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

Example 16 with InternalErrorException

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

the class SphericalCoupling 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 == RPY_LIMIT) {
        double roll, pitch, yaw;
        double[] rpy = new double[3];
        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();
            }
        }
    // System.out.println ("xxx:");
    // for (int i=3; i<6; i++) {
    // System.out.println (
    // info[i].engaged+" "+Math.toDegrees(info[i].distance));
    // }
    } else if (myRangeType != 0) {
        throw new InternalErrorException("Unimplemented range limits " + NumberFormat.formatHex(myRangeType));
    }
}

Example 17 with InternalErrorException

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

the class PropertyFrame method actionPerformed.

public void actionPerformed(ActionEvent e) {
    String actionCmd = e.getActionCommand();
    if (actionCmd.equals("OK") || actionCmd.equals("Done") || actionCmd.equals("Close")) {
        myReturnValue = OptionPanel.OK_OPTION;
        setVisible(false);
        dispose();
    } else if (actionCmd.equals("Reset")) {
        if (myHostList != null) {
            myHostList.restoreBackupValues();
            myHostList.getCommonValues(myTree, /* live= */
            true);
            // updateWidgetValues();
            fireGlobalValueChangeListeners();
        }
    } else if (actionCmd.equals("Cancel")) {
        myReturnValue = OptionPanel.CANCEL_OPTION;
        if (myHostList != null) {
            myHostList.restoreBackupValues();
            fireGlobalValueChangeListeners();
        }
        setVisible(false);
        dispose();
    } else if (actionCmd.equals("LiveUpdate")) {
        boolean enabled = !isLiveUpdatingEnabled();
        enableLiveUpdating(enabled);
        myOptionPanel.setLiveUpdateEnabled(enabled);
    } else {
        throw new InternalErrorException("Unknown action: " + actionCmd);
    }
}

Example 18 with InternalErrorException

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

the class SetHandler method initializeWidget.

public static boolean initializeWidget(LabeledComponentBase widget, Property prop) {
    String name = prop.getName();
    PropertyInfo info = prop.getInfo();
    Class<?> type = info.getValueClass();
    if (widget instanceof LabeledWidget) {
        LabeledWidget lwidget = (LabeledWidget) widget;
        if (textIsEmpty(lwidget.getLabelText())) {
            lwidget.setLabelText(name);
        }
        if (textIsEmpty(lwidget.getToolTipText())) {
            lwidget.setToolTipText(info.getDescription());
        }
    }
    if (widget instanceof LabeledControl) {
        removeOldListeners((LabeledControl) widget);
    }
    try {
        if (String.class.isAssignableFrom(type)) {
            // if String has a range, then use StringSelector
            // otherwise, use a simple StringField
            Range stringRange = prop.getRange();
            if (info.isInheritable() || stringRange == null || !(stringRange instanceof StringRange) || ((StringRange) stringRange).isWildcard()) {
                StringField stringField = (StringField) widget;
                stringField.setColumns(20);
                stringField.addValueChangeListener(new PropChangeListener(prop) {

                    public void valueChange(ValueChangeEvent e) {
                        if (e.getValue() == null || e.getValue().equals("")) {
                            super.valueChange(new ValueChangeEvent(e.getSource(), ""));
                        } else {
                            super.valueChange(e);
                        }
                    }
                });
                stringField.setStretchable(true);
            } else {
                String[] constants = ((StringRange) stringRange).getValidStrings();
                StringSelector selector = (StringSelector) widget;
                selector.setSelections(constants, null);
                selector.addValueChangeListener(new PropChangeListener(prop));
            }
        } else if (type == double.class || type == float.class || type == Double.class || type == Float.class) {
            DoubleField doubleField = (DoubleField) widget;
            Range range = prop.getRange();
            if (range instanceof NumericInterval) {
                doubleField.setRange((NumericInterval) range);
            }
            // }
            if (info.getPrintFormat() != null && formatIsDefault(doubleField)) {
                doubleField.setFormat(info.getPrintFormat());
            }
            GuiUtils.setFixedWidth(doubleField.getTextField(), 100);
            doubleField.addValueChangeListener(new PropChangeListener(prop));
        } else if (type == int.class || type == Integer.class) {
            IntegerField intField = (IntegerField) widget;
            GuiUtils.setFixedWidth(intField.getTextField(), 100);
            intField.addValueChangeListener(new PropChangeListener(prop));
        } else if (type == boolean.class || type == Boolean.class) {
            if (info.isReadOnly()) {
                StringField stringField = (StringField) widget;
                stringField.setColumns(5);
            } else {
                BooleanSelector selector = (BooleanSelector) widget;
                selector.addValueChangeListener(new PropChangeListener(prop));
            }
        } else if (VectorBase.class.isAssignableFrom(type) && info.getDimension() != -1) {
            VectorBase resultVec;
            try {
                resultVec = (VectorBase) type.newInstance();
            } catch (Exception e) {
                throw new InternalErrorException("Error creating no-args instance of " + type);
            }
            if (resultVec instanceof VectorNd) {
                ((VectorNd) resultVec).setSize(info.getDimension());
            }
            VectorField vectorField = (VectorField) widget;
            // from scratch)
            if (vectorField.getVectorSize() != info.getDimension()) {
                vectorField.setVectorSize(info.getDimension());
            } else {
                VectorNd existingValue = vectorField.getVectorValue();
                if (existingValue != null) {
                    resultVec.set(existingValue);
                }
            }
            vectorField.setResultHolder(resultVec);
            vectorField.addValueChangeListener(new PropChangeListener(prop));
            if (info.getPrintFormat() != null && formatIsDefault(vectorField)) {
                vectorField.setFormat(info.getPrintFormat());
            }
            vectorField.setStretchable(true);
        } else if (VectoriBase.class.isAssignableFrom(type) && info.getDimension() != -1) {
            VectoriBase resultVec;
            try {
                resultVec = (VectoriBase) type.newInstance();
            } catch (Exception e) {
                throw new InternalErrorException("Error creating no-args instance of " + type);
            }
            if (resultVec instanceof VectorNi) {
                ((VectorNi) resultVec).setSize(info.getDimension());
            }
            VectoriField vectorField = (VectoriField) widget;
            // from scratch)
            if (vectorField.getVectorSize() != info.getDimension()) {
                vectorField.setVectorSize(info.getDimension());
            } else {
                VectorNi existingValue = vectorField.getVectorValue();
                if (existingValue != null) {
                    resultVec.set(existingValue);
                }
            }
            vectorField.setResultHolder(resultVec);
            vectorField.addValueChangeListener(new PropChangeListener(prop));
            if (info.getPrintFormat() != null && formatIsDefault(vectorField)) {
                vectorField.setFormat(info.getPrintFormat());
            }
            vectorField.setStretchable(true);
        } else if (VectorBase.class.isAssignableFrom(type) && info.getDimension() == -1) {
            VectorBase resultVec;
            try {
                resultVec = (VectorBase) type.newInstance();
            } catch (Exception e) {
                throw new InternalErrorException("Error creating no-args instance of " + type);
            }
            VariableVectorField vectorField = (VariableVectorField) widget;
            VectorNd existingValue = vectorField.getVectorValue();
            if (vectorField.getVectorSize() != resultVec.size()) {
                resultVec.setSize(vectorField.getVectorSize());
            }
            if (existingValue != null) {
                resultVec.set(existingValue);
            }
            vectorField.setResultHolder(resultVec);
            vectorField.addValueChangeListener(new PropChangeListener(prop));
            if (info.getPrintFormat() != null && formatIsDefault(vectorField)) {
                vectorField.setFormat(info.getPrintFormat());
            }
            vectorField.setStretchable(true);
        } else if (SymmetricMatrix3d.class.isAssignableFrom(type)) {
            SymmetricMatrix3dField matrixField = (SymmetricMatrix3dField) widget;
            matrixField.addValueChangeListener(new PropChangeListener(prop));
            if (info.getPrintFormat() != null && formatIsDefault(matrixField)) {
                matrixField.setFormat(info.getPrintFormat());
            }
            matrixField.setStretchable(true);
        } else if (RigidTransform3d.class.isAssignableFrom(type)) {
            RigidTransformWidget transformField = (RigidTransformWidget) widget;
            transformField.addValueChangeListener(new PropChangeListener(prop));
            transformField.setStretchable(true);
        } else if (AffineTransform3d.class.isAssignableFrom(type)) {
            AffineTransformWidget transformField = (AffineTransformWidget) widget;
            transformField.addValueChangeListener(new PropChangeListener(prop));
            transformField.setStretchable(true);
        } else if (Rectangle2d.class.isAssignableFrom(type)) {
            RectangleField rectField = (RectangleField) widget;
            rectField.addValueChangeListener(new PropChangeListener(prop));
            if (info.getPrintFormat() != null && formatIsDefault(rectField)) {
                rectField.setFormat(info.getPrintFormat());
            }
            rectField.setStretchable(true);
        } else // }
        if (AxisAngle.class.isAssignableFrom(type)) {
            AxisAngleField orientationField = (AxisAngleField) widget;
            orientationField.addValueChangeListener(new PropChangeListener(prop));
            orientationField.setStretchable(true);
        } else if (Enum.class.isAssignableFrom(type)) {
            Enum<?>[] constants = null;
            Range range = prop.getRange();
            if (range != null && range instanceof EnumRange) {
                constants = ((EnumRange<?>) range).getValidEnums();
            } else {
                constants = (Enum[]) type.getEnumConstants();
            }
            if (info.isReadOnly()) {
                StringField stringField = (StringField) widget;
                int ncols = 0;
                for (int i = 0; i < constants.length; i++) {
                    int len = constants[i].toString().length();
                    if (len > ncols) {
                        ncols = len;
                    }
                }
                stringField.setColumns(ncols);
            } else {
                EnumSelector selector = (EnumSelector) widget;
                selector.setSelections(constants, null);
                selector.addValueChangeListener(new PropChangeListener(prop));
            }
        } else if (Color.class.isAssignableFrom(type)) {
            ColorSelector selector = (ColorSelector) widget;
            if (info.getNullValueOK()) {
                selector.enableNullColors();
            }
            selector.addValueChangeListener(new PropChangeListener(prop));
        } else if (IntegerInterval.class.isAssignableFrom(type)) {
            IntegerIntervalField rangeField = (IntegerIntervalField) widget;
            rangeField.addValueChangeListener(new PropChangeListener(prop));
            rangeField.setStretchable(true);
        } else if (NumericInterval.class.isAssignableFrom(type)) {
            DoubleIntervalField rangeField = (DoubleIntervalField) widget;
            rangeField.addValueChangeListener(new PropChangeListener(prop));
            rangeField.setStretchable(true);
        } else if (GLGridResolution.class.isAssignableFrom(type)) {
            GridResolutionField resField = (GridResolutionField) widget;
            resField.addValueChangeListener(new PropChangeListener(prop));
        } else if (Font.class.isAssignableFrom(type)) {
            FontField fontField = (FontField) widget;
            fontField.addValueChangeListener(new PropChangeListener(prop));
        } else if (CompositeProperty.class.isAssignableFrom(type)) {
            if (widget instanceof CompositePropertyWidget) {
                CompositePropertyWidget compProp = (CompositePropertyWidget) widget;
                compProp.setProperty(prop);
            } else {
                CompositePropertyPanel compProp = (CompositePropertyPanel) widget;
                compProp.setExpandState(info.getWidgetExpandState());
                compProp.initializeSelection(prop);
            }
        } else {
            return false;
        }
    } catch (ClassCastException e) {
        throw new IllegalArgumentException("widget type " + widget.getClass() + " inappropriate for property type " + type);
    }
    // finishWidget (widget, prop);
    return true;
}

Example 19 with InternalErrorException

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

the class RenderPropsDialog method actionPerformed.

public void actionPerformed(ActionEvent e) {
    String actionCmd = e.getActionCommand();
    if (actionCmd.equals("Done")) {
        myReturnValue = OptionPanel.OK_OPTION;
        setVisible(false);
        dispose();
    } else if (actionCmd.equals("Reset")) {
        System.out.println("reset");
        if (myHostList != null) {
            myHostList.restoreBackupValues();
            myHostList.replaceSubHostsIfNecessary(myTree);
            myHostList.getCommonValues(myTree, /* live= */
            true);
            updateWidgetValues();
        }
        fireGlobalValueChangeListeners();
    } else {
        throw new InternalErrorException("Unimplemented action command " + actionCmd);
    }
}

Example 20 with InternalErrorException

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

the class CompositePropertyWidget method setClearButtonFace.

protected void setClearButtonFace(int face) {
    if (myClearButtonInstalled) {
        if (myClearButtonFace != face) {
            if (face == CLEAR) {
                int idx = removeMajorComponent(myNullLabel);
                addMajorComponent(myClearButton, idx);
            } else if (face == NULL) {
                int idx = removeMajorComponent(myClearButton);
                addMajorComponent(myNullLabel, idx);
            } else {
                throw new InternalErrorException("Unknown face spec: " + face);
            }
            revalidate();
            repaint();
            myClearButtonFace = face;
        }
    }
}