length =' + positionKeyValueArray.length);
tracePrint ('positionKeyValueArray =' + positionKeyValueArray.toString());
// directly set event
WaypointPI.key = positionKey;
WaypointPI.keyValue = positionKeyValueArray;
tracePrint ('WaypointPI.key =' + WaypointPI.key.toString());
tracePrint ('WaypointPI.keyValue =' + WaypointPI.keyValue.toString());
// ROUTE outputOnly event
finalPositionKey = positionKey;
finalPositionKeyValueArray = positionKeyValueArray;
tracePrint ('finalPositionKey =' + finalPositionKey.toString());
tracePrint ('finalPositionKeyValueArray =' + finalPositionKeyValueArray.toString());
tracePrint ('WaypointPI.key =' + WaypointPI.key.toString());
tracePrint ('WaypointPI.keyValue =' + WaypointPI.keyValue.toString());
tracePrint ('pitchUpDownForVerticalWaypoints=' + pitchUpDownForVerticalWaypoints);
// different approaches to orientation calculations
whichRotationVersion ='FirstHeadingThenPitchStayVertical';
//'IndependentLegOrientations';
//'RelativeLegOrientations';
//'FirstHeadingThenPitchStayVertical';
tracePrint ('whichRotationVersion=' + whichRotationVersion);
// SFRotation constructor for two Vector3Arrays returns rotation from first to second
// default body axis is along X axis
// TODO avoid changing value if normalized vector has length 0 (meaning no direction change)
orientations = new MFRotation();
orientations[0] = new SFRotation (new SFVec3f (1, 0, 0),
waypoints[1].subtract(waypoints[0]).normalize()); // first leg
dx = waypoints[1].x - waypoints[0].x;
dy = waypoints[1].y - waypoints[0].y;
dz = waypoints[1].z - waypoints[0].z;
legDistance = Math.sqrt (dx*dx + dy*dy + dz*dz);
levelDistance = Math.sqrt (dx*dx + dz*dz);
tracePrint ('dx=' + dx + ', dy=' + dy + ', dz=' + dz + ', legDistance=' + legDistance + ', levelDistance=' + levelDistance);
tracePrint ('orientations[0] =' + orientations[0].toString());
for (i = 1; i < (waypoints.length - 1); i++) // compute orientations array
{
dx = waypoints[i+1].x - waypoints[i].x;
dy = waypoints[i+1].y - waypoints[i].y;
dz = waypoints[i+1].z - waypoints[i].z;
legDistance = Math.sqrt (dx*dx + dy*dy + dz*dz);
levelDistance = Math.sqrt (dx*dx + dz*dz);
tracePrint ('dx=' + dx + ', dy=' + dy + ', dz=' + dz +
', legDistance=' + Math.round ( legDistance*10)/10 +
', levelDistance=' + Math.round (levelDistance*10)/10);
// tracePrint ('waypoints[i ].subtract(waypoints[i-1]) =' + waypoints[i ].subtract(waypoints[i-1]).toString());
// tracePrint ('waypoints[i+1].subtract(waypoints[i]) =' + waypoints[i+1].subtract(waypoints[i]).toString());
// tracePrint ('dot product=' + waypoints[i+1].subtract(waypoints[i]).normalize().
// dot(waypoints[i].subtract(waypoints[i-1]).normalize()).toString());
if (whichRotationVersion=='IndependentLegOrientations')
{
tracePrint ('whichRotationVersion==IndependentLegOrientations');
// using constructor SFRotation (SFVec3f fromVector, SFVec3f toVector)
// see X3D ECMAScript binding Table 7.18 — SFRotation instance creation functions
// buggy: can twist/roll unpredictably about relative-x axis
// apparently a CosmoPlayer bug in SFRotation constructor when pointing (-1, 0, 0)
// TODO test if difference vector is zero, if so maintain previous rotation
orientations[i] = new SFRotation (
new SFVec3f (1, 0, 0),
waypoints[i+1].subtract(waypoints[i]).normalize());
}
else if (whichRotationVersion=='RelativeLegOrientations')
{
tracePrint ('whichRotationVersion==IndependentLegOrientations');
orientations[i] = new SFRotation (
waypoints[i ].subtract(waypoints[i-1]).normalize(),
waypoints[i+1].subtract(waypoints[i]).normalize());
// orientation multiplication (i.e. composition) is order dependent
orientations[i] = orientations[i-1].multiply (orientations[i]); // relative to previous leg
}
else if (whichRotationVersion=='FirstHeadingThenPitchStayVertical')
{
if ( (Math.abs(legDistance) <= 0.00001) ||
((Math.abs(levelDistance) <= 0.00001) && (pitchUpDownForVerticalWaypoints == false)))
{
tracePrint ('whichRotationVersion==FirstHeadingThenPitchStayVertical, coincident');
if (legDistance <= 0.00001)
tracePrint ('...staying in one place');
else
tracePrint ('...maintaining orientation during vertical motion');
orientations[i] = orientations[i-1];
}
else if (levelDistance <= 0.00001) // pitch up/down along vertical axis
{
tracePrint ('whichRotationVersion==FirstHeadingThenPitchStayVertical, pitch up/down along vertical axis');
// still twisting about roll axis, unfortunately...
if (waypoints[i+1].y > waypoints[i].y) // or test dy
{
tracePrint ('...pitching up vertical axis');
orientations[i] = new SFRotation (
waypoints[i].subtract(waypoints[i-1]).normalize(),
new SFVec3f (0, 1, 0)); // relative
}
else
{
tracePrint ('...pitching down vertical axis');
orientations[i] = new SFRotation (
waypoints[i].subtract(waypoints[i-1]).normalize(),
new SFVec3f (0, -1, 0)); // relative
}
orientations[i] = orientations[i-1].multiply (orientations[i]); // relative to previous leg
}
else // carefully rotate about Y axis then pitch up/down to avoid unpredictable twists/rolls
{
tracePrint ('whichRotationVersion==FirstHeadingThenPitchStayVertical, carefully rotate about Y axis etc.');
heading = Math.atan2 (dz, dx); // atan2 returns arctangent in any of 4 quadrants
orientations[i] = new SFRotation (0, 1, 0, -heading); // note negation
// can go vertical if preferred, levelDistance == 0 cases handled above
pitchAngle = Math.atan (dy / levelDistance); // negative angle should pitch down, note no negation
// orientation multiplication (i.e. composition) is order dependent
// !! this is the step that causes a Cosmo/Cortona sign error !!
// it is due to opposite responses to multiplication order.
tempHold = orientations[i]; // not assuming that browser self-multiplication is safe
if (Browser.name=='CosmoPlayer') // reverse multiplication order for old browser
orientations[i] = (new SFRotation (0, 0, 1, pitchAngle)).multiply (tempHold); // mod heading
else orientations[i] = tempHold.multiply (new SFRotation (0, 0, 1, pitchAngle)); // mod heading
tracePrint ('heading=' + Math.round (degrees (heading) *10)/10 + ' degrees,' +
' pitchAngle=' + Math.round (degrees (pitchAngle)*10)/10 + ' degrees');
}
}
else if (Math.abs(legDistance) <= 0.00001)
{
tracePrint ('coincident waypoints, set orientations[' + i + '] = orientations[' + i-1 + ']');
orientations[i] = orientations[i-1];
}
else
{
forcePrint ('*** unexpected case trapped, set orientations[' + i + '] = orientations[' + i-1 + ']');
orientations[i] = orientations[i-1];
}
tracePrint ('orientations[' + i + '] =' + orientations[i].toString());
}
// traceEnabled = true; // debug
// full array trace
tracePrint ('orientations =' + orientations.toString());
if (orientations.length != (waypoints.length - 1))
{
forcePrint ('** computation error: orientations.length=' + orientations.length + ' mismatch with waypoints.length=' + waypoints.length);
}
if (turningRate < 0)
{
forcePrint ('** error: negative value for turningRate illegal, making turningRate positive');
turningRate = -turningRate;
}
tracePrint ('turningRate =' + turningRate + ' degrees/second');
orientationKey = new MFFloat ();
orientationKey[0] = 0;
for (i = 1; i < (waypoints.length-1); i++)
{
deltaAngle = orientations[i].multiply(orientations[i-1].inverse()).angle;
deltaAngle = normalizePi (deltaAngle);
turnTime = Math.abs (deltaAngle) / radians (turningRate);
tracePrint ('deltaAngle[' + i + ']=' + degrees (deltaAngle) + ' degrees, turnTime=' + turnTime);
precedingLegDuration = (positionKey[i] - positionKey[i-1]) * totalDuration;
followingLegDuration = (positionKey[i+1] - positionKey[i] ) * totalDuration;
// turn for no more than 1/3 of preceding or following leg durations, respectively
precedingTurnKeyOffset = Math.min (turnTime/2, precedingLegDuration/3) / totalDuration;
followingTurnKeyOffset = Math.min (turnTime/2, followingLegDuration/3) / totalDuration;
tracePrint ('precedingTurnKeyOffset=' + (precedingTurnKeyOffset * totalDuration) + ' seconds');
tracePrint ('followingTurnKeyOffset=' + (followingTurnKeyOffset * totalDuration) + ' seconds');
orientationKey[3*i - 2] = positionKey[i] - precedingTurnKeyOffset;
orientationKey[3*i - 1] = positionKey[i];
orientationKey[3*i] = positionKey[i] + followingTurnKeyOffset;
if (orientationKey[3*i - 2] <= positionKey[i-1]) // interpolate preceding key if needed
{
orientationKey[3*i - 2] = positionKey[i-1] + ((positionKey[i] - positionKey[i-1]) * 2 / 3);
}
if (orientationKey[3*i] >= positionKey[i+1]) // interpolate following key if needed
{
orientationKey[3*i] = positionKey[i] + ((positionKey[i+1] - positionKey[i]) * 1 / 3);
}
if ((orientationKey[3*i - 2] > orientationKey[3*i - 1]) || (orientationKey[3*i - 1] > orientationKey[3*i]))
{
forcePrint ('** error computing orientationKey [' + (3*i - 2) + '..' + (3*i) + ']');
}
}
orientationKey[3*(waypoints.length-1)-2] = 1.0; // avoid roundup greater than 1
tracePrint ('orientationKey.length =' + orientationKey.length);
tracePrint ('orientationKey =' + orientationKey.toString());
//
for (i = 2; i < (orientationKey.length-1); i++)
{
if (orientationKey [i-1] > orientationKey [i])
forcePrint ('*** error,' +
'orientationKey [' + (i-1) + ']=' + orientationKey [i-1].toString() + ',' +
'orientationKey [' + (i) + ']=' + orientationKey [i].toString() +
' values are not monotonically increasing ***');
if ((orientationKey [i] < 0) || (orientationKey [i] > 1))
forcePrint ('*** error, orientationKey [' + i + ']=' + orientationKey [i].toString() +
' value is out of range [0..1] ***');
}
tracePrint ('check orientationKey complete, dynamically building orientationKeyValueArray next');
orientationKeyValueArray = new MFRotation ();
orientationKeyValueArray[0] = orientations[0];
orientationKeyValueArray[1] = orientations[0];
for (i = 1; i < (waypoints.length - 1); i++)
{
// spherical linear interpolation (slerp) 0.5 interpolates halfway between adjacent orientations
orientationKeyValueArray[3*i - 1] = orientations[i-1].slerp(orientations[i], 0.5);
orientationKeyValueArray[3*i] = orientations[i];
orientationKeyValueArray[3*i + 1] = orientations[i]; // straight-line track, same orientation
}
tracePrint ('orientationKeyValueArray.length =' + orientationKeyValueArray.length);
tracePrint ('orientationKeyValueArray =' + orientationKeyValueArray.toString());
// eliminate orientationKey triplicates (smaller arrays overcome CosmoPlayer overflow bug)
newKey = new MFFloat ();
newKey [0] = orientationKey [0];
newKey [1] = orientationKey [1];
newKeyValue = new MFRotation ();
newKeyValue [0] = orientationKeyValueArray [0];
newKeyValue [1] = orientationKeyValueArray [1];
index = 2; // keep first two orientations identical, index is for next value
for (i = 2; i < (orientationKeyValueArray.length-3) ; i++)
{
dotProductBA = orientationKeyValueArray [i-1].getAxis().dot(orientationKeyValueArray [i-2].getAxis());
dotProductCB = orientationKeyValueArray [i].getAxis().dot(orientationKeyValueArray [i-1].getAxis());
angleDifferenceBA = normalizePi(
normalize2Pi (orientationKeyValueArray [i-1].angle) -
normalize2Pi (orientationKeyValueArray [i-2].angle)) * 180 / Math.PI;
angleDifferenceCB = normalizePi(
normalize2Pi (orientationKeyValueArray [i].angle) -
normalize2Pi (orientationKeyValueArray [i-1].angle)) * 180 / Math.PI;
if (i < 10) // too many outputs clobbers the trace console
{
tracePrint ('orientationKeyValueArray [' + (i-2) + ']=' + orientationKeyValueArray [i-2].toString());
tracePrint ('orientationKeyValueArray [' + (i-1) + ']=' + orientationKeyValueArray [i-1].toString());
tracePrint ('orientationKeyValueArray [' + (i ) + ']=' + orientationKeyValueArray [i ].toString());
tracePrint ('dotProductBA =' + dotProductBA + ', dotProductCB =' + dotProductCB);
tracePrint ('angleDifferenceBA=' + angleDifferenceBA + ', angleDifferenceBC=' + angleDifferenceCB + ' degrees');
}
// // depth check also needed! but positionKey is already optimized/compressed, so how to check?
// if ((Math.abs (dotProductCB - 1) < 0.01) &&
// (Math.abs (dotProductBA - 1) < 0.01) &&
// (Math.abs (angleDifferenceCB) < 1.0 ) &&
// (Math.abs (angleDifferenceBA) < 1.0 )) // degrees
// {
// // replace key time with later value
// tracePrint ('... matching this orientationKey time,' +
// 'updating key' + newKey [index-1] + ' to' + orientationKey [i]);
// newKey [index-1] = orientationKey [i];
// // don't update orientation in order to avoid creeping matches
// }
// else
// {
newKey [index] = orientationKey [i];
newKeyValue [index] = orientationKeyValueArray [i];
index ++;
tracePrint ('... keeping this orientationKeyValue');
// }
if (newKey [index-2] > newKey [index-1])
forcePrint ('*** error,' +
'newKey [' + (index-2) + ']=' + newKey [index-2].toString() + ',' +
'newKey [' + (index-1) + ']=' + newKey [index-1].toString() +
' values are not monotonically increasing ***');
if ((newKey [index-1] < 0) || (newKey [index-1] > 1))
forcePrint ('*** error, newKey [' + (index-1) + ']=' + newKey [index-1].toString() +
' value is out of range [0..1] ***');
}
newKey [index] = orientationKey [orientationKeyValueArray.length-2]; // match finals values
newKeyValue [index] = orientationKeyValueArray [orientationKeyValueArray.length-2];
index++;
newKey [index] = orientationKey [orientationKeyValueArray.length-1]; // match finals values
newKeyValue [index] = orientationKeyValueArray [orientationKeyValueArray.length-1];
tracePrint ('orientation newKey.length =' + newKey.length);
tracePrint ('orientation newKey =' + newKey.toString());
tracePrint ('orientation newKeyValue.length =' + newKeyValue.length);
tracePrint ('orientation newKeyValue =' + newKeyValue.toString());
WaypointOI.key = newKey;
WaypointOI.keyValue = newKeyValue;
tracePrint ('WaypointOI.key =' + WaypointOI.key.toString());
tracePrint ('WaypointOI.keyValue =' + WaypointOI.keyValue.toString());
tracePrint ('labelDisplayMode=' + labelDisplayMode);
if (labelDisplayMode.toLowerCase() =='waypoints')
{
// create text labels for each waypoint
outputChild = new MFNode ();
outputVrmlString ='';
for (i = 0; i < waypoints.length; i++)
{
textOffset = waypoints[i].add(labelOffset);
if ((i == waypoints.length-1) && (waypoints[i].x == waypoints[0].x) &&
(waypoints[i].y == waypoints[0].y) && (waypoints[i].z == waypoints[0].z))
// double offset for endpoint when waypoints are a loop
textOffset = textOffset.subtract(new SFVec3f (0, 3 * labelFontSize, 0));
hours = Math.floor (totalDuration * positionKey[i] / 3600.0); // % is modulo operator, provides remainder
minutes = Math.floor ((totalDuration * positionKey[i] - hours * 3600.0) / 60.0);
seconds = Math.round (totalDuration * positionKey[i] - hours * 3600.0 - minutes * 60.0);
while (minutes >= 60)
{
minutes -= 60;
hours += 1;
}
while (seconds >= 60)
{
seconds -= 60;
minutes += 1;
}
if (hours < 10) hours ='0' + hours;
if (minutes < 10) minutes ='0' + minutes;
if (seconds < 10) seconds ='0' + seconds;
locationX = Math.round (waypoints[i].x);
depth = -Math.round (waypoints[i].y * 10) / 10;
locationZ = Math.round (waypoints[i].z);
if (heightLabel.toLowerCase()=='altitude')
depthString = (-depth) + ' ';
else if (heightLabel.toLowerCase()=='depth')
depthString = depth + ' ';
else if (heightLabel.toLowerCase()=='none')
depthString =' ';
else depthString =' ';
outputVrmlString +=
'Transform { translation' + textOffset + '\n'
+ ' children LOD { range [' + 150 * labelFontSize + ' ]\n'
+ ' level [\n'
+ ' Billboard { axisOfRotation 0 1 0 \n'
+ ' children Shape {\n'
+ ' geometry Text {\n'
+ ' string [ \"' + hours + ':' + minutes + ':' + seconds + '\"\n'
+ ' \"' + locationX + ' ' + depthString + locationZ + ' ' + '\" ]\n'
+ ' fontStyle DEF WPIFontStyle FontStyle {\n'
+ ' size' + labelFontSize + '\n'
+ ' justify [ \"MIDDLE\" \"MIDDLE\" ]\n'
+ ' }\n'
+ ' }\n'
+ ' appearance DEF WPIAppearance Appearance {\n'
+ ' material Material { diffuseColor' + labelColor + ' }\n'
+ ' }\n'
+ ' }\n'
+ ' }\n'
+ ' WorldInfo { } ]\n'
+ ' }\n'
+ '}\n';
}
tracePrint ('outputVrmlString=' + outputVrmlString);
outputChild = Browser.createVrmlFromString (outputVrmlString);
OutputLabelsGroup.addChildren = outputChild;
// tracePrint ('OutputLabelsGroup.children =');
// tracePrint (outputChild + ' ' + OutputLabelsGroup.children.toString());
}
else if (labelDisplayMode.toLowerCase() =='interpolation')
{
// updates occur when fraction changes
}
else if ((labelDisplayMode.toLowerCase() !='none') && (labelDisplayMode !=''))
{
forcePrint ('*** illegal value labelDisplayMode=' + labelDisplayMode + ', ignored');
}
if (outputInitializationComputations)
{
tracePrint ('initialization complete');
forcePrint ('=======================================');
}
traceEnabled = saveTrace;
} // end of initialize() method
function set_fraction (fractionValue, timeStamp)
{
tracePrint ('fractionValue=' + fractionValue);
tracePrint ('previousFractionIndex=' + previousFractionIndex);
tracePrint ('WaypointPI.value_changed=' + WaypointPI.value_changed.toString());
tracePrint ('WaypointOI.value_changed=' + WaypointOI.value_changed.toString());
if (scriptError==true)
{
tracePrint ('scriptError==true, no response by set_fraction()');
return;
}
// tracePrint ('WaypointPI.key =' + WaypointPI.key.toString());
// tracePrint ('WaypointPI.keyValue =' + WaypointPI.keyValue.toString());
// wide input range supported by interpolators,
// usually no range check on fractionValue.
// however WaypointInterpolator input range is [0..1], so check
if ((fractionValue < 0) || (fractionValue > 1))
{
forcePrint ('*** error: set_fraction=' + fractionValue + ' out of range [0..1], ignored');
return;
}
if (previousFractionIndex == -1)
{
previousFractionIndex = 0; // start
while (fractionValue >= positionKey[previousFractionIndex+1])
{
previousFractionIndex ++;
if (previousFractionIndex >= waypoints.length - 2) break;
}
highlightCoordinates = new MFVec3f (waypoints[previousFractionIndex],
waypoints[previousFractionIndex +1]);
tracePrint ('highlightCoordinates=' + highlightCoordinates.toString());
}
else if (waypoints.length == 2)
{
// only one segment, no action required
}
else if (previousFractionIndex == waypoints.length - 2) // last leg
{
if (fractionValue < positionKey[previousFractionIndex]) // looped
{
previousFractionIndex = 0; // start
while (fractionValue >= positionKey[previousFractionIndex+1])
{
previousFractionIndex ++;
if (previousFractionIndex >= waypoints.length - 2) break;
}
highlightCoordinates = new MFVec3f (waypoints[previousFractionIndex],
waypoints[previousFractionIndex +1]);
tracePrint ('highlightCoordinates=' + highlightCoordinates.toString());
}
}
else if (fractionValue >= positionKey[previousFractionIndex+1])
{
previousFractionIndex++;
while (fractionValue >= positionKey[previousFractionIndex+1])
{
previousFractionIndex ++;
if (previousFractionIndex >= waypoints.length - 2) break;
}
if (previousFractionIndex > waypoints.length - 2) previousFractionIndex = 0;
highlightCoordinates = new MFVec3f (
waypoints[previousFractionIndex],
waypoints[previousFractionIndex+1]);
tracePrint ('highlightCoordinates=' + highlightCoordinates.toString());
}
// else previousFractionIndex ought to be OK
if (labelDisplayMode =='interpolation')
{
hours = Math.floor (totalDuration * fractionValue / 3600.0); // % is modulo operator, provides remainder
minutes = Math.floor ((totalDuration * fractionValue - hours * 3600) / 60.0);
seconds = Math.round (totalDuration * fractionValue - hours * 3600 - minutes * 60);
while (minutes > 60)
{
minutes -= 60;
hours += 1;
}
while (seconds > 60)
{
seconds -= 60;
minutes += 1;
}
if (hours < 10) hours ='0' + hours;
if (minutes < 10) minutes ='0' + minutes;
if (seconds < 10) seconds ='0' + seconds;
// compute course and pitch
currentAxis = WaypointOI.value_changed.getAxis().normalize();
currentRotation = WaypointOI.value_changed;
// forcePrint ('=====currentRotation=' + currentRotation.toString() + ', currentAxis=' + currentAxis.toString());
rotatedVector = currentRotation.multVec (new SFVec3f (1, 0, 0)); // rotate x-centered body
dx = rotatedVector.x;
dy = rotatedVector.y;
dz = rotatedVector.z;
levelDistance = Math.sqrt (dx*dx + dz*dz);
heading = Math.atan2 (dz, dx); // atan2 returns arctangent in any of 4 quadrants
if (levelDistance > 0)
pitchAngle = Math.atan (dy / levelDistance); // negative angle should pitch down, note no negation
else if (dy > 0)
pitchAngle = 1.57;
else pitchAngle = -1.57;
// forcePrint ('rotatedVector=' + rotatedVector.toString());
// forcePrint ('heading=' + degrees(heading) + ', pitchAngle=' + degrees(pitchAngle));
course = Math.round (normalize2Pi ( heading) * 180 / Math.PI);
pitch = Math.round (normalizePi ( pitchAngle) * 180 / Math.PI);
// format angles in degrees
if (course < 10) course = '0' + '0' + course;
else if (course < 100) course = '0' + course;
// tracePrint ('course=' + course + ', pitch=' + pitch);
locationX = Math.round (WaypointPI.value_changed.x);
depth = -Math.round (WaypointPI.value_changed.y * 10) / 10;
locationZ = Math.round (WaypointPI.value_changed.z);
if (heightLabel.toLowerCase()=='altitude')
depthString =', altitude ' + (-depth) + 'm';
else if (heightLabel.toLowerCase()=='depth')
depthString =', depth ' + depth + 'm';
else if (heightLabel.toLowerCase()=='none')
depthString ='';
else depthString ='';
labelInterpolation = new MFString (
description,
(hours + ':' + minutes + ':' + seconds + ', course=' + course + ', pitch=' + pitch),
('location=(' + locationX + ' ' + locationZ + depthString + ')'));
// tracePrint ('labelInterpolation=' + labelInterpolation);
}
tracePrint ('=====');
return;
}
function add_waypoint (newWaypointsArray, timeStamp)
{
// EcmaScript automatically increases array size
// when setting an element one past final element
waypoints[waypoints.length] = newWaypointsArray;
// initialization code is complicated! so we won't try to shortcut/optimize it, instead just rerun it
initialize ();
}
function set_waypoints (newWaypointsArray, timeStamp)
{
waypoints = newWaypointsArray;
initialize ();
}
""")
.addField(new field().setName("description").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("waypoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("add_waypoint").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_waypoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("pitchUpDownForVerticalWaypoints").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("legSpeeds").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("legDurations").setType(field.TYPE_MFTIME).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("defaultSpeed").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("turningRate").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("totalDuration").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("WaypointPI").setType(field.TYPE_SFNODE).setAccessType(field.ACCESSTYPE_INITIALIZEONLY)
.addChild(new PositionInterpolator().setUSE("WaypointPI.instance")))
.addField(new field().setName("WaypointOI").setType(field.TYPE_SFNODE).setAccessType(field.ACCESSTYPE_INITIALIZEONLY)
.addChild(new OrientationInterpolator().setUSE("WaypointOI.instance")))
.addField(new field().setName("pointIndices").setType(field.TYPE_MFINT32).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("OutputLabelsGroup").setType(field.TYPE_SFNODE).setAccessType(field.ACCESSTYPE_INITIALIZEONLY)
.addChild(new Group().setUSE("CoordinateLabelsAndViewpointsGroup")))
.addField(new field().setName("set_fraction").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("highlightCoordinates").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("Initialized to (0 0 0 0 0 0)"))
.addField(new field().setName("heightLabel").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("labelDisplayMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("labelOffset").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("labelFontSize").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("labelColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("labelInterpolation").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("traceEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("outputInitializationComputations").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Output the number of waypoints totalDistance and totalDuration to console upon initialization"))
.addComments(" local variables (do not use internal var declarations) for persistence ")
.addField(new field().setName("scriptError").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(false).setAppinfo("whether or not an error was detected during script processing."))
.addField(new field().setName("previousFractionIndex").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0).setAppinfo("retain state information while constructing fraction array"))
.addField(new field().setName("depthString").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("label"))
.addField(new field().setName("whichRotationVersion").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("label"))
.addField(new field().setName("verticalDropLineIndices").setType(field.TYPE_MFINT32).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("verticalDropLinePoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("positionKey").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(new double[] {0.0}))
.addField(new field().setName("positionKeyValueArray").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("finalPositionKey").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("finalPositionKeyValueArray").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("distances").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("pointIndicesAccumulator").setType(field.TYPE_MFINT32).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("verticalDropLineIndicesAccumulator").setType(field.TYPE_MFINT32).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("verticalDropLinePointsAccumulator").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("totalDistance").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("orientations").setType(field.TYPE_MFROTATION).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("dx").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("dy").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("dz").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("legDistance").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("heading").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("pitchAngle").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(0))
.addField(new field().setName("orientationKey").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("newKey").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("newKeyValue").setType(field.TYPE_MFROTATION).setAccessType(field.ACCESSTYPE_INITIALIZEONLY))
.addField(new field().setName("outputChild").setType(field.TYPE_MFNODE).setAccessType(field.ACCESSTYPE_INITIALIZEONLY)
.addComments(" NULL "))
.addField(new field().setName("rotatedVector").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setValue(new SFVec3f(0.0,0.0,0.0)))
.setIS(new IS()
.addConnect(new connect().setNodeField("description").setProtoField("description"))
.addConnect(new connect().setNodeField("waypoints").setProtoField("waypoints"))
.addConnect(new connect().setNodeField("add_waypoint").setProtoField("add_waypoint"))
.addConnect(new connect().setNodeField("set_waypoints").setProtoField("set_waypoints"))
.addConnect(new connect().setNodeField("pitchUpDownForVerticalWaypoints").setProtoField("pitchUpDownForVerticalWaypoints"))
.addConnect(new connect().setNodeField("legSpeeds").setProtoField("legSpeeds"))
.addConnect(new connect().setNodeField("legDurations").setProtoField("legDurations"))
.addConnect(new connect().setNodeField("defaultSpeed").setProtoField("defaultSpeed"))
.addConnect(new connect().setNodeField("turningRate").setProtoField("turningRate"))
.addConnect(new connect().setNodeField("totalDuration").setProtoField("totalDuration"))
.addConnect(new connect().setNodeField("set_fraction").setProtoField("set_fraction"))
.addConnect(new connect().setNodeField("heightLabel").setProtoField("heightLabel"))
.addConnect(new connect().setNodeField("labelDisplayMode").setProtoField("labelDisplayMode"))
.addConnect(new connect().setNodeField("labelOffset").setProtoField("labelOffset"))
.addConnect(new connect().setNodeField("labelFontSize").setProtoField("labelFontSize"))
.addConnect(new connect().setNodeField("labelColor").setProtoField("labelColor"))
.addConnect(new connect().setNodeField("traceEnabled").setProtoField("traceEnabled"))
.addConnect(new connect().setNodeField("outputInitializationComputations").setProtoField("outputInitializationComputations"))))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("finalPositionKey").setToNode("WaypointPI.instance").setToField("key"))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("finalPositionKeyValueArray").setToNode("WaypointPI.instance").setToField("keyValue"))
.addComments(" IndexedLineSet connects waypoints for easy visibility. Set transparency=1 to hide. ")
.addChild(new Shape("VerticalDropLineShape")
.setGeometry(new IndexedLineSet("VerticalDropLine").setDEF("VerticalDropLine")
.setCoord(new Coordinate("VerticalDropLineCoordinates")))
.setAppearance(new Appearance()
.setMaterial(new Material("VerticalDropLineMaterial")
.setIS(new IS()
.addConnect(new connect().setNodeField("emissiveColor").setProtoField("verticalDropLineColor"))
.addConnect(new connect().setNodeField("transparency").setProtoField("verticalDropLineTransparency"))))))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("verticalDropLineIndices").setToNode("VerticalDropLine").setToField("set_coordIndex"))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("verticalDropLinePoints").setToNode("VerticalDropLineCoordinates").setToField("point"))
.addChild(new Shape("HighlightShape")
.setGeometry(new IndexedLineSet("HighlightSegment").setDEF("HighlightSegment").setCoordIndex(new int[] {0,1,-1})
.setCoord(new Coordinate("HighlightSegmentCoordinates").setPoint(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,0.0,0.0}))))
.setAppearance(new Appearance()
.setMaterial(new Material("HighlightSegmentMaterial").setDiffuseColor(0.0,0.0,0.0).setEmissiveColor(0.2,0.2,0.2)
.setIS(new IS()
.addConnect(new connect().setNodeField("emissiveColor").setProtoField("highlightSegmentColor"))
.addConnect(new connect().setNodeField("transparency").setProtoField("transparency"))))))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("highlightCoordinates").setToNode("HighlightSegmentCoordinates").setToField("point"))
.addChild(new Shape("WaypointLineShape")
.setGeometry(new IndexedLineSet("WaypointLine").setDEF("WaypointLine")
.setCoord(new Coordinate("WaypointLineCoordinates")
.setIS(new IS()
.addConnect(new connect().setNodeField("point").setProtoField("waypoints")))))
.setAppearance(new Appearance()
.setMaterial(new Material("WaypointTrackMaterial").setEmissiveColor(0.8,0.8,0.8)
.setIS(new IS()
.addConnect(new connect().setNodeField("emissiveColor").setProtoField("lineColor"))
.addConnect(new connect().setNodeField("transparency").setProtoField("transparency"))))))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("pointIndices").setToNode("WaypointLine").setToField("set_coordIndex"))
.addComments(" Draw highlight segment before and after waypoint lines in case of order dependency ")
.addComments(" TODO!! throws Xj3D exception! ")
.addChild(new Transform("MovingVehicleLabel")
.addComments(" no need to externally ROUTE position and orientation interpolator key/keyValue results, since prototype is using pass-by-reference node update ")
.addComments(" Nevertheless, must ROUTE position and orientation interpolated text label ")
.addChild(new ROUTE().setFromNode("WaypointPI.instance").setFromField("value_changed").setToNode("MovingVehicleLabel").setToField("translation"))
.addChild(new ROUTE().setFromNode("WaypointOI.instance").setFromField("value_changed").setToNode("MovingVehicleLabel").setToField("rotation"))
.addChild(new Transform("MovingVehicleLabelOffset")
.setIS(new IS()
.addConnect(new connect().setNodeField("translation").setProtoField("labelOffset")))
.addChild(new Billboard()
.addChild(new Shape()
.setGeometry(new Text("MovingVehicleLabelText")
.setFontStyle(new FontStyle("MovingVehicleLabelFont").setJustify(FontStyle.JUSTIFY_MIDDLE_MIDDLE)
.setIS(new IS()
.addConnect(new connect().setNodeField("size").setProtoField("labelFontSize")))))
.setAppearance(new Appearance()
.setMaterial(new Material("MovingVehicleLabelMaterial")
.setIS(new IS()
.addConnect(new connect().setNodeField("diffuseColor").setProtoField("labelColor"))))))
.addChild(new ROUTE().setFromNode("WaypointTrackScript").setFromField("labelInterpolation").setToNode("MovingVehicleLabelText").setToField("string"))))))))
.addComments(" ====================================== ")
.addChild(new Anchor().setDescription("WaypointInterpolator Example").setUrl(new String[] {"WaypointInterpolatorExample.x3d","https://www.web3d.org/x3d/content/examples/Savage/Tools/Animation/WaypointInterpolatorExample.x3d","WaypointInterpolatorExample.wrl","https://www.web3d.org/x3d/content/examples/Savage/Tools/Animation/WaypointInterpolatorExample.wrl"})
.addChild(new Shape()
.setGeometry(new Text().setString(new String[] {"WaypointInterpolatorPrototype","defines a prototype","","Click on this text to see","WaypointInterpolatorExample"," scene"})
.setFontStyle(new FontStyle().setJustify(FontStyle.JUSTIFY_MIDDLE_MIDDLE)))
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(1.0,1.0,0.2))))
.addChild(new Shape()
.setGeometry(new Box().setSize(12.0,6.0,0.001))
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(1.0,1.0,1.0).setTransparency(1))))));
}
catch (Exception ex)
{
System.err.println ("*** Further hints on X3DJSAIL errors and exceptions at");
System.err.println ("*** https://www.web3d.org/specifications/java/X3DJSAIL.html");
throw (ex);
}
}
// end of initialize() method
/** The initialized model object, created within initialize() method. */
private X3D x3dModel;
/**
* Provide a
* shallow copy
* of the X3D model.
* @see X3D
* @return WaypointInterpolatorPrototype model
*/
public X3D getX3dModel()
{
return x3dModel;
}
/**
* Default main() method provided for test purposes, uses CommandLine to set global ConfigurationProperties for this object.
* @param args array of input parameters, provided as arguments
* @see X3D.handleArguments(args)
* @see X3D.validationReport()
* @see CommandLine
* @see CommandLine.USAGE
* @see ConfigurationProperties
*/
public static void main(String args[])
{
System.out.println("Build this X3D model, showing validation diagnostics...");
X3D thisExampleX3dModel = new WaypointInterpolatorPrototype().getX3dModel();
// System.out.println("X3D model construction complete.");
// next handle command line arguments
boolean hasArguments = (args != null) && (args.length > 0);
boolean validate = true; // default
boolean argumentsLoadNewModel = false;
String fileName = new String();
if (args != null)
{
for (String arg : args)
{
if (arg.toLowerCase().startsWith("-v") || arg.toLowerCase().contains("validate"))
{
validate = true; // making sure
}
if (arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3D) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_CLASSICVRML) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3DB) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_VRML97) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_EXI) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_GZIP) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_ZIP) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_HTML) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_XHTML))
{
argumentsLoadNewModel = true;
fileName = arg;
}
}
}
if (argumentsLoadNewModel)
System.out.println("WARNING: \"Savage.Tools.Animation.WaypointInterpolatorPrototype\" model invocation is attempting to load file \"" + fileName + "\" instead of simply validating itself... file loading ignored.");
else if (hasArguments) // if no arguments provided, this method produces usage warning
thisExampleX3dModel.handleArguments(args);
if (validate)
{
// System.out.println("--- TODO fix duplicated outputs ---"); // omit when duplicated outputs problem is solved/refactored
String validationResults = thisExampleX3dModel.validationReport();
// System.out.println("-----------------------------------"); // omit when duplicated outputs problem is solved/refactored
System.out.print("Savage.Tools.Animation.WaypointInterpolatorPrototype self-validation test confirmation: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
// experimental: test X3DJSAIL output files
// Tools/Animation/WaypointInterpolatorPrototype_JavaExport.* file validation is checked when building X3D Example Archives
String filenameX3D = "Tools/Animation/WaypointInterpolatorPrototype_JavaExport.x3d";
String filenameX3DV = "Tools/Animation/WaypointInterpolatorPrototype_JavaExport.x3dv";
String filenameJSON = "Tools/Animation/WaypointInterpolatorPrototype_JavaExport.json";
thisExampleX3dModel.toFileX3D (filenameX3D);
thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO thisExampleX3dModel.toFileJSON (filenameJSON);
}
}
}