Examples with InternalErrorException maspack.util.InternalErrorException used on opensource projects

Example 56 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class Scaler3d method intersectRayAndFixture.

private void intersectRayAndFixture(Point3d p, Line ray) {
    Line draggerRay = new Line(ray);
    draggerRay.inverseTransform(myXDraggerToWorld);
    switch(mySelectedComponent) {
        case X_AXIS:
            {
                double l = xAxis.nearestPoint(p, draggerRay);
                p.y = p.z = 0;
                break;
            }
        case Y_AXIS:
            {
                yAxis.nearestPoint(p, draggerRay);
                p.x = p.z = 0;
                break;
            }
        case Z_AXIS:
            {
                zAxis.nearestPoint(p, draggerRay);
                p.x = p.y = 0;
                break;
            }
        case XY_PLANE:
            {
                draggerRay.intersectPlane(p, xyPlane);
                p.z = 0;
                break;
            }
        case YZ_PLANE:
            {
                draggerRay.intersectPlane(p, yzPlane);
                p.x = 0;
                break;
            }
        case ZX_PLANE:
            {
                draggerRay.intersectPlane(p, zxPlane);
                p.y = 0;
                break;
            }
        default:
            {
                throw new InternalErrorException("unexpected case " + mySelectedComponent);
            }
    }
}

Example 57 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class CustomSphericalCoupling method getConstraintInfo.

@Override
public void getConstraintInfo(ConstraintInfo[] info, RigidTransform3d TGD, RigidTransform3d TCD, RigidTransform3d XERR, boolean setEngaged) {
    // projectToConstraint(TGD, TCD);
    // info[0].bilateral = true;
    // info[1].bilateral = true;
    // info[2].bilateral = true;
    // info[3].bilateral = false;
    // info[4].bilateral = false;
    // info[5].bilateral = false;
    // myXFC.mulInverseLeft(TGD, TCD);
    myErr.set(XERR);
    setDistancesAndZeroDerivatives(info, 3, myErr);
    if (myRangeType == TILT_LIMIT) {
        Vector3d utilt = new Vector3d();
        // Tilt axis is is z(C) x z(D).
        // In C coordinates, z(C) = (0,0,1) and z(D) = last row of TGD.R.
        // In D coordinates, z(D) = (0,0,1) and z(C) = last col of TGD.R.
        // D coordinates
        utilt.set(TGD.R.m12, -TGD.R.m02, 0);
        // utilt.set (-TGD.R.m21, TGD.R.m20, 0); // in C coordinates
        double ulen = utilt.norm();
        double theta = 0;
        if (ulen > 1e-8) {
            theta = Math.atan2(ulen, TGD.R.m22);
            utilt.scale(1 / ulen);
        }
        if (setEngaged) {
            if (theta > myMaxTilt) {
                info[3].engaged = 1;
            }
        }
        if (info[3].engaged != 0) {
            info[3].distance = myMaxTilt - theta;
            utilt.inverseTransform(TGD.R);
            info[3].wrenchC.set(0, 0, 0, utilt.x, utilt.y, utilt.z);
            info[3].dotWrenchC.setZero();
        }
    } else if (myRangeType == ROTATION_LIMIT) {
        Vector3d u = new Vector3d();
        double ang = TGD.R.getAxisAngle(u);
        // paranoid
        u.normalize();
        Vector3d a = new Vector3d(u.x * myMaxRotX, u.y * myMaxRotY, u.z * myMaxRotZ);
        double maxAng = a.norm();
        if (setEngaged) {
            if (ang > 0 && ang > maxAng) {
                info[3].engaged = 1;
            }
        }
        if (info[3].engaged != 0) {
            info[3].distance = maxAng - ang;
            u.x /= myMaxRotX;
            u.y /= myMaxRotY;
            u.z /= myMaxRotZ;
            u.normalize();
            info[3].wrenchC.set(0, 0, 0, -u.x, -u.y, -u.z);
            // TODO set this
            info[3].dotWrenchC.setZero();
        }
    } else if (myRangeType == CUSTOM_LIMIT) {
        // get relative z axis
        double[] z = new double[3];
        // z(C) in D coordinates
        TGD.R.getColumn(2, z);
        // check if X inside curve, and project to boundary if outside
        boolean engage = false;
        double[] zNew = { z[0], z[1], z[2] };
        Vector3d vAxis = new Vector3d(1, 0, 0);
        if (!myCurve.isWithin(z)) {
            double theta2 = myCurve.findClosestPoint(z, zNew);
            if (theta2 > 1e-5) {
                engage = true;
            }
        }
        Vector3d v1 = new Vector3d(z);
        Vector3d v2 = new Vector3d(zNew);
        double theta = Math.acos(v1.dot(v2));
        if (Math.toDegrees(theta) > 20) {
            System.out.printf("Z: (%f,%f,%f), Zn: (%f,%f,%f),theta=%f\n", z[0], z[1], z[2], zNew[0], zNew[1], zNew[2], Math.toDegrees(theta));
        }
        if (theta > 1e-7) {
            vAxis.cross(v1, v2);
            // transform to C coordinates?
            vAxis.inverseTransform(TGD);
        } else {
            theta = 0;
            engage = false;
        }
        // maybe set engaged
        if (setEngaged) {
            if (engage) {
                info[3].engaged = 1;
            } else {
                info[3].engaged = 0;
            }
        }
        if (info[3].engaged != 0) {
            vAxis.normalize();
            info[3].distance = -theta;
            info[3].wrenchC.set(0, 0, 0, vAxis.x, vAxis.y, vAxis.z);
            info[3].dotWrenchC.setZero();
        }
    } else if (myRangeType == RPY_LIMIT) {
        double roll, pitch, yaw;
        double[] rpy = new double[3];
        double[] rpyOrig = new double[3];
        for (int i = 0; i < 3; i++) {
            rpyOrig[i] = info[i + 3].coordinate;
        }
        RotationMatrix3d RDC = new RotationMatrix3d();
        Vector3d wBA = new Vector3d();
        RDC.transpose(TGD.R);
        doGetRpy(rpy, RDC);
        roll = rpy[0];
        pitch = rpy[1];
        yaw = rpy[2];
        double cr = Math.cos(roll);
        double sr = Math.sin(roll);
        double cp = Math.cos(pitch);
        double sp = Math.sin(pitch);
        double denom = cp;
        // the singularity at cp = 0
        if (Math.abs(denom) < 0.0001) {
            denom = (denom >= 0 ? 0.0001 : -0.0001);
        }
        double tp = sp / denom;
        // Don't need to transform because vel is now in Frame C
        // get angular velocity of B with respect to A in frame C
        // if (!myComputeVelInFrameC) {
        // wBA.transform(RDC, myVelBA.w);
        // }
        info[3].distance = 0;
        info[4].distance = 0;
        info[5].distance = 0;
        double dotp = -sr * wBA.x + cr * wBA.y;
        double doty = (cr * wBA.x + sr * wBA.y) / denom;
        double dotr = wBA.z + sp * doty;
        if (setEngaged) {
            maybeSetEngaged(info[3], roll, myMinRoll, myMaxRoll);
            maybeSetEngaged(info[4], pitch, myMinPitch, myMaxPitch);
            maybeSetEngaged(info[5], yaw, myMinYaw, myMaxYaw);
        }
        if (info[3].engaged != 0) {
            info[3].distance = getDistance(roll, myMinRoll, myMaxRoll);
            info[3].wrenchC.set(0, 0, 0, sp * cr / denom, sp * sr / denom, 1);
            info[3].dotWrenchC.f.setZero();
            double tt = (1 + tp * tp);
            info[3].dotWrenchC.m.set(-sr * tp * dotr + tt * cr * dotp, cr * tp * dotr + tt * sr * dotp, 0);
            // checkDeriv ("roll", info[3], conR);
            if (info[3].engaged == -1) {
                info[3].wrenchC.negate();
                info[3].dotWrenchC.negate();
            }
        }
        if (info[4].engaged != 0) {
            info[4].distance = getDistance(pitch, myMinPitch, myMaxPitch);
            info[4].wrenchC.set(0, 0, 0, -sr, cr, 0);
            info[4].dotWrenchC.f.setZero();
            info[4].dotWrenchC.m.set(-cr * dotr, -sr * dotr, 0);
            // checkDeriv ("pitch", info[4], conP);
            if (info[4].engaged == -1) {
                info[4].wrenchC.negate();
                info[4].dotWrenchC.negate();
            }
        }
        if (info[5].engaged != 0) {
            info[5].distance = getDistance(yaw, myMinYaw, myMaxYaw);
            info[5].wrenchC.set(0, 0, 0, cr / denom, sr / denom, 0);
            info[5].dotWrenchC.f.setZero();
            info[5].dotWrenchC.m.set((-sr * dotr + cr * tp * dotp) / denom, (cr * dotr + sr * tp * dotp) / denom, 0);
            // checkDeriv ("yaw", info[5], conY);
            if (info[5].engaged == -1) {
                info[5].wrenchC.negate();
                info[5].dotWrenchC.negate();
            }
        }
        boolean bigshot = false;
        for (int i = 3; i < 6; i++) {
            if (info[i].engaged != 0) {
                if (info[i].distance < -MAX_DISTANCE) {
                    bigshot = true;
                    break;
                }
            }
        }
        if (bigshot) {
            System.out.println("Large jumps..");
            System.out.printf("Angles: %f, %f, %f\n", Math.toDegrees(rpy[0]), Math.toDegrees(rpy[1]), Math.toDegrees(rpy[2]));
            System.out.printf("Min   : %f, %f, %f\n", Math.toDegrees(myMinRoll), Math.toDegrees(myMinPitch), Math.toDegrees(myMinYaw));
            System.out.printf("Max   : %f, %f, %f\n", Math.toDegrees(myMaxRoll), Math.toDegrees(myMaxPitch), Math.toDegrees(myMaxYaw));
            System.out.printf("On    : %d, %d, %d\n", info[3].engaged, info[4].engaged, info[5].engaged);
            System.out.printf("Dist  : %f, %f, %f\n", Math.toDegrees(info[3].distance), Math.toDegrees(info[4].distance), Math.toDegrees(info[5].distance));
        }
    } else if (myRangeType != 0) {
        throw new InternalErrorException("Unimplemented range limits " + NumberFormat.formatHex(myRangeType));
    }
}

Example 58 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class Main method main.

/**
 * the main entry point
 *
 * @param args command line arguments
 */
public static void main(String[] args) {
    // some interfaces (like Matlab) may pass args in as null
    if (args == null) {
        args = new String[0];
    }
    ArgParser parser = new ArgParser("java artisynth.core.driver.Main", false);
    parser.addOption("-help %v #prints help message", printHelp);
    parser.addOption("-width %d #width (pixels)", viewerWidth);
    parser.addOption("-height %d #height (pixels)", viewerHeight);
    parser.addOption("-bgColor %fX3 #background color (3 rgb values, 0 to 1)", bgColor);
    parser.addOption("-maxStep %f #maximum time for a single step (sec)", maxStep);
    parser.addOption("-drawAxes %v #draw coordinate axes", drawAxes);
    parser.addOption("-drawGrid %v #draw grid", drawGrid);
    parser.addOption("-axisLength %f #coordinate axis length", axisLength);
    parser.addOption("-play %v #play model immediately", play);
    parser.addOption("-playFor %f #play model immediately for x seconds", playFor);
    parser.addOption("-exitOnBreak %v #exit artisynth when playing stops", exitOnBreak);
    parser.addOption("-demosFile %s #demo file (e.g. .demoModels)", demosFilename);
    parser.addOption("-demosMenu %s #demo menu file (e.g. .demoMenu.xml)", demosMenuFilename);
    parser.addOption("-historyFile %s #model history file (e.g. .history)", historyFilename);
    parser.addOption("-scriptsFile %s #script file (e.g. .artisynthModels)", scriptsFilename);
    parser.addOption("-mousePrefs %s #kees for pure mouse controls", mousePrefs);
    parser.addOption("-ortho %v #use orthographic viewing", orthographic);
    parser.addOption("-axialView %s{xy,xz} #initial view of x-y or x-z axes", axialView);
    parser.addOption("-noTimeline %v{false} #do not start with a timeline", startWithTimeline);
    parser.addOption("-showJythonConsole %v{true} #create jython console on startup", startWithJython);
    parser.addOption("-largeTimeline %v{true} #start with vertically expanded timeline", largeTimeline);
    parser.addOption("-timelineRight %v{true} #start with a timeline alligned to the right", timelineRight);
    parser.addOption("-fps %f#frames per second", framesPerSecond);
    parser.addOption("-fullscreen %v #full screen renderer", fullScreen);
    // parser.addOption("-yup %v #initialize viewer with Y-axis up", yup);
    parser.addOption("-timelineZoom %d #zoom level for timeline", zoom);
    parser.addOption("-options %v #print options only", printOptions);
    parser.addOption("-abortOnInvertedElems %v #abort on nonlinear element inversion", abortOnInvertedElems);
    parser.addOption("-disableHybridSolves %v #disable hybrid linear solves", disableHybridSolves);
    parser.addOption("-numSolverThreads %d #number of threads to use for linear solver", numSolverThreads);
    parser.addOption("-posCorrection %s{Default,GlobalMass,GlobalStiffness} " + "#position correction mode", posCorrection);
    parser.addOption("-noIncompressDamping %v #ignore incompress stiffness for damping", noIncompressDamping);
    // parser.addOption ("-useOldTimeline %v #use old timeline", useOldTimeline);
    parser.addOption("-useSignedDistanceCollider %v " + "#use SignedDistanceCollider where possible", useSignedDistanceCollider);
    parser.addOption("-useAjlCollision" + "%v #use AJL collision detection", useAjlCollision);
    parser.addOption("-useBodyVelsInSolve" + "%v #use body velocities for dynamic solves", useBodyVelsInSolve);
    parser.addOption("-useArticulatedTransforms %v #enforce articulation " + "constraints with transformers", useArticulatedTransforms);
    parser.addOption("-updateLibs %v #update libraries from ArtiSynth server", updateLibs);
    parser.addOption("-flags %x #flag bits passed to the application", flags);
    parser.addOption("-noGui %v #run ArtiSynth without the GUI", noGui);
    parser.addOption("-openMatlabConnection %v " + "#open a MATLAB connection if possible", openMatlab);
    parser.addOption("-GLVersion %d{2,3} " + "#version of openGL for graphics", glVersion);
    parser.addOption("-useGLJPanel %v " + "#use GLJPanel for creating the openGL viewer", useGLJPanel);
    parser.addOption("-useGLCanvas %v{false} " + "#use GLJCanvas for creating the openGL viewer", useGLJPanel);
    parser.addOption("-logLevel %s", logLevel);
    parser.addOption("-testSaveRestoreState %v #test save/restore state when running models", testSaveRestoreState);
    parser.addOption("-movieFrameRate %f #frame rate to use when making movies", movieFrameRate);
    parser.addOption("-movieMethod %s #method to use when making movies", movieMethod);
    Locale.setDefault(Locale.CANADA);
    URL initUrl = ArtisynthPath.findResource(".artisynthInit");
    if (initUrl == null) {
    // Removed warning message for now
    // System.out.println (".artisynthInit not found");
    } else {
        InputStream is = null;
        try {
            is = initUrl.openStream();
        } catch (Exception e) {
            // do nothing if we can't open
            System.out.println(".artisynthInit not found");
        }
        if (is != null) {
            try {
                args = ArgParser.prependArgs(new InputStreamReader(is), args);
            } catch (Exception e) {
                System.err.println("Error reading init file " + initUrl);
                System.err.println(e.getMessage());
            }
        }
    }
    if (System.getProperty("file.separator").equals("\\")) {
        // then we are running windows, so set noerasebackground to
        // try and remove flicker bug
        System.setProperty("sun.awt.noerasebackground", "true");
    } else {
        System.setProperty("awt.useSystemAAFontSettings", "on");
    }
    // Separate program arguments from model arguments introduced by -M
    ArrayList<String> progArgs = new ArrayList<String>();
    ArrayList<String> modelArgs = null;
    ArrayList<String> scriptArgs = null;
    ArrayList<String> taskManagerArgs = null;
    for (String arg : args) {
        if (modelArgs != null) {
            modelArgs.add(arg);
        } else {
            if (arg.equals("-M")) {
                modelArgs = new ArrayList<String>();
            } else {
                progArgs.add(arg);
            }
        }
    }
    // Match arguments one at a time so we can avoid exitOnError if we are
    // running inside matlab
    String[] pargs = progArgs.toArray(new String[0]);
    int lastSwitch = -1;
    int idx = 0;
    while (idx < pargs.length) {
        try {
            int pidx = idx;
            // check for list of arguments:
            if ("-model".equals(pargs[pidx])) {
                modelName.value = pargs[++idx];
                modelArgs = new ArrayList<String>();
                int nidx = maybeCollectArgs(pargs, ++idx, modelArgs);
                if (nidx == idx) {
                    modelArgs = null;
                }
                idx = nidx;
            } else if ("-script".equals(pargs[pidx])) {
                scriptFile.value = pargs[++idx];
                scriptArgs = new ArrayList<String>();
                int nidx = maybeCollectArgs(pargs, ++idx, scriptArgs);
                if (nidx == idx) {
                    scriptArgs = null;
                }
                idx = nidx;
            } else if ("-taskManager".equals(pargs[pidx])) {
                taskManagerClassName.value = pargs[++idx];
                taskManagerArgs = new ArrayList<String>();
                int nidx = maybeCollectArgs(pargs, ++idx, taskManagerArgs);
                if (nidx == idx) {
                    taskManagerArgs = null;
                }
                idx = nidx;
            } else {
                idx = parser.matchArg(pargs, idx);
            }
            String unmatched;
            if ((unmatched = parser.getUnmatchedArgument()) != null) {
                boolean valid = false;
                if (!valid) {
                    System.err.println("Unrecognized argument: " + unmatched + "\nUse -help for help information");
                    return;
                }
            } else {
                lastSwitch = pidx;
            }
        } catch (Exception e) {
            System.err.println("Error parsing options: " + e.getMessage());
            return;
        }
    }
    // parser.matchAllArgs (progArgs.toArray(new String[0]));
    if (printOptions.value || printHelp.value) {
        System.out.println(parser.getOptionsMessage(2));
        System.out.println("  -model <string> [ <string>... ]\n" + "                        name of model to start, with optional arguments\n" + "                        delimited by square brackets\n" + "  -script <string> [ <string>... ]\n" + "                        script to run immediately, with optional arguments\n" + "                        delimited by square brackets\n" + "  -taskManager <className> [ <string>... ]\n" + "                        name of task manager class to run immediately, with\n" + "                        optional arguments delimited by square brackets\n");
        return;
    }
    // Set system logger level
    Logger.getSystemLogger().setLogLevel(LogLevel.find(logLevel.value));
    MechSystemSolver.myDefaultHybridSolveP = !disableHybridSolves.value;
    if (numSolverThreads.value > 0) {
        PardisoSolver.setDefaultNumThreads(numSolverThreads.value);
    }
    FemModel3d.abortOnInvertedElems = abortOnInvertedElems.value;
    // }
    if (posCorrection.value.equals("GlobalMass")) {
        MechSystemBase.setDefaultStabilization(PosStabilization.GlobalMass);
    } else if (posCorrection.value.equals("GlobalStiffness")) {
        MechSystemBase.setDefaultStabilization(PosStabilization.GlobalStiffness);
    }
    FemModel3d.noIncompressStiffnessDamping = noIncompressDamping.value;
    if (useAjlCollision.value) {
        CollisionManager.setDefaultColliderType(ColliderType.AJL_CONTOUR);
    }
    if (testSaveRestoreState.value) {
        RootModel.testSaveAndRestoreState = true;
    }
    if (useGLJPanel.value == true) {
        maspack.render.GL.GLViewer.useGLJPanel = true;
    }
    if (noGui.value == true) {
        viewerWidth.value = -1;
    }
    GLVersion glv = (glVersion.value == 3 ? GLVersion.GL3 : GLVersion.GL2);
    Main m = new Main(PROJECT_NAME, viewerWidth.value, viewerHeight.value, glv);
    m.setArticulatedTransformsEnabled(useArticulatedTransforms.value);
    if (axialView.value.equals("xy")) {
        m.setDefaultViewOrientation(AxisAngle.IDENTITY);
    } else if (axialView.value.equals("xz")) {
        m.setDefaultViewOrientation(AxisAngle.ROT_X_90);
    } else {
        throw new InternalErrorException("Unknown axial view: " + axialView.value);
    }
    if (m.myFrame != null) {
        m.myViewer.setBackgroundColor(bgColor[0], bgColor[1], bgColor[2]);
        // XXX this should be done in the Main constructor, but needs
        // to be done here instead because of sizing effects
        m.myMenuBarHandler.initToolbar();
        if (movieMethod.value != null) {
            MovieMaker movieMaker = m.getMovieMaker();
            try {
                movieMaker.setMethod(movieMethod.value);
            } catch (Exception e) {
                System.out.println("Warning: unknown movie making method " + movieMethod.value);
            }
        }
        if (movieFrameRate.value != -1) {
            MovieMaker movieMaker = m.getMovieMaker();
            try {
                movieMaker.setFrameRate(movieFrameRate.value);
            } catch (Exception e) {
                System.out.println("Warning: illegal movie frame rate " + movieFrameRate.value);
            }
        }
    }
    if (mousePrefs.value != null && m.myViewer != null) {
        m.setMouseBindings(mousePrefs.value);
    }
    m.setFlags(flags.value);
    if (useBodyVelsInSolve.value) {
        Frame.dynamicVelInWorldCoords = false;
    }
    m.start(startWithTimeline.value, timelineRight.value, largeTimeline.value);
    // because setting it earlier can cause incorrect results
    if (m.myFrame != null) {
        m.setViewerSize(viewerWidth.value, viewerHeight.value);
    }
    if (System.getProperty("os.name").contains("Windows")) {
        // XXX see function docs
        fixPardisoThreadCountHack();
    }
    m.verifyNativeLibraries(updateLibs.value);
    // the whole frame to be visible
    if (m.myFrame != null && orthographic.value) {
        m.getViewer().setOrthographicView(true);
    }
    // XXX store model arguments for future use?
    if (modelArgs != null) {
        m.myModelArgs = modelArgs.toArray(new String[modelArgs.size()]);
    }
    if (modelName.value != null) {
        // load the specified model. See first if the name corresponds to a file
        File file = new File(modelName.value);
        if (file.exists() && file.canRead()) {
            try {
                m.loadModelFile(file);
            } catch (IOException e) {
                System.out.println("Error reading or loading model file " + modelName.value);
                e.printStackTrace();
                m.setRootModel(new RootModel(), null, null);
            }
        } else // otherwise, try to determine the model from the class name or alias
        {
            String className = m.getDemoClassName(modelName.value);
            if (className == null) {
                System.out.println("No class associated with model name " + modelName.value);
                m.setRootModel(new RootModel(), null, null);
            } else {
                String name = modelName.value;
                if (name.indexOf('.') != -1) {
                    name = name.substring(name.lastIndexOf('.') + 1);
                    if (name.length() == 0) {
                        name = "Unknown";
                    }
                }
                // load the model
                ModelInfo mi = new ModelInfo(className, name, createArgArray(modelArgs));
                m.loadModel(mi);
            }
        }
    } else {
        m.setRootModel(new RootModel(), null, null);
    }
    if (exitOnBreak.value) {
        m.myScheduler.addListener(new QuitOnBreakListener(m));
    }
    if (playFor.value > 0) {
        m.play(playFor.value);
    } else if (play.value) {
        m.play();
    }
    if (scriptFile.value != null && taskManagerClassName.value != null) {
        System.out.println("Cannot specify both a script (option '-script') and a task manager (option \n" + "'-taskManager' at the same time");
        System.exit(1);
    } else if (scriptFile.value != null) {
        m.runScriptFile(scriptFile.value, scriptArgs);
    } else if (taskManagerClassName.value != null) {
        m.runTaskManager(taskManagerClassName.value, taskManagerArgs);
    }
    if (m.myJythonConsole != null && m.myJythonFrame == null) {
        m.myJythonConsole.interact();
    }
    if (openMatlab.value) {
        m.openMatlabConnection();
    }
}

Example 59 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class MenuBarHandler method actionPerformed.

/**
 * action performed to process all the menu and button actions in this class
 */
public void actionPerformed(ActionEvent event) {
    String cmd = event.getActionCommand();
    // Scripts menu
    if (isScriptMenuItem(event.getSource())) {
        String scriptName = myMain.getScriptName(cmd);
        runScript(scriptName);
    } else if (cmd.equals("load script from file")) {
        JFileChooser fileChooser = new JFileChooser();
        fileChooser.setCurrentDirectory(ArtisynthPath.getWorkingDir());
        FileFilter jythonFilter = new GenericFileFilter(new String[] { "py", "jy" }, "Jython files");
        fileChooser.addChoosableFileFilter(jythonFilter);
        fileChooser.setFileFilter(jythonFilter);
        int result = fileChooser.showOpenDialog(myFrame);
        if (result == JFileChooser.APPROVE_OPTION) {
            File selectedFile = fileChooser.getSelectedFile();
            runScript(selectedFile.getAbsolutePath());
        }
    } else // 
    if (myMain.isDemoClassName(cmd)) {
        ModelInfo mi = new ModelInfo(myMain.getDemoClassName(cmd), cmd, null);
        doLoadModelSafely(mi);
    } else // 
    if (cmd.equals("Clear model")) {
        doClearModel();
    } else if (cmd.equals("New blank MechModel")) {
        doBlankMechmodel();
    } else if (cmd.equals("Save model")) {
        doSaveModel();
    } else if (cmd.equals("Save model as ...")) {
        doSaveModelAs();
    } else if (cmd.equals("Reload model")) {
        doReloadModel();
    } else if (cmd.equals("Load model ...")) {
        doLoadModel();
    } else if (cmd.equals("Load from class ...")) {
        doLoadFromClass();
    } else if (cmd.equals("Switch workspace ...")) {
        doSwitchWorkspace();
    } else if (cmd.equals("Open MATLAB connection")) {
        doOpenMatlab();
    } else if (cmd.equals("Close MATLAB connection")) {
        doCloseMatlab();
    } else if (cmd.equals("Load probes ...")) {
        doLoadProbes();
    } else if (cmd.equals("Save probes")) {
        doSaveProbes();
    } else if (cmd.equals("Save probes as ...")) {
        doSaveProbesAs();
    } else if (cmd.equals("Load probes from ...")) {
        newLoadProbesFrom();
    } else if (cmd.equals("Save probes new")) {
        newSaveProbes();
    } else if (cmd.equals("Save probes in ...")) {
        newSaveProbesIn();
    } else if (cmd.equals("Save viewer image ...")) {
        saveViewerImage();
    } else if (cmd.equals("Quit")) {
        myMain.quit();
    } else // 
    if (cmd.equals("Add input probe")) {
        doAddInputProbe();
    } else if (cmd.equals("Add output probe")) {
        doAddOutputProbe();
    } else if (cmd.equals("Add control panel")) {
        doAddControlPanel();
    } else if (cmd.equals("Load control panel")) {
        doLoadControlPanel();
    } else if (cmd.equals("Print selection")) {
        SelectionManager sm = myMain.getSelectionManager();
        for (ModelComponent c : sm.getCurrentSelection()) {
            System.out.println(ComponentUtils.getPathName(c));
        }
    } else if (cmd.equals("Undo")) {
        doUndoCommand();
    } else // 
    if (cmd.equals("Background color")) {
        setBackgroundColor();
    } else if (cmd.equals("Selection color")) {
        setSelectionColor();
    } else if (cmd.equals("Enable selection highlighting")) {
        setSelectionColorEnabled(true);
    } else if (cmd.equals("Disable selection highlighting")) {
        setSelectionColorEnabled(false);
    } else if (cmd.equals("Visual display rate")) {
        setVisualDisplayRate();
    } else if (cmd.equals("Real-time scaling")) {
        setRealTimeScaling();
    } else if (cmd.equals("Mouse Preferences ...")) {
        openMouseSettingsDialog();
    } else if (cmd.equals("Init draggers in world coords")) {
        myMain.setInitDraggersInWorldCoords(true);
    } else if (cmd.equals("Init draggers in local coords")) {
        myMain.setInitDraggersInWorldCoords(false);
    } else if (cmd.equals("Enable articulated transforms")) {
        myMain.setArticulatedTransformsEnabled(true);
    } else if (cmd.equals("Disable articulated transforms")) {
        myMain.setArticulatedTransformsEnabled(false);
    } else // }
    if (cmd.equals("PullController properties ...")) {
        showPullControllerPropertyDialog();
    } else if (cmd.equals("PullController render props ...")) {
        showPullControllerRenderPropsDialog();
    } else // 
    if (cmd.equals("Center view on selection")) {
        myMain.centerViewOnSelection();
    } else if (cmd.equals("Hide timeline")) {
        myMain.setTimelineVisible(false);
        isTimelineVisible = false;
    } else if (cmd.equals("Show timeline")) {
        myMain.setTimelineVisible(true);
        isTimelineVisible = true;
    } else if (cmd.equals("Reset view")) {
        GLViewer v = myMain.getViewer();
        v.setAxialView(v.getAxialView());
        v.autoFit();
    } else if (cmd.equals("Perspective view")) {
        myMain.getViewer().setOrthographicView(false);
    } else if (cmd.equals("Orthographic view")) {
        myMain.getViewer().setOrthographicView(true);
    } else if (cmd.equals("Hide Jython console")) {
        setJythonConsoleVisible(false);
    } else if (cmd.equals("Show Jython console")) {
        setJythonConsoleVisible(true);
    } else if (cmd.equals("Show Inverse panel")) {
        myMain.getInverseManager().showInversePanel(myMain.getRootModel(), InverseManager.findInverseController());
    } else if (cmd.equals("Hide Inverse panel")) {
        myMain.getInverseManager().hideInversePanel();
    } else if (cmd.equals("Show movie panel")) {
        myFrame.getMain().getViewer().getCanvas().display();
        myMain.getMovieMaker().showDialog(myFrame);
    } else if (cmd.equals("Hide movie panel")) {
        // TODO: this isn't implemented yet because we need to set
        // this up as an action
        myMain.getMovieMaker().closeDialog();
    } else if (cmd.equals("Show empty components in navpanel")) {
        myFrame.getNavPanel().setHideEmptyComponents(false);
    } else if (cmd.equals("Hide empty components in navpanel")) {
        myFrame.getNavPanel().setHideEmptyComponents(true);
    } else if (cmd.equals("New viewer")) {
        myMain.createViewerFrame();
    } else if (cmd.equals("Clear traces")) {
        myMain.getRootModel().clearTraces();
    } else if (cmd.equals("Disable all tracing")) {
        myMain.getRootModel().disableAllTracing();
    } else if (cmd.equals("Remove traces")) {
        RemoveComponentsCommand rmCmd = new RemoveComponentsCommand("remove traces", myMain.getRootModel().getTracingProbes());
        myMain.getUndoManager().saveStateAndExecute(rmCmd);
        myMain.rerender();
    } else if (cmd.equals("Set traces visible")) {
        myMain.getRootModel().setTracingProbesVisible(true);
        myMain.rerender();
    } else if (cmd.equals("Set traces invisible")) {
        myMain.getRootModel().setTracingProbesVisible(false);
        myMain.rerender();
    } else if (cmd.equals("Hide viewer toolbar")) {
        isToolbarVisible = false;
        detachViewerToolbar(toolbarPanel);
    } else if (cmd.equals("Show viewer toolbar")) {
        isToolbarVisible = true;
        attachViewerToolbar(toolbarPanel);
    } else if (cmd.equals("Merge control panels")) {
        myMain.getRootModel().mergeAllControlPanels(true);
    } else if (cmd.equals("Separate control panels")) {
        myMain.getRootModel().mergeAllControlPanels(false);
    } else if (cmd.equals("Show progress")) {
        spawnProgressBar();
    } else // 
    if (cmd.equals("About ArtiSynth")) {
        myFrame.displayAboutArtisynth();
    } else if (cmd.equals("About the current model")) {
        myFrame.displayAboutModel(myMain.getRootModel());
    } else if (cmd.equals("Keybindings")) {
        myFrame.displayKeybindings();
    } else // 
    if (cmd.equals("Hide NavBar")) {
        myFrame.getNavPanel().setStatus(!myFrame.getNavPanel().getStatus());
        myFrame.refreshSplitPane();
        navBarButton.setToolTipText("Show Navbar");
        navBarButton.setActionCommand("Show Navbar");
    } else if (cmd.equals("Show Navbar")) {
        myFrame.getNavPanel().setStatus(!myFrame.getNavPanel().getStatus());
        myFrame.refreshSplitPane();
        navBarButton.setToolTipText("Hide NavBar");
        navBarButton.setActionCommand("Hide NavBar");
    } else if (cmd.equals("Re-render")) {
        myMain.rerender();
    } else if (cmd.equals("Reset")) {
        myMain.getScheduler().reset();
    } else if (cmd.equals("Rewind")) {
        myMain.getScheduler().rewind();
    } else if (cmd.equals("Play")) {
        myMain.getScheduler().play();
    } else if (cmd.equals("Pause")) {
        myMain.getScheduler().pause();
    } else if (cmd.equals("Single step")) {
        myMain.getScheduler().step();
    } else if (cmd.equals("Fast forward")) {
        myMain.getScheduler().fastForward();
    } else if (cmd.equals("cancel")) {
        return;
    } else {
        throw new InternalErrorException("Unimplemented command: " + cmd);
    }
}

Example 60 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class FemElement3d method createIntegrationPoints.

protected IntegrationPoint3d[] createIntegrationPoints() {
    int numi = numIntegrationPoints();
    IntegrationPoint3d[] pnts = new IntegrationPoint3d[numi];
    double[] cdata = getIntegrationCoords();
    if (cdata.length != 4 * numi) {
        throw new InternalErrorException("Coordinate data length is " + cdata.length + ", expecting " + 4 * numi);
    }
    for (int k = 0; k < numi; k++) {
        pnts[k] = IntegrationPoint3d.create(this, cdata[k * 4], cdata[k * 4 + 1], cdata[k * 4 + 2], cdata[k * 4 + 3]);
        pnts[k].setNumber(k);
    }
    return pnts;
// Vector3d coords = new Vector3d();
// Vector3d dNds = new Vector3d();
// VectorNd shapeVals = new VectorNd(numNodes());
// VectorNd pressureShapeVals = new VectorNd(numPressureVals());
// for (int k=0; k<numi; k++) {
// coords.set (coordData[k*4], coordData[k*4+1], coordData[k*4+2]);
// pnts[k] = new IntegrationPoint3d (
// numNodes(), numPressureVals(),
// coords.x, coords.y, coords.z, coordData[k*4+3]);
// for (int i=0; i<numNodes(); i++) {
// shapeVals.set (i, getN (i, coords));
// getdNds (dNds, i, coords);
// pnts[k].setShapeGrad (i, dNds);
// }
// for (int i=0; i<numPressureVals(); i++) {
// pressureShapeVals.set (i, getH (i, coords));
// }
// pnts[k].setShapeVals (shapeVals);
// pnts[k].setPressureShapeVals (pressureShapeVals);
// }
// return pnts;
}