/* *  Simbad - Robot Simulator *  Copyright (C) 2004 Louis Hugues * *  This program is free software; you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation; either version 2 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 Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with this program; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA * ----------------------------------------------------------------------------- * $Author: sioulseuguh $  * $Date: 2005/03/17 17:49:37 $ * $Revision: 1.7 $ * $Source: /cvsroot/simbad/src/simbad/sim/Eye.java,v $ */package simbad.sim;import java.awt.Dimension;import java.awt.Graphics;import java.awt.GraphicsConfigTemplate;import java.awt.GraphicsConfiguration;import java.awt.GraphicsEnvironment;import java.awt.image.BufferedImage;import javax.media.j3d.Appearance;import javax.media.j3d.Canvas3D;import javax.media.j3d.GraphicsConfigTemplate3D;import javax.media.j3d.ImageComponent;import javax.media.j3d.ImageComponent2D;import javax.media.j3d.Material;import javax.media.j3d.Node;import javax.media.j3d.PhysicalBody;import javax.media.j3d.PhysicalEnvironment;import javax.media.j3d.View;import javax.media.j3d.ViewPlatform;import javax.swing.JPanel;import javax.vecmath.Color3f;import javax.media.j3d.RestrictedAccessException;import com.sun.j3d.utils.geometry.Sphere;/* * A  visual sensor (and its 3d body) used to emulate monoscopic color camera.  *  Vision image (offscreen rendered) is accessible via copyVisionImage(). *  * Implementation: *  Vision is rendered  offscreen via a j3d viewPlatform. * Calling update() method cause update of the associated buffered Image  * The Subclass EyeJPanel is used to display image (in AgentInspector) *  */public class Eye extends SensorDevice {    private ViewPlatform viewPlatform;    private View view;    private OffScreenCanvas3D offscreenCanvas3D;        protected int tempRGBABuffer[];    // the rendered offscreen image    BufferedImage visionImage;        protected int imageWidth ;    protected int imageHeight;        /*     * a JPanel for displaying the eye image in user interface windows.      */     public class EyeJPanel extends JPanel{		private static final long serialVersionUID = 1L;		BufferedImage bim;         public EyeJPanel(){             Dimension d= new Dimension(imageWidth,imageHeight);            setPreferredSize(d);            setMinimumSize(d);            // allocates a bim for capture            bim  =  new BufferedImage(imageWidth, imageHeight,                    BufferedImage.TYPE_INT_RGB);        }         /* should not be called too often */         protected void paintComponent( Graphics g){            super.paintComponent(g);            copyVisionImage(bim);            g.drawImage(bim, 0, 0, null);    	               }           }        /**     * An off screen Canvas3D for offscreen rendering of a 3D scene - call render to ask rendering     */    private class OffScreenCanvas3D extends Canvas3D {		private static final long serialVersionUID = 1L;		boolean rendering;           public OffScreenCanvas3D(GraphicsConfiguration gconfig) {            super(gconfig, true);            ImageComponent2D buffer = new ImageComponent2D(                    ImageComponent.FORMAT_RGB, visionImage);            buffer.setCapability(ImageComponent2D.ALLOW_IMAGE_READ);            setOffScreenBuffer(buffer);            rendering = false;                    }        synchronized void render() {                       try{                renderOffScreenBuffer();           }catch(RestrictedAccessException e)              {               // rendering is already in process,but  we don't care              // System.err.println("Exception caught"+e.getMessage() );           }           // }             //waitForOffScreenRendering();        }        synchronized public void postSwap() {            // copy rendered image              BufferedImage bim = getOffScreenBuffer().getImage();             visionImage.setData(bim.getData());            rendering = false;        }    }    Eye(float radius,int imageWidth,int imageHeight  ) {        this.imageWidth = imageWidth;        this.imageHeight = imageHeight;       // BufferedImage bim = new BufferedImage(imageWidth, imageHeight,       //         BufferedImage.TYPE_INT_RGB);        visionImage = new BufferedImage(imageWidth, imageHeight,                BufferedImage.TYPE_INT_RGB);        tempRGBABuffer= new int[imageWidth*imageHeight];        create3D(radius);        createViewPlatform();    }    void create3D(float radius) {        super.create3D(true);        // body        if (radius > 0) {            Color3f color = new Color3f(0.8f, 0.8f, 0.0f);            Appearance appear = new Appearance();            appear                    .setMaterial(new Material(color, black, color, white,                            100.0f));            Node node = new Sphere(radius, appear);            node.setCollidable(false);            node.setPickable(false);            addChild(node);        }    }    void createViewPlatform(){        // viewplatform        viewPlatform = new ViewPlatform();        viewPlatform.setActivationRadius(100f);        viewPlatform.setViewAttachPolicy(View.NOMINAL_HEAD);        // view        view = new View();                view.setProjectionPolicy(View.PERSPECTIVE_PROJECTION);        view.setViewPolicy(View.SCREEN_VIEW);        view.attachViewPlatform(viewPlatform);        // physical body        PhysicalBody phyBody = new PhysicalBody();        view.setPhysicalBody(phyBody);        // physical environment        PhysicalEnvironment phyEnv = new PhysicalEnvironment();        view.setPhysicalEnvironment(phyEnv);        // ???? pas compris , pour l'antiliasing        GraphicsConfigTemplate3D template = new GraphicsConfigTemplate3D();        template.setSceneAntialiasing(GraphicsConfigTemplate.PREFERRED);        GraphicsConfiguration config = GraphicsEnvironment                .getLocalGraphicsEnvironment().getDefaultScreenDevice()                .getBestConfiguration(template);        // antialiasing        view.setSceneAntialiasingEnable(true);        /* to add a onscreen canvas            canvas3d = new Canvas3D(config);            view.addCanvas3D(canvas3d);        */        // attach  offscreen canvas to the view        offscreenCanvas3D = new OffScreenCanvas3D(config);        offscreenCanvas3D.getScreen3D().setSize(imageWidth, imageWidth);        offscreenCanvas3D.getScreen3D().setPhysicalScreenHeight(0.5);        offscreenCanvas3D.getScreen3D().setPhysicalScreenWidth(0.5);        view.addCanvas3D(offscreenCanvas3D);        addChild(viewPlatform);        // turn canvas in front of X axis          rotateY(-Math.PI/2);    }             /** for allocating a working copy of the vision image */    final public BufferedImage createCompatibleImage()    {        return  new BufferedImage(imageWidth, imageHeight,                BufferedImage.TYPE_INT_RGB);    }    /** for allocating a SensorMatrix compabtible with device dimensions */    final public SensorMatrix createCompatibleSensorMatrix()    {        return  new SensorMatrix(imageWidth, imageHeight);            }         /**     * Request to fill a bufferedImage with last capture.     * @param bim - buffered image to be filled.     */    final public synchronized void copyVisionImage(BufferedImage bim){        bim.setData(visionImage.getData());    }    /**     * Request to fill a SensorMatrix with last capture.     * @param matrix  - to be filled     */    final public synchronized void copyVisionImage(SensorMatrix matrix){        visionImage.getRGB(0,0,imageWidth,imageHeight,tempRGBABuffer,0,imageWidth);        float array[] = matrix.getArray();            for (int i = 0; i < array.length; i++) {                int pix = tempRGBABuffer[i];                int r = (pix >> 16) & 0xff;                int g = (pix >> 8) & 0xff;                int b = (pix) & 0xff;                array[i] = (float) (r + g + b) / (3.0f * 255.0f);            }           }           /** Called by simulator to render a new vision image */   protected  void update(){        this.offscreenCanvas3D.render();    }        public JPanel createInspectorPanel(){        return new EyeJPanel();    }    /**     * Returns the width of captured image.     * @return width in pixels     */    public int getImageWidth(){        return imageWidth;    }    /**     * Returns the height of captured image.     * @return height in pixels     */    public int getImageHeight(){        return imageHeight;    }}