public void createDataPanels() {
removeAll();
for (ReferenceFrame f : FrameManager.getFrames()) {
if (f.isVisible()) {
DataPanel dp = new DataPanel(f, this);
add(dp);
}
}
invalidate();
}
@Override
protected void onAbsoluteTransformationChange() {
super.onAbsoluteTransformationChange();
synchronized (m_absoluteTransformationLock) {
m_absoluteTransformation = null;
m_inverseAbsoluteTransformation = null;
}
}
public Matrix44 calculateTransformation(javax.vecmath.Matrix4d m, ReferenceFrame asSeenBy) {
ReferenceFrame vehicle = (ReferenceFrame) getParent();
if (asSeenBy == null) {
asSeenBy = vehicle;
}
if (asSeenBy == vehicle) {
return new Matrix44(m);
} else {
javax.vecmath.Matrix4d vehicleInverse;
if (vehicle != null) {
vehicleInverse = vehicle.getInverseAbsoluteTransformation();
} else {
vehicleInverse = new javax.vecmath.Matrix4d();
vehicleInverse.setIdentity();
}
return Matrix44.multiply(
m, Matrix44.multiply(asSeenBy.getAbsoluteTransformation(), vehicleInverse));
}
}
/** Refreshes step positions. */
protected void refreshSteps() {
locked = true;
if (refreshStepsLater) return;
// return if this is an empty dynamic system
if (this instanceof DynamicSystem) {
DynamicSystem system = (DynamicSystem) this;
if (system.particles.length == 0) return;
}
if (trackerPanel != null) {
refreshDerivsLater = trackerPanel.getPlayer().getClipControl().isPlaying();
int n = trackerPanel.getFrameNumber();
VideoClip clip = trackerPanel.getPlayer().getVideoClip();
// determine last frame to be marked (must satisfy both model and clip)
int end = Math.min(getEndFrame(), n);
while (end > getStartFrame() && !clip.includesFrame(end)) {
end--;
}
if (end <= lastValidFrame) return;
if (lastValidFrame == -1) {
reset(); // initializes model, sets lastValidFrame to marked frame, if any
if (lastValidFrame == -1 || end <= lastValidFrame) return;
}
int start = lastValidFrame;
Tracker.logTime(
this.getClass().getSimpleName()
+ this.hashCode()
+ " refreshing steps "
+ start
+ " to "
+ end); //$NON-NLS-1$ //$NON-NLS-2$
boolean singleStep = (end - start == 1);
// step forward to end
ImageCoordSystem coords = trackerPanel.getCoords();
// get underlying coords if appropriate
boolean useDefault = isUseDefaultReferenceFrame();
while (useDefault && coords instanceof ReferenceFrame) {
coords = ((ReferenceFrame) coords).getCoords();
}
double startTime = t0 + dt * tracePtsPerStep * (start - getStartFrame()) / clip.getStepSize();
double stepSize = 1.0 * clip.getStepSize() / tracePtsPerStep;
int stepCount = (tracePtsPerStep * (end - start)) / clip.getStepSize();
ParticleModel[] models = getModels();
// prepare larger trace arrays and copy existing points into them
for (ParticleModel next : models) {
next.locked = false;
int traceLength = next.traceX.length + stepCount;
next.prevX = next.traceX;
next.prevY = next.traceY;
next.traceX = new double[traceLength];
next.traceY = new double[traceLength];
System.arraycopy(next.prevX, 0, next.traceX, 0, next.prevX.length);
System.arraycopy(next.prevY, 0, next.traceY, 0, next.prevY.length);
}
for (int i = 0; i < stepCount; i++) {
int stepNumber = i + 1;
int frameNumber = start + (int) (stepNumber * stepSize);
time = startTime + stepNumber * dt;
Point2D[] points = getNextTracePositions();
if (points == null) continue;
AffineTransform transform = coords.getToImageTransform(frameNumber);
for (int j = 0; j < models.length; j++) {
transform.transform(points[j], points[j]);
// determine if point is invalid due to out of bounds
boolean valid =
Math.abs(points[j].getX()) < xLimit && Math.abs(points[j].getY()) < yLimit;
if (!valid && !invalidWarningShown) {
invalidWarningShown = true;
Runnable runner = new Runnable() { // avoids deadlock?
public void run() {
// if (invalidWarningShown) return;
JOptionPane.showMessageDialog(
trackerPanel,
TrackerRes.getString("ParticleModel.Dialog.Offscreen.Message1")
+ XML.NEW_LINE //$NON-NLS-1$
+ TrackerRes.getString(
"ParticleModel.Dialog.Offscreen.Message2"), //$NON-NLS-1$
TrackerRes.getString("ParticleModel.Dialog.Offscreen.Title"), // $NON-NLS-1$
JOptionPane.WARNING_MESSAGE);
}
};
SwingUtilities.invokeLater(runner);
}
models[j].traceX[models[j].prevX.length + i] = valid ? points[j].getX() : Double.NaN;
models[j].traceY[models[j].prevY.length + i] = valid ? points[j].getY() : Double.NaN;
if (stepNumber % tracePtsPerStep == 0) { // refresh position step
saveState(frameNumber);
PositionStep step = (PositionStep) models[j].getStep(frameNumber);
if (step == null) {
step = createPositionStep(models[j], frameNumber, 0, 0);
step.setFootprint(models[j].getFootprint());
models[j].steps.setStep(frameNumber, step);
}
step.getPosition().setPosition(valid ? points[j] : nan); // this method is fast
}
}
}
int count = 4 + (end - start);
int startUpdate = start;
// step back twice to pick up possible valid derivatives
if (startUpdate > clip.getStepSize()) startUpdate -= clip.getStepSize();
if (startUpdate > clip.getStepSize()) startUpdate -= clip.getStepSize();
lastValidFrame = end;
for (ParticleModel next : models) {
next.steps.setLength(end + 1);
coords = trackerPanel.getCoords(); // get active coords
// special treatment if this is the origin of current reference frame
if (coords instanceof ReferenceFrame
&& ((ReferenceFrame) coords).getOriginTrack() == next) {
// set origins of reference frame
boolean prev = next.refreshing; // save refreshing value
next.refreshing = true;
((ReferenceFrame) coords).setOrigins();
// then set positions to zero wrt origins
for (int i = 0; i < clip.getStepCount(); i++) {
int frameNumber = clip.stepToFrame(i);
PositionStep step = (PositionStep) next.getStep(frameNumber);
if (step == null) continue;
AffineTransform transform = coords.getToImageTransform(frameNumber);
next.point.setLocation(0, 0);
transform.transform(next.point, next.point);
step.getPosition().setPosition(next.point); // this method is fast
}
next.refreshing = prev; // restore refreshing value
if (!refreshDerivsLater) {
next.updateDerivatives(startUpdate, count);
}
} else if (!refreshDerivsLater) {
next.updateDerivatives(startUpdate, count);
}
if (next.vAtOrigin) next.vTailsToOriginItem.doClick();
if (next.aAtOrigin) next.aTailsToOriginItem.doClick();
if (!refreshDerivsLater) {
if (singleStep)
next.support.firePropertyChange("step", null, new Integer(n)); // $NON-NLS-1$
else next.support.firePropertyChange("steps", null, null); // $NON-NLS-1$
}
// erase refreshed steps
for (int i = start + 1; i <= end; i++) {
Step step = next.getStep(i);
if (step != null) step.erase();
}
next.locked = true;
}
trackerPanel.repaint();
}
}
public Matrix33 calculatePointAt(
ReferenceFrame target,
javax.vecmath.Vector3d offset,
javax.vecmath.Vector3d upGuide,
ReferenceFrame asSeenBy,
boolean onlyAffectYaw) {
synchronized (s_calculatePointAtHelperOffset) {
if (upGuide == null) {
upGuide = MathUtilities.getYAxis();
}
if (asSeenBy == null) {
asSeenBy = (ReferenceFrame) getParent();
}
Matrix44 transform = getTransformation(asSeenBy);
Vector3 position = transform.getPosition();
// Vector3 position = new Vector3( transform.m30, transform.m31,
// transform.m32 );
ReferenceFrame actualTarget;
if (offset == null) {
actualTarget = target;
} else {
s_calculatePointAtHelperOffset.setParent(target);
Matrix44 m = new Matrix44();
m.m30 = offset.x;
m.m31 = offset.y;
m.m32 = offset.z;
s_calculatePointAtHelperOffset.setLocalTransformation(m);
actualTarget = s_calculatePointAtHelperOffset;
}
Matrix33 result;
if (onlyAffectYaw) {
// setup "helperA" with the orientation of "asSeenBy" and the
// position of "this"
s_calculatePointAtHelperA.setParent(asSeenBy);
s_calculatePointAtHelperA.setLocalTransformation(new Matrix44());
s_calculatePointAtHelperA.setPosition(Vector3.ZERO, this);
// calculate the angle of rotation around y of "actualTarget" as
// seen by "helperA"
Vector3 targetPosition = actualTarget.getPosition(s_calculatePointAtHelperA);
double targetTheta = Math.atan2(targetPosition.x, targetPosition.z);
// place "helperB" out in front of "this"
s_calculatePointAtHelperB.setParent(this);
s_calculatePointAtHelperB.setPosition(MathUtilities.getZAxis(), this);
// calculate the angle of rotation around Y of "helperB" as seen
// by "helperA"
Vector3 forwardPosition = s_calculatePointAtHelperB.getPosition(s_calculatePointAtHelperA);
double forwardTheta = Math.atan2(forwardPosition.x, forwardPosition.z);
// setup "helperB" to have position and orientation of "this"
s_calculatePointAtHelperB.setLocalTransformation(new Matrix44());
// calculate how much to rotate
double deltaTheta = targetTheta - forwardTheta;
// rotate "helperB" around Y as seen by "helperA"
s_calculatePointAtHelperB.rotate(
MathUtilities.getYAxis(), deltaTheta, s_calculatePointAtHelperA);
// extract result
result = s_calculatePointAtHelperB.getAxes(asSeenBy);
// clean up
s_calculatePointAtHelperA.setParent(null);
s_calculatePointAtHelperB.setParent(null);
} else {
javax.vecmath.Vector3d targetPosition = actualTarget.getPosition(asSeenBy);
javax.vecmath.Vector3d zAxis =
MathUtilities.normalizeV(MathUtilities.subtract(targetPosition, position));
javax.vecmath.Vector3d xAxis =
MathUtilities.normalizeV(MathUtilities.crossProduct(upGuide, zAxis));
if (Double.isNaN(xAxis.lengthSquared())) {
xAxis.set(0, 0, 0);
zAxis.set(0, 0, 0);
// throw new RuntimeException(
// "cannot calculate point at: zAxis=" + zAxis + " upGuide="
// + upGuide );
}
javax.vecmath.Vector3d yAxis = MathUtilities.crossProduct(zAxis, xAxis);
result = new Matrix33(xAxis, yAxis, zAxis);
}
if (offset == null) {
s_calculatePointAtHelperOffset.setParent(null);
}
return result;
}
}
public void setAbsoluteTransformation(javax.vecmath.Matrix4d m) {
ReferenceFrame vehicle = (ReferenceFrame) getParent();
setLocalTransformation(MathUtilities.multiply(m, vehicle.getInverseAbsoluteTransformation()));
}
