Doja平台上的3D机器人程序

Doja平台上的3D机器人程序

这个机器人程序实现了常见的3D基础操作：移动，旋转，光照，纹理，动画等等。说明：这个程序参考了j2medev网上的一篇文章，原文链接：精通Micro3Dv3基础技术

程序中所使用的资源文件也来自该文章附带的文件中。我只是将其移植到doja平台罢了，在此过程中学习3D知识。程序代码及效果图：下载

飘飘白云

2006-01-26

import com.nttdocomo.ui.*;

import com.nttdocomo.opt.ui.j3d.*;

import javax.microedition.io.*;

//

/**

* @author ppby 2006-01-26

* Doja 3D examples.

*/

public class Robot_3D extends IApplication {

private Canvas3D canv;

public void start() {

try {

canv = new Canvas3D();

Display.setCurrent(canv);

Thread thread = new Thread(canv);

thread.start();

} catch (IllegalThreadStateException itse) {

itse.printStackTrace();

} catch (Exception e) {

e.printStackTrace();

}

}

}

/**

* Canvas class

*/

class Canvas3D extends Canvas implements Runnable {

Graphics g = null;

private String[] msg = {

"Move:up,down,left,right key.",

"Light :KEY_7,KEY_9.",

"Rotate:KEY_1,KEY_3.",

"Zoom:KEY_2,KEY_8.",

"Actions :KEY_5.",

};

// 3D affine transformation matrix

private AffineTrans viewT = new AffineTrans();

private AffineTrans viewBGT = new AffineTrans();

private AffineTrans affineT = new AffineTrans();

private AffineTrans tempTrans = new AffineTrans();

private int rotY; // Variable for rotation

private int nScale; // Variable for zoom/scale

private int nTransX,nTransY;// Variable for translation

private int nAmLight = 4096 * 7/8 ;//ambient light intensity

private Figure figureBG; //background figure

private Figure figure; //robot figure

private Texture texture; // texture for figures.

private ActionTable[] action = new ActionTable[2];

private int frame; //frame of action

private int actNo; //No. of action

public Canvas3D() {

//init data

g = this.getGraphics();

actNo = 0;

frame = 0;

try {

// Set a camera:(position,look at,up direction

//background view port

viewBGT.lookAt(

new Vector3D(0, 0, 1800),

new Vector3D(0, 0, 200),

new Vector3D(0, 4096, 0));

//robot view port

viewT.lookAt(

new Vector3D(0, 0, 800),

new Vector3D(0, 0, 200),

new Vector3D(0, 4096, 0));

//Init resource

figureBG = new Figure(Connector.openDataInputStream("resource:///test_model_haikei.mbac"));

figure= new Figure(Connector.openDataInputStream("resource:///test_model_robo.mbac"));

texture = new Texture(Connector.openDataInputStream("resource:///tex_001.bmp"), false);

action[0] = new ActionTable(Connector.openInputStream("resource:///action_01.mtra"));

action[1] = new ActionTable(Connector.openInputStream("resource:///action_02.mtra"));

figure.setTexture(texture);

figureBG.setTexture(texture);

} catch (Exception e) {

System.out.println("Init data failed");

e.printStackTrace();

}

}

public void run() {

while (true) {

update(); //update

render(); //draw

try {

Thread.sleep(100); // wait 100ms

} catch (InterruptedException ie) {

System.out.println("Run error~~");

}

}

}

public void update()

{

affineT.setIdentity();

//tranlate

tempTrans.setIdentity();

tempTrans.m03 += nTransX;

tempTrans.m13 += nTransY;

affineT.mul(tempTrans);

//rotate y axis

tempTrans.setIdentity();

tempTrans.setRotateY(rotY);

affineT.mul(tempTrans);

//zoom (scale)

tempTrans.setIdentity();

tempTrans.setElement(0, 0, tempTrans.m00 + nScale);

tempTrans.setElement(1, 1, tempTrans.m11 + nScale);

affineT.mul(tempTrans);

//action

frame += action[actNo].getMaxFrame(0)/10;

if( frame >= action[actNo].getMaxFrame(0) ){

frame = 0;

actNo = 0;

}

figure.setPosture(action[actNo], 0, frame);

}

public void render()

{

try {

g.lock();

// Background Clear

g.setColor(Graphics.getColorOfRGB(0, 0, 0));

g.fillRect(0, 0, getWidth(), getHeight());

Graphics3D g3d = (Graphics3D) g;

g3d.setClipRect3D(0, 0, getWidth(),getHeight());

g3d.setScreenCenter(getWidth()>>1, getHeight()>>1);

g3d.setPerspective(200, 10000, 4096*50/360);

//set light

g3d.setAmbientLight(nAmLight);

g3d.setDirectionLight(new Vector3D(1,1,0),4096/2);

g3d.enableLight(true);

//background figure

g3d.setViewTrans(viewBGT);// Set view coordinate matrix

g3d.renderFigure(figureBG);

g3d.drawFigure(figureBG);

//robot figure

affineT.mul(viewT,affineT);

g3d.setViewTrans(affineT); // //set viewport

g3d.renderFigure(figure);

g3d.drawFigure(figure);

g3d.flush();

g.setColor(Graphics.getColorOfRGB(0, 255, 0xff));

for(int i = 0;i < msg.length; i++){

g.drawString(msg[i], 5, (i + 1)*( 2 + Font.getDefaultFont().getHeight()));

}

g.unlock(true);

} catch (Exception e) {

System.out.println("Paint() err");

e.printStackTrace();

}

}

/**

* Key event process.

*/

public void processEvent(int type, int param) {

try {

if (type == Display.KEY_PRESSED_EVENT) {

switch (param) {

//translate

case Display.KEY_UP://move up

nTransY += 15;

break;

case Display.KEY_DOWN://move down

nTransY -= 15;

break;

case Display.KEY_LEFT://move left

nTransX -= 15;

break;

case Display.KEY_RIGHT://move right

nTransX += 15;

break;

//rotate

case Display.KEY_1://rotate left

rotY -= 128;

rotY %= 4096;

break;

case Display.KEY_3://rotate right

rotY += 128;

rotY %= 4096;

break;

//zoom/scale

case Display.KEY_8://zoom in

nScale -= 128;

break;

case Display.KEY_2://zoom out

nScale += 128;

break;

//change action

case Display.KEY_5:

actNo = 1;

frame = 0;

break;

//change light intensity

case Display.KEY_7://weak light

nAmLight -= 512;

nAmLight %= 4096;

nAmLight = (nAmLight<0? 1:nAmLight);

break;

case Display.KEY_9://strong light

nAmLight += 512;

nAmLight = (nAmLight>=4096 ? 4095:nAmLight);

nAmLight %= 4096;

break;

}

}

} catch (Exception e) {

System.out.println("Set attribute value err");

e.printStackTrace();

}

}

public void paint(Graphics _g) {

}

}