How to use

Graphics3DAdapter

in

us.ihmc.jMonkeyEngineToolkit

@Override
public void postFrame(double timePerFrame)
{
 while (!graphics3DNodesToAddPostFrame.isEmpty())
 {
   graphics3dAdapter.addRootNode(graphics3DNodesToAddPostFrame.poll());
 }
}

public static ClassicCameraController createClassicCameraControllerAndAddListeners(ViewportAdapter viewportAdapter, CameraTrackingAndDollyPositionHolder cameraTrackAndDollyVariablesHolder, Graphics3DAdapter graphics3dAdapter, JFrame jFrame)
{
 ClassicCameraController classicCameraController = new ClassicCameraController(graphics3dAdapter, viewportAdapter, cameraTrackAndDollyVariablesHolder, jFrame);
 graphics3dAdapter.addKeyListener(classicCameraController);
 graphics3dAdapter.addMouseListener(classicCameraController);
 graphics3dAdapter.addMouse3DListener(classicCameraController);
 graphics3dAdapter.addSelectedListener(classicCameraController);
 return classicCameraController;
}

public void stop()
{
 graphics3dAdapter.closeViewport(viewportAdapter);
 graphics3dAdapter.closeAndDispose();
 if (jFrame != null)
 {
   jFrame.dispose();
 }
}

rootNode.addChild(node2);
adapter.addRootNode(rootNode);
adapter.addSelectedListener(selectedListener);
node2.addSelectedListener(selectedListener);
ViewportAdapter camera = adapter.createNewViewport(null, false, false);
ClassicCameraController classicCameraController = ClassicCameraController.createClassicCameraControllerAndAddListeners(camera, cameraTrackAndDollyVariablesHolder, adapter);
camera.setCameraController(classicCameraController);

graphics3DAdapter.addRootNode(teapotAndSphereNode);
ViewportAdapter viewportAdapter = graphics3DAdapter.createNewViewport(null, false, true);
ClassicCameraController classicCameraController = new ClassicCameraController(graphics3DAdapter, viewportAdapter, cameraTrackAndDollyVariablesHolder);
classicCameraController.setTracking(true, true, false, false);

public static ViewportAdapter createViewport(Graphics3DAdapter graphics3DAdapter)
{
 return graphics3DAdapter.createNewViewport(null, false, false);
}

 public static void setupDRCRobotLidar(FloatingRootJointRobot robot, Graphics3DAdapter graphics3dAdapter, LocalObjectCommunicator objectCommunicator, DRCRobotJointMap jointMap,
    DRCRobotLidarParameters lidarParams, TimestampProvider timestampProvider, boolean startLidar)
{
 if (graphics3dAdapter != null)
 {
   LidarMount lidarMount = getSensor(robot, lidarParams.getSensorNameInSdf());
   LidarScanParameters lidarScanParameters = lidarMount.getLidarScanParameters();
   int horizontalRays = lidarScanParameters.pointsPerSweep;
   int scanHeight = lidarScanParameters.scanHeight;
   float fov = lidarScanParameters.sweepYawMax - lidarScanParameters.sweepYawMin;
   float near = lidarScanParameters.minRange;
   float far = lidarScanParameters.maxRange;
   DRCLidarCallback callback = new DRCLidarCallback(objectCommunicator, lidarScanParameters, lidarParams.getSensorId());
   GPULidar lidar = graphics3dAdapter.createGPULidar(callback, horizontalRays, scanHeight, fov, near, far);
   lidarMount.setLidar(lidar);
 }
}

private boolean shouldAcceptDeviceInput()
{
 if (alreadyClosing || graphics3dAdapter.getContextManager().getCurrentViewport() != viewportAdapter)
   return false;
 
 if (jFrame != null && !jFrame.isActive())
   return false;
 
 return true;
}

public static void addSimpleSelectedListener(Graphics3DAdapter graphics3DAdapter, Graphics3DNode box)
{
 SelectedListener selectedListener = new SelectedListener()
 {
   public void selected(Graphics3DNode graphics3dNode, ModifierKeyInterface modifierKeyHolder, Point3DReadOnly location, Point3DReadOnly cameraLocation,
             QuaternionReadOnly cameraRotation)
   {
    System.out.println("Selected " + graphics3dNode.getName() + " @ location " + location);
   }
 };
 graphics3DAdapter.addSelectedListener(selectedListener);
 box.addSelectedListener(selectedListener);
}

Graphics3DInstruction teapotAppearanceHolder = teapotObject.addTeaPot(YoAppearance.Red());
teapotAndSphereNode.setGraphicsObject(teapotObject);
graphics3DAdapter.addRootNode(teapotAndSphereNode);
BlinkRunnable blinker = new BlinkRunnable(teapotAppearanceHolder);
boxGraphics.addCube(1.0, 1.0, 1.0, YoAppearance.Green());
box.setGraphicsObject(boxGraphics);
graphics3DAdapter.addRootNode(box);
ViewportAdapter viewportAdapter = graphics3DAdapter.createNewViewport(null, false, false);
ClassicCameraController classicCameraController = ClassicCameraController.createClassicCameraControllerAndAddListeners(viewportAdapter, cameraTrackAndDollyVariablesHolder, graphics3DAdapter);
viewportAdapter.setCameraController(classicCameraController);
createNewWindow(canvas);
ViewportAdapter secondCamera = graphics3DAdapter.createNewViewport(null, false, false);
ClassicCameraController secondController = ClassicCameraController.createClassicCameraControllerAndAddListeners(secondCamera, cameraTrackAndDollyVariablesHolder, graphics3DAdapter);
secondCamera.setCameraController(secondController);
graphics3DAdapter.addSelectedListener(selectedListener);
box.addSelectedListener(selectedListener);

graphics3DAdapter.addRootNode(teapotAndSphereNode);
ViewportAdapter viewportAdapter = graphics3DAdapter.createNewViewport(null, false, false);
ClassicCameraController classicCameraController = new ClassicCameraController(graphics3DAdapter, viewportAdapter, cameraTrackAndDollyVariablesHolder);
classicCameraController.setTracking(true, true, false, false);

public static ViewportAdapter createViewport(Graphics3DAdapter graphics3DAdapter)
{
 return graphics3DAdapter.createNewViewport(null, false, false);
}

gpuLidar = graphics3dAdapter.createGPULidar(lidarScanParameters.getPointsPerSweep(), lidarScanParameters.getScanHeight(),
                      lidarScanParameters.getFieldOfView(), lidarScanParameters.getMinRange(), lidarScanParameters.getMaxRange());
gpuLidar.addGPULidarListener((scan, currentTransform,

private boolean shouldAcceptDeviceInput()
{
 if (alreadyClosing || graphics3dAdapter.getContextManager().getCurrentViewport() != viewportAdapter)
   return false;
 
 if (jFrame != null && !jFrame.isActive())
   return false;
 
 return true;
}

public static void addSimpleSelectedListener(Graphics3DAdapter graphics3DAdapter, Graphics3DNode box)
{
 SelectedListener selectedListener = new SelectedListener()
 {
   public void selected(Graphics3DNode graphics3dNode, ModifierKeyInterface modifierKeyHolder, Point3d location, Point3d cameraLocation,
             Quat4d cameraRotation)
   {
    System.out.println("Selected " + graphics3dNode.getName() + " @ location " + location);
   }
 };
 graphics3DAdapter.addSelectedListener(selectedListener);
 box.addSelectedListener(selectedListener);
}

rootNode.addChild(node2);
adapter.addRootNode(rootNode);
adapter.addSelectedListener(selectedListener);
node2.addSelectedListener(selectedListener);
ViewportAdapter camera = adapter.createNewViewport(null, false, false);
ClassicCameraController classicCameraController = ClassicCameraController.createClassicCameraControllerAndAddListeners(camera, cameraTrackAndDollyVariablesHolder, adapter);
camera.setCameraController(classicCameraController);

@Override
public void postFrame(double timePerFrame)
{
 while (!graphics3DNodesToAddPostFrame.isEmpty())
 {
   graphics3dAdapter.addRootNode(graphics3DNodesToAddPostFrame.poll());
 }
}

public static ClassicCameraController createClassicCameraControllerAndAddListeners(ViewportAdapter viewportAdapter, CameraTrackingAndDollyPositionHolder cameraTrackAndDollyVariablesHolder, Graphics3DAdapter graphics3dAdapter, JFrame jFrame)
{
 ClassicCameraController classicCameraController = new ClassicCameraController(graphics3dAdapter, viewportAdapter, cameraTrackAndDollyVariablesHolder, jFrame);
 graphics3dAdapter.addKeyListener(classicCameraController);
 graphics3dAdapter.addMouseListener(classicCameraController);
 graphics3dAdapter.addMouse3DListener(classicCameraController);
 graphics3dAdapter.addSelectedListener(classicCameraController);
 return classicCameraController;
}

public static void addSecondCamera(Graphics3DAdapter graphics3DAdapter, PanBackAndForthTrackingAndDollyPositionHolder cameraTrackAndDollyVariablesHolder)
{
 ViewportAdapter secondCamera = graphics3DAdapter.createNewViewport(null, false, false);
 ClassicCameraController secondController = ClassicCameraController.createClassicCameraControllerAndAddListeners(secondCamera,
                        cameraTrackAndDollyVariablesHolder, graphics3DAdapter);
 secondCamera.setCameraController(secondController);
 createNewWindow(secondCamera.getCanvas());
}

public void stop()
{
 graphics3dAdapter.closeViewport(viewportAdapter);
 graphics3dAdapter.closeAndDispose();
 if (jFrame != null)
 {
   jFrame.dispose();
 }
}