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Uniform scaling for corner drags #105

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291 changes: 214 additions & 77 deletions src/main/java/com/commonwealthrobotics/controls/ResizeSessionManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ public class ResizeSessionManager {
private boolean locked;
private boolean resizeAllowed;
private boolean moveLock;
private Bounds originalBounds = null;

public ResizeSessionManager(BowlerStudio3dEngine engine, Affine selection, Runnable updateLines, ActiveProject ap,
SelectionSession s, Affine workplaneOffset, MoveUpArrow up) {
Expand All @@ -62,120 +63,255 @@ public ResizeSessionManager(BowlerStudio3dEngine engine, Affine selection, Runna
updateLines, onReset);

rightFront.manipulator.addEventListener(ev -> {
if (scalingFlag)
return;

scalingFlag = false;
if (beingUpdated == null)
beingUpdated = rightFront;
if (beingUpdated != rightFront) {
// com.neuronrobotics.sdk.common.Log.error("Motion from "+beingUpdated+"
// rejected by "+rightFront);
if (beingUpdated != rightFront)
return;
if (scalingFlag) { // cancel one recursive call
scalingFlag = false;
return;
}
double x = rightRear.manipulator.getCurrentPose().getX();
double y = rightFront.manipulator.getCurrentPose().getY();
double z = rightRear.manipulator.getCurrentPose().getZ();
// com.neuronrobotics.sdk.common.Log.error("rightRear Move x" + x + " y" + y + "
// z" + z);
rightRear.manipulator.setInReferenceFrame(x, y, z);
x = rightFront.manipulator.getCurrentPose().getX();
y = leftFront.manipulator.getCurrentPose().getY();
leftFront.manipulator.setInReferenceFrame(x, y, z);

// Uniform scaling with shift key
if (ev != null && ev.isShiftDown()) {
if (originalBounds == null)
originalBounds = getBounds();

double original_x = originalBounds.getTotalX();
double original_y = originalBounds.getTotalY();
double original_diagonal = Math.hypot(original_x, original_y);

// Mouse offset from manipulator
double mouseX = rightFront.getCurrentInReferenceFrame().getX() - originalBounds.getMaxX(); // Front
double mouseY = - rightFront.getCurrentInReferenceFrame().getY() + originalBounds.getMinY(); // Right
double scale = (mouseX * original_x + mouseY * original_y) / (original_diagonal * original_diagonal);

double rawNewX = original_x * (1.0 + scale); // Snap X-dimension to grid
double gridNewX = Math.round(rawNewX / size) * size;
double difference_x = Math.abs(rawNewX - gridNewX);

double rawNewY = original_y * (1.0 + scale); // Snap Y-dimension to grid
double gridNewY = Math.round(rawNewY / size) * size;
double difference_y = Math.abs(rawNewY - gridNewY);
double gridScale;

if (difference_x < difference_y)
gridScale = (gridNewX / original_x) - 1.0;
else
gridScale = (gridNewY / original_y) - 1.0;

scalingFlag = true;
rightFront.manipulator.setInReferenceFrame(original_x * gridScale, -original_y * gridScale, 0);
rightRear.manipulator.setInReferenceFrame (0, -original_y * gridScale, 0);
leftFront.manipulator.setInReferenceFrame (original_x * gridScale, 0 , 0);
topCenter.setInReferenceFrame (0, 0, originalBounds.getMinZ() + originalBounds.getTotalZ() * (gridScale + 1));

} else {
// Unconstraint resizing path
double x = rightRear.manipulator.getCurrentPose().getX();
double y = rightFront.manipulator.getCurrentPose().getY();
double z = rightRear.manipulator.getCurrentPose().getZ();
rightRear.manipulator.setInReferenceFrame(x, y, z);
x = rightFront.manipulator.getCurrentPose().getX();
y = leftFront.manipulator.getCurrentPose().getY();
leftFront.manipulator.setInReferenceFrame(x, y, z);
}

BowlerStudio.runLater(() -> update());
// com.neuronrobotics.sdk.common.Log.error("rightFront");
});
rightRear.manipulator.addEventListener(ev -> {
if (scalingFlag)
return;

scalingFlag = false;

rightRear.manipulator.addEventListener(ev -> {
if (beingUpdated == null)
beingUpdated = rightRear;
if (beingUpdated != rightRear) {
// com.neuronrobotics.sdk.common.Log.error("Motion from "+beingUpdated+"
// rejected by "+rightRear);
if (beingUpdated != rightRear)
return;
if (scalingFlag) {
scalingFlag = false;
return;
}
double x = rightFront.manipulator.getCurrentPose().getX();
double y = rightRear.manipulator.getCurrentPose().getY();
double z = rightFront.manipulator.getCurrentPose().getZ();
rightFront.manipulator.setInReferenceFrame(x, y, z);
x = rightRear.manipulator.getCurrentPose().getX();
y = leftRear.manipulator.getCurrentPose().getY();
leftRear.manipulator.setInReferenceFrame(x, y, z);

if (ev != null && ev.isShiftDown()) {
// Uniform scaling
if (originalBounds == null)
originalBounds = getBounds();

double original_x = originalBounds.getTotalX();
double original_y = originalBounds.getTotalY();
double original_diagonal = Math.hypot(original_x, original_y);

// Mouse offset from manipulator
double mouseX = -rightRear.getCurrentInReferenceFrame().getX() + originalBounds.getMinX(); // Rear
double mouseY = -rightRear.getCurrentInReferenceFrame().getY() + originalBounds.getMinY(); // Right
double scale = (mouseX * original_x + mouseY * original_y) / (original_diagonal * original_diagonal);

double rawNewX = original_x * (1.0 + scale); // Snap X-dimension to grid
double gridNewX = Math.round(rawNewX / size) * size;
double difference_x = Math.abs(rawNewX - gridNewX);

double rawNewY = original_y * (1.0 + scale); // Snap Y-dimension to grid
double gridNewY = Math.round(rawNewY / size) * size;
double difference_y = Math.abs(rawNewY - gridNewY);
double gridScale;

if (difference_x < difference_y)
gridScale = (gridNewX / original_x) - 1.0;
else
gridScale = (gridNewY / original_y) - 1.0;

scalingFlag = true; // Set to true to prevent recursive call
rightRear.manipulator.setInReferenceFrame(-original_x * gridScale, -original_y * gridScale, 0);
rightFront.manipulator.setInReferenceFrame(0, -original_y * gridScale, 0);
leftRear.manipulator.setInReferenceFrame (-original_x * gridScale, 0 , 0);
topCenter.setInReferenceFrame (0, 0, originalBounds.getMinZ() + originalBounds.getTotalZ() * (gridScale + 1));
} else {
double x = rightFront.manipulator.getCurrentPose().getX();
double y = rightRear.manipulator.getCurrentPose().getY();
double z = rightFront.manipulator.getCurrentPose().getZ();
rightFront.manipulator.setInReferenceFrame(x, y, z);
x = rightRear.manipulator.getCurrentPose().getX();
y = leftRear.manipulator.getCurrentPose().getY();
leftRear.manipulator.setInReferenceFrame(x, y, z);
}

BowlerStudio.runLater(() -> update());
// com.neuronrobotics.sdk.common.Log.error("rightRear");
});
leftFront.manipulator.addEventListener(ev -> {
if (scalingFlag)
return;

scalingFlag = false;

leftFront.manipulator.addEventListener(ev -> {
if (beingUpdated == null)
beingUpdated = leftFront;
if (beingUpdated != leftFront) {
// com.neuronrobotics.sdk.common.Log.error("Motion from "+beingUpdated+"
// rejected by "+leftFront);
if (beingUpdated != leftFront)
return;
if (scalingFlag) {
scalingFlag = false;
return;
}

if (ev != null && ev.isShiftDown()) {
// Uniform scaling
if (originalBounds == null)
originalBounds = getBounds();

double original_x = originalBounds.getTotalX();
double original_y = originalBounds.getTotalY();
double original_diagonal = Math.hypot(original_x, original_y);

// Mouse offset from manipulator
double mouseX = leftFront.getCurrentInReferenceFrame().getX() - originalBounds.getMaxX(); // Front
double mouseY = leftFront.getCurrentInReferenceFrame().getY() - originalBounds.getMaxY(); // Left
double scale = (mouseX * original_x + mouseY * original_y) / (original_diagonal * original_diagonal);

double rawNewX = original_x * (1.0 + scale); // Snap X-dimension to grid
double gridNewX = Math.round(rawNewX / size) * size;
double difference_x = Math.abs(rawNewX - gridNewX);

double rawNewY = original_y * (1.0 + scale); // Snap Y-dimension to grid
double gridNewY = Math.round(rawNewY / size) * size;
double difference_y = Math.abs(rawNewY - gridNewY);
double gridScale;

if (difference_x < difference_y)
gridScale = (gridNewX / original_x) - 1.0;
else
gridScale = (gridNewY / original_y) - 1.0;

scalingFlag = true; // Set to true to prevent recursive call
leftFront.manipulator.setInReferenceFrame (original_x * gridScale, original_y * gridScale, 0);
rightFront.manipulator.setInReferenceFrame(original_x * gridScale, 0, 0);
leftRear.manipulator.setInReferenceFrame (0, original_y * gridScale, 0);
topCenter.setInReferenceFrame(0, 0, originalBounds.getMinZ() + originalBounds.getTotalZ() * (gridScale + 1));
} else {
double x = leftRear.manipulator.getCurrentPose().getX();
double y = leftFront.manipulator.getCurrentPose().getY();
double z = leftFront.manipulator.getCurrentPose().getZ();
leftRear.manipulator.setInReferenceFrame(x, y, z);
x = leftFront.manipulator.getCurrentPose().getX();
y = rightFront.manipulator.getCurrentPose().getY();
rightFront.manipulator.setInReferenceFrame(x, y, z);
}
double x = leftRear.manipulator.getCurrentPose().getX();
double y = leftFront.manipulator.getCurrentPose().getY();
double z = leftFront.manipulator.getCurrentPose().getZ();
leftRear.manipulator.setInReferenceFrame(x, y, z);
x = leftFront.manipulator.getCurrentPose().getX();
y = rightFront.manipulator.getCurrentPose().getY();
rightFront.manipulator.setInReferenceFrame(x, y, z);
BowlerStudio.runLater(() -> update()); // com.neuronrobotics.sdk.common.Log.error("leftFront");

BowlerStudio.runLater(() -> update());
});
leftRear.manipulator.addEventListener(ev -> {
if (scalingFlag)
return;
scalingFlag = false;

leftRear.manipulator.addEventListener(ev -> {
if (beingUpdated == null)
beingUpdated = leftRear;
if (beingUpdated != leftRear) {
// com.neuronrobotics.sdk.common.Log.error("Motion from "+beingUpdated+"
// rejected by "+leftRear);
if (beingUpdated != leftRear)
return;
if (scalingFlag) {
scalingFlag = false;
return;
}

if (ev != null && ev.isShiftDown()) {
// Uniform scaling
if (originalBounds == null)
originalBounds = getBounds();

double original_x = originalBounds.getTotalX();
double original_y = originalBounds.getTotalY();
double original_diagonal = Math.hypot(original_x, original_y);

// Mouse offset from manipulator
double mouseX = -leftRear.getCurrentInReferenceFrame().getX() + originalBounds.getMinX(); // Rear
double mouseY = leftRear.getCurrentInReferenceFrame().getY() - originalBounds.getMaxY(); // Left
double scale = (mouseX * original_x + mouseY * original_y) / (original_diagonal * original_diagonal);

double rawNewX = original_x * (1.0 + scale); // Snap X-dimension to grid
double gridNewX = Math.round(rawNewX / size) * size;
double difference_x = Math.abs(rawNewX - gridNewX);

double rawNewY = original_y * (1.0 + scale); // Snap Y-dimension to grid
double gridNewY = Math.round(rawNewY / size) * size;
double difference_y = Math.abs(rawNewY - gridNewY);
double gridScale;

if (difference_x < difference_y)
gridScale = (gridNewX / original_x) - 1.0;
else
gridScale = (gridNewY / original_y) - 1.0;

scalingFlag = true; // Set to true to prevent recursive call
leftRear.manipulator.setInReferenceFrame (-original_x * gridScale, original_y * gridScale, 0);
leftFront.manipulator.setInReferenceFrame(0, original_y * gridScale, 0);
rightRear.manipulator.setInReferenceFrame(-original_x * gridScale, 0 , 0);
topCenter.setInReferenceFrame(0, 0, originalBounds.getMinZ() + originalBounds.getTotalZ() * (gridScale + 1));
} else {
double x = leftFront.manipulator.getCurrentPose().getX();
double y = leftRear.manipulator.getCurrentPose().getY();
double z = leftRear.manipulator.getCurrentPose().getZ();
leftFront.manipulator.setInReferenceFrame(x, y, z);
x = leftRear.manipulator.getCurrentPose().getX();
y = rightRear.manipulator.getCurrentPose().getY();
rightRear.manipulator.setInReferenceFrame(x, y, z);
}

double x = leftFront.manipulator.getCurrentPose().getX();
double y = leftRear.manipulator.getCurrentPose().getY();
double z = leftRear.manipulator.getCurrentPose().getZ();
leftFront.manipulator.setInReferenceFrame(x, y, z);
x = leftRear.manipulator.getCurrentPose().getX();
y = rightRear.manipulator.getCurrentPose().getY();
rightRear.manipulator.setInReferenceFrame(x, y, z);
BowlerStudio.runLater(() -> update()); // com.neuronrobotics.sdk.common.Log.error("leftRear");
BowlerStudio.runLater(() -> update());
});
topCenter.manipulator.addEventListener(ev -> {
scalingFlag = false;

topCenter.manipulator.addEventListener(ev -> {
if (beingUpdated == null)
beingUpdated = topCenter;
if (beingUpdated != topCenter) {
// com.neuronrobotics.sdk.common.Log.error("Motion from "+beingUpdated+"
// rejected by "+topCenter);
if (beingUpdated != topCenter)
return;
if (scalingFlag) {
scalingFlag = false;
return;
}

if (ev != null)
if (ev.isShiftDown()) {
TransformNR tcC = topCenter.getCurrentInReferenceFrame();
uniformScalingZ(tcC);
// com.neuronrobotics.sdk.common.Log.debug("RE-Scaling whole object! "+scale);
}
BowlerStudio.runLater(() -> update());

// com.neuronrobotics.sdk.common.Log.error("topCenter");
});

controls = Arrays.asList(topCenter, rightFront, rightRear, leftFront, leftRear);
for (ResizingHandle c : controls) {
c.manipulator.setFrameOfReference(() -> ap.get().getWorkplane());
c.manipulator.addSaveListener(() -> {
if (beingUpdated != c)
return;
try {
Thread.sleep(32);
} catch (InterruptedException e) {
Expand All @@ -196,7 +332,6 @@ public ResizeSessionManager(BowlerStudio3dEngine engine, Affine selection, Runna
for (ResizingHandle ctrl : controls) {
ctrl.manipulator.set(0, 0, 0);
}
beingUpdated = null;
// if (Math.abs(lfC.getZ() - rrC.getZ()) > 0.00001) {
// throw new RuntimeException("The control points of the corners must be at the same Z value \n"
// + lfC.toSimpleString() + "\n" + rrC.toSimpleString());
Expand All @@ -214,6 +349,7 @@ public ResizeSessionManager(BowlerStudio3dEngine engine, Affine selection, Runna
com.neuronrobotics.sdk.common.Log.error(e);
}
}
beingUpdated = null;
BowlerStudio.runLater(() -> threeDTarget());
});
}
Expand All @@ -227,7 +363,6 @@ public void setResizeAllowed(boolean resizeAllowed, boolean moveLock) {
}

private void uniformScalingZ(TransformNR tcC) {
scalingFlag = true;
double startZ = bounds.getTotalZ();
double startX = bounds.getTotalX();
double startY = bounds.getTotalY();
Expand All @@ -250,10 +385,11 @@ private void uniformScalingZ(TransformNR tcC) {
double newY = -newYComp;
double newX2 = +newXComp;
double newY2 = +newYComp;
scalingFlag = true;
rightRear.manipulator.setInReferenceFrame(newX, newY, z);
leftFront.manipulator.setInReferenceFrame(newX2, newY2, z);
rightFront.manipulator.setInReferenceFrame(newX2, newY, z);
leftRear.manipulator.setInReferenceFrame(newX, newY2, z);
leftFront.manipulator.setInReferenceFrame(newX2, newY2, z);
rightFront.manipulator.setInReferenceFrame(newX2, newY, z);
leftRear.manipulator.setInReferenceFrame(newX, newY2, z);
}

private void update() {
Expand Down Expand Up @@ -346,6 +482,7 @@ public void setSnapGrid(double size) {
}

public void resetSelected() {
originalBounds = null; // reset var that exists to help maintain aspect ratios
for (ResizingHandle c : controls) {
c.resetSelected();
}
Expand Down