How to use

JavaFXTools

in

us.ihmc.javaFXToolkit

public static Affine convertRigidBodyTransformToAffine(RigidBodyTransform rigidBodyTransform)
{
 Affine ret = new Affine();
 convertRigidBodyTransformToAffine(rigidBodyTransform, ret);
 return ret;
}

public void renderLidarScanMessage(LidarScanMessage lidarScanMessage)
{
 if (!enabled.get() || lidarScanMessage == null || newMessageToRender.get() != null)
   return;
 newMessageToRender.set(lidarScanMessage);
 Quat4f orientation = lidarScanMessage.getLidarOrientation();
 Point3f position = lidarScanMessage.getLidarPosition();
 lastAffine.set(JavaFXTools.createAffineFromQuaternionAndTuple(orientation, position));
 executor.execute(this::computeScanMesh);
}

/**
* Update the camera translation after applying a translation offset in the world frame.
* @param dx the translation offset along the world x-axis.
* @param dy the translation offset along the world y-axis.
* @param dz the translation offset along the world z-axis.
*/
public void updateWorldTranslation(double dx, double dy, double dz)
{
 Vector3D shift = new Vector3D(dx, dy, dz);
 JavaFXTools.addEquals(translation, shift);
}

  JavaFXTools.applyTranform(cameraOrientation.get(), shift);
JavaFXTools.addEquals(translation, shift);

public static void convertAxisAngleToAffine(AxisAngle axisAngle, Affine affineToPack)
{
 RotationMatrix intermediateMatrix = new RotationMatrix();
 intermediateMatrix.set(axisAngle);
 convertRotationMatrixToAffine(intermediateMatrix, affineToPack);
}

public static Affine createAffineFromAxisAngle(AxisAngle4d axisAngle)
{
 Affine affine = new Affine();
 convertAxisAngleToAffine(axisAngle, affine);
 return affine;
}

JavaFXTools.applyTranform(camera.getLocalToSceneTransform(), cameraPosition);

public void update()
{
 ObservableList<Transform> transforms = this.getTransforms();
 transforms.clear();
 Affine javaFxAffineTransform = new Affine();
 AffineTransform euclidAffineTransform = graphicsNode.getTransform();
 JavaFXTools.convertEuclidAffineToJavaFXAffine(euclidAffineTransform, javaFxAffineTransform);
 transforms.add(javaFxAffineTransform);
 for (int i = 0; i < updatables.size(); i++)
 {
   updatables.get(i).update();
 }
}

  JavaFXTools.applyTranform(cameraOrientation.get(), shift);
JavaFXTools.addEquals(translation, shift);

public static void convertAxisAngleToAffine(AxisAngle4d axisAngle, Affine affineToPack)
{
 Matrix3d intermediateMatrix = new Matrix3d();
 intermediateMatrix.set(axisAngle);
 convertRotationMatrixToAffine(intermediateMatrix, affineToPack);
}

public static Affine createAffineFromAxisAngle(AxisAngle axisAngle)
{
 Affine affine = new Affine();
 convertAxisAngleToAffine(axisAngle, affine);
 return affine;
}

JavaFXTools.applyTranform(camera.getLocalToSceneTransform(), cameraPosition);

JavaFXTools.convertEuclidAffineToJavaFXAffine(affineTransform, javaFxAffineToPack);
MeshDataHolder meshDataHolder = meshDataHolders[i];
MeshView meshView = new MeshView();

public static Affine convertRigidBodyTransformToAffine(RigidBodyTransform rigidBodyTransform)
{
 Affine ret = new Affine();
 convertRigidBodyTransformToAffine(rigidBodyTransform, ret);
 return ret;
}

public void renderLidarScanMessage(LidarScanMessage lidarScanMessage)
{
 if (!enabled.get() || lidarScanMessage == null || newMessageToRender.get() != null)
   return;
 newMessageToRender.set(lidarScanMessage);
 Quaternion orientation = lidarScanMessage.getLidarOrientation();
 Point3D position = lidarScanMessage.getLidarPosition();
 lastAffine.set(JavaFXTools.createAffineFromQuaternionAndTuple(orientation, position));
 executor.execute(this::computeScanMesh);
}

private void computeOffset()
{
 Vector3D cameraZAxis = new Vector3D(forward);
 Vector3D cameraYAxis = new Vector3D(down);
 Vector3D cameraXAxis = new Vector3D();
 cameraXAxis.cross(cameraYAxis, cameraZAxis);
 RotationMatrix rotationOffset = new RotationMatrix();
 rotationOffset.setColumns(cameraXAxis, cameraYAxis, cameraZAxis);
 JavaFXTools.convertRotationMatrixToAffine(rotationOffset, offset);
}

/**
* Update the camera translation after applying a translation offset in the world frame.
* @param dx the translation offset along the world x-axis.
* @param dy the translation offset along the world y-axis.
* @param dz the translation offset along the world z-axis.
*/
public void updateWorldTranslation(double dx, double dy, double dz)
{
 Vector3d shift = new Vector3d(dx, dy, dz);
 JavaFXTools.addEquals(translation, shift);
}

public static void transformNode(Node nodeToTransform, RigidBodyTransform transform)
{
 nodeToTransform.getTransforms().add(JavaFXTools.convertRigidBodyTransformToAffine(transform));
}

private void handleMessage(LidarScanMessage lidarScanMessage)
{
 if (lidarScanMessage == null)
   return;
 Quaternion orientation = lidarScanMessage.getLidarOrientation();
 Point3D position = lidarScanMessage.getLidarPosition();
 lastAffine.set(JavaFXTools.createAffineFromQuaternionAndTuple(orientation, position));
}

private void computeOffset()
{
 Vector3d cameraZAxis = new Vector3d(forward);
 Vector3d cameraYAxis = new Vector3d(down);
 Vector3d cameraXAxis = new Vector3d();
 cameraXAxis.cross(cameraYAxis, cameraZAxis);
 Matrix3d rotationOffset = new Matrix3d();
 rotationOffset.setColumn(0, cameraXAxis);
 rotationOffset.setColumn(1, cameraYAxis);
 rotationOffset.setColumn(2, cameraZAxis);
 JavaFXTools.convertRotationMatrixToAffine(rotationOffset, offset);
}