Added classes Line3D and Ray3D to javafx package

visual/javafx/src/main/java/org/openbase/jul/visual/javafx/geometry/Line3D.java

@@ -0,0 +1,187 @@
+package org.openbase.jul.visual.javafx.geometry;
+
+/*-
+ * #%L
+ * JUL Visual JavaFX
+ * %%
+ * Copyright (C) 2015 - 2017 openbase.org
+ * %%
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Lesser Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Lesser Public
+ * License along with this program.  If not, see
+ * <http://www.gnu.org/licenses/lgpl-3.0.html>.
+ * #L%
+ */
+import javafx.geometry.Point3D;
+import javafx.scene.Group;
+import javafx.scene.paint.Material;
+import javafx.scene.shape.Box;
+import javafx.scene.shape.Cylinder;
+
+/**
+ * This class represents a line in a 3d space. Width, line type, material and
+ * start and end points can be specified.
+ *
+ * @author <a href="mailto:[email protected]">Thoren Huppke</a>
+ */
+public class Line3D extends Group {
+
+    /**
+     * Upwards vector used to calculate the rotation axis.
+     */
+    private final static Point3D UP = new Point3D(0, 1, 0);
+
+    /**
+     * The LineType used for this Line object.
+     */
+    private final LineType type;
+
+    /**
+     * JavaFX Box used in case of LineType BOX.
+     */
+    private Box box;
+
+    /**
+     * JavaFX Cylinder used in case of LineType CYLINDER.
+     */
+    private Cylinder cylinder;
+
+    /**
+     * Can be used to specify the looks of the Line object.
+     */
+    public enum LineType {
+        /**
+         * A box type line is used.
+         */
+        BOX,
+        /**
+         * A cylinder type line is used.
+         */
+        CYLINDER
+    }
+
+    /**
+     * Base constructor.
+     *
+     * @param type The LineType that is going to be used.
+     * @param width The line width.
+     * @param material The line material.
+     */
+    public Line3D(final LineType type, double width, final Material material) {
+        this.type = type;
+        super.setVisible(false);
+        switch (type) {
+            case BOX:
+                box = new Box(width, 0, width);
+                box.setMaterial(material);
+                super.getChildren().add(box);
+                break;
+            case CYLINDER:
+                cylinder = new Cylinder(width * 0.5, 0);
+                cylinder.setMaterial(material);
+                super.getChildren().add(cylinder);
+                break;
+            default:
+                break;
+        }
+    }
+
+    /**
+     * Constructor with start and end intialization.
+     *
+     * @param type The LineType that is going to be used.
+     * @param width The line width.
+     * @param material The line material.
+     * @param start Start point of the line.
+     * @param end End point of the line.
+     */
+    public Line3D(final LineType type, final double width, final Material material, final Point3D start, final Point3D end) {
+        this(type, width, material);
+        setStartEndPoints(start, end);
+    }
+
+    /**
+     * Sets the start and end point of the line.
+     *
+     * @param start Start point of the line.
+     * @param end End point of the line.
+     */
+    public final void setStartEndPoints(final Point3D start, final Point3D end) {
+        final Point3D direction = start.subtract(end);
+        final Point3D position = start.midpoint(end);
+        setLength(direction.magnitude());
+        final Point3D axis = UP.crossProduct(direction.normalize());
+        super.setVisible(true);
+        super.setTranslateX(position.getX());
+        super.setTranslateY(position.getY());
+        super.setTranslateZ(position.getZ());
+        super.setRotationAxis(axis);
+        super.setRotate(UP.angle(direction.normalize()));
+    }
+
+    /**
+     * Sets the Material of the line, which can be used to display different
+     * colors.
+     *
+     * @param material The line material.
+     */
+    public void setMaterial(final Material material) {
+        switch (type) {
+            case BOX:
+                box.setMaterial(material);
+                break;
+            case CYLINDER:
+                cylinder.setMaterial(material);
+                break;
+            default:
+                break;
+        }
+    }
+
+    /**
+     * Sets the width of the line.
+     *
+     * @param width The line width.
+     */
+    public void setWidth(double width) {
+        switch (type) {
+            case BOX:
+                box.setWidth(width);
+                box.setDepth(width);
+                break;
+            case CYLINDER:
+                cylinder.setRadius(width * 0.5);
+                break;
+            default:
+                break;
+        }
+    }
+
+    /**
+     * Sets the length of the line. This is only used internally to shape the
+     * line correctly.
+     *
+     * @param length Length of the line.
+     */
+    private void setLength(double length) {
+        switch (type) {
+            case BOX:
+                box.setHeight(length);
+                break;
+            case CYLINDER:
+                cylinder.setHeight(length);
+                break;
+            default:
+                break;
+        }
+    }
+}

visual/javafx/src/main/java/org/openbase/jul/visual/javafx/geometry/Ray3D.java

@@ -0,0 +1,93 @@
+package org.openbase.jul.visual.javafx.geometry;
+
+/*-
+ * #%L
+ * JUL Visual JavaFX
+ * %%
+ * Copyright (C) 2015 - 2017 openbase.org
+ * %%
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Lesser Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Lesser Public
+ * License along with this program.  If not, see
+ * <http://www.gnu.org/licenses/lgpl-3.0.html>.
+ * #L%
+ */
+import javafx.geometry.Point3D;
+import javafx.scene.paint.Material;
+import rst.geometry.Ray3DFloatType.Ray3DFloat;
+import rst.math.Vec3DFloatType.Vec3DFloat;
+
+/**
+ * This class represents a ray in a 3d space represented by a cylinder. Default width is 2cm.
+ *
+ * @author <a href="mailto:[email protected]">Thoren Huppke</a>
+ */
+public class Ray3D extends Line3D {
+
+    /**
+     * The default length of a ray.
+     */
+    private final static double DEFAULT_LENGTH = 10;
+
+    /**
+     * The default width of a ray.
+     */
+    private final static double DEFAULT_WIDTH = 0.02;
+
+    /**
+     * The length of this ray.
+     */
+    private final double rayLength;
+
+    /**
+     * Transforms a Vec3DFloat object to a Point3D object.
+     *
+     * @param vector The Vec3DFloat object.
+     * @return The transformed Point3D.
+     */
+    private Point3D VecToPoint(final Vec3DFloat vector) {
+        return new Point3D(vector.getX(), vector.getY(), vector.getZ());
+    }
+
+    /**
+     * Constructor using default ray length (10 meters).
+     *
+     * @param material The ray material.
+     */
+    public Ray3D(final Material material) {
+        super(Line3D.LineType.CYLINDER, DEFAULT_WIDTH, material);
+        this.rayLength = DEFAULT_LENGTH;
+    }
+
+    /**
+     * Constructor using the given ray length.
+     *
+     * @param material The ray material.
+     * @param rayLength The ray length.
+     */
+    public Ray3D(final Material material, double rayLength) {
+        super(Line3D.LineType.CYLINDER, DEFAULT_WIDTH, material);
+        this.rayLength = rayLength;
+    }
+
+    /**
+     * Updates the ray orientation and position to the specified data.
+     *
+     * @param ray Ray3DFloat object defining the placement data of the ray.
+     */
+    public void update(final Ray3DFloat ray) {
+        final Point3D origin = VecToPoint(ray.getOrigin());
+        final Point3D direction = VecToPoint(ray.getDirection());
+        final Point3D end = origin.add(direction.normalize().multiply(rayLength));
+        super.setStartEndPoints(origin, end);
+    }
+}