PrintBedObject.java

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package com.neuronrobotics.bowlerstudio.printbed;
 
import java.util.Arrays;
import java.util.List;
 
import com.neuronrobotics.bowlerkernel.Bezier3d.manipulation;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
 
import eu.mihosoft.vrl.v3d.CSG;
import eu.mihosoft.vrl.v3d.Vector3d;
import javafx.scene.transform.Affine;
 
public class PrintBedObject {
    private double xMax;
    private double xMin;
    private double yMax;
    private double yMin;
    private CSG part;
    private String name;
    private manipulation manip;
    private Affine affine = new Affine();
    private TransformNR globalPose;
    public PrintBedObject(String name, CSG part, double xMax, double xMin, double yMax, double yMin, TransformNR startPose){
        this.part =  part;
        this.name =  name;
        this.xMax =  xMax;
        this.xMin =  xMin;
        this.yMax =  yMax;
        this.yMin =  yMin;
        this.globalPose = startPose;
        
        manip = new manipulation(affine, new Vector3d(1, 1, 0), part, startPose);
        manip.addSaveListener(() -> System.out.println("Saving PrintBedObject "+name));
        checkBounds();
    }
    public void addEventListener(Runnable r) {
        manip.addEventListener(r);
    }
 
    public void addSaveListener(Runnable r) {
        manip.addSaveListener(r);
    }
    public List<CSG> get() {
        return Arrays.asList(part);
    }
 
    public double getX() {
        return manip.currentPose.getX();
    }
 
    public double getY() {
        return manip.currentPose.getY();
    }
 
    public double getZ() {
        return manip.currentPose.getZ();
    }
    public void checkBounds() {
        double minYTest = part.getMinY()-yMin+globalPose.getY();
        double maxYTest = part.getMaxY()-yMax+globalPose.getY();
        double minXTest = part.getMinX()-xMin+globalPose.getX();
        double maxXTest = part.getMaxX()-xMax+globalPose.getX();
        if(minYTest<0)
            globalPose.translateY(-minYTest);
        if(minXTest<0)
            globalPose.translateX(-minXTest);
        if(maxYTest>0)
            globalPose.translateY(-maxYTest);
        if(maxXTest>0)
            globalPose.translateX(-maxXTest);
        manip.set(globalPose.getX(), globalPose.getY(), globalPose.getZ());
    }
 
}