package projektscara;

import com.sun.j3d.utils.applet.MainFrame;
import com.sun.j3d.utils.behaviors.mouse.MouseRotate;
import com.sun.j3d.utils.geometry.Box;
import com.sun.j3d.utils.geometry.Cylinder;
import com.sun.j3d.utils.image.TextureLoader;
import com.sun.j3d.utils.universe.SimpleUniverse;
import java.applet.Applet;
import java.awt.BorderLayout;
import java.awt.Button;
import java.awt.Dimension;
import java.awt.GraphicsConfiguration;
import java.awt.Panel;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.util.Timer;
import java.util.TimerTask;
import javax.media.j3d.Appearance;
import javax.media.j3d.Background;
import javax.media.j3d.BoundingSphere;
import javax.media.j3d.BranchGroup;
import javax.media.j3d.Canvas3D;
import javax.media.j3d.ColoringAttributes;
import javax.media.j3d.ImageComponent2D;
import javax.media.j3d.Material;
import javax.media.j3d.Texture;
import javax.media.j3d.Texture2D;
import javax.media.j3d.Transform3D;
import javax.media.j3d.TransformGroup;
import javax.swing.JFrame;
import javax.vecmath.Color3f;
import javax.vecmath.Point3d;
import javax.vecmath.Vector3f;

public class ProjektSCARA extends Applet implements KeyListener
{
    private TransformGroup robot,trans_baza, trans_ramie1, trans_ramie2, trans_przegub, trans_patyk, trans_klocek;
    private TransformGroup obrot;
    private Timer          zegar;
    private boolean        klawisze[];
    private boolean        chwytak = false;
    private boolean        zawias = true;

    private Transform3D    przesuniecie_obserwatora = new Transform3D();
    private Transform3D    obrotRamienia1 = new Transform3D();
    private Transform3D    obrotRamienia2 = new Transform3D();
    private Transform3D    Ramie1buff = new Transform3D();
    private Transform3D    Ramie2buff = new Transform3D();
    private Transform3D    patykBuff = new Transform3D();
    private Transform3D    poz_klocek = new Transform3D();

    private Button mute = new Button("Dźwięk");

    public float           kat1 = 0.0f;
    public float           kat2 = 0.0f;
    public float           wys = 0.0f;
    public float           pozX = 2.86f;
    public float           pozY = 0.05f;
    public float           pozZ = 0.48f;

    private SimpleUniverse universe;

    private BranchGroup obiekt;

    public void RuchKlocka(float obrot1, float obrot2, float wysK)
    {
            if(wysK != 0 && chwytak){
                //new Vector3f(0.0f, -0.27f, 0.12f)
            }
    }

    public void ObrotRamie1Lewo()
    {
            kat1 += 0.01f;
            if(chwytak){
                RuchKlocka(kat1, 0, 0);
            }
            obrotRamienia1.rotY(kat1);
            Ramie1buff.setTranslation(new Vector3f());
            obrotRamienia1.mul(Ramie1buff);
            trans_ramie1.setTransform(obrotRamienia1);
    }
    public void ObrotRamie1Prawo()
    {
            kat1 -= 0.01f;
            if(chwytak){
                RuchKlocka(kat1, 0, 0);
            }
            obrotRamienia1.rotY(kat1);
            Ramie1buff.setTranslation(new Vector3f());
            obrotRamienia1.mul(Ramie1buff);
            trans_ramie1.setTransform(obrotRamienia1);
    }
    public void ObrotRamie2Lewo()
    {
            if(kat2<2.75f){
                kat2 += 0.01f;
                if(chwytak){
                    RuchKlocka(0, kat2, 0);
                }
                obrotRamienia2.rotY(kat2);
                Ramie2buff.setTranslation(new Vector3f(0.0f,0.026f, 0.12f));
                obrotRamienia2.mul(Ramie2buff);
                trans_ramie2.setTransform(obrotRamienia2);
            }
    }
    public void ObrotRamie2Prawo()
    {
            if(kat2>-2.75f){
                kat2 -= 0.01f;
                if(chwytak){
                    RuchKlocka(0, kat2, 0);
                }
                obrotRamienia2.rotY(kat2);
                Ramie2buff.setTranslation(new Vector3f(0.0f,0.026f, 0.12f));
                obrotRamienia2.mul(Ramie2buff);
                trans_ramie2.setTransform(obrotRamienia2);
            }
    }
    public void ChwytakDoGory()
    {
            if(wys<0.09f){
            wys += 0.001f;
            if(chwytak){
                RuchKlocka(0, 0, wys);
            }
            patykBuff.setTranslation(new Vector3f(0.0f,0.0f+wys,0.0f));
            trans_patyk.setTransform(patykBuff);
            }
    }
    public void ChwytakWDol()
    {
            if(wys>=-0.096f){
            wys -= 0.001f;
            if(chwytak){
                RuchKlocka(0, 0, wys);
            }
            patykBuff.setTranslation(new Vector3f(0.0f,0.0f+wys,0.0f));
            trans_patyk.setTransform(patykBuff);
            }
    }
    ProjektSCARA()
    {
//        super("Robot SCARA");
//        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
//        setResizable(false);

        setLayout(new BorderLayout()); // ustawienie layoutu

        GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
        Canvas3D canvas3D = new Canvas3D(config);
        add(BorderLayout.CENTER, canvas3D);
        canvas3D.addKeyListener(this);

        klawisze        = new boolean[7];

        Transform3D rot_obs = new Transform3D();
        rot_obs.rotY((float)(-Math.PI/6));
        przesuniecie_obserwatora.set(new Vector3f(-1.2f,1.5f,2.0f));
        przesuniecie_obserwatora.mul(rot_obs);
        rot_obs.rotX((float)(-Math.PI/6));
        przesuniecie_obserwatora.mul(rot_obs);

        universe = new SimpleUniverse(canvas3D);

        universe.getViewingPlatform().getViewPlatformTransform().setTransform(przesuniecie_obserwatora);
        BranchGroup scene = utworzScene(universe);
        universe.addBranchGraph(scene);



        zegar = new Timer();
        zegar.scheduleAtFixedRate(new Zadanie(),0,20);
    }

    public BranchGroup utworzScene(SimpleUniverse su)
    {

        BranchGroup wezel_scena = new BranchGroup();

        TransformGroup vpTrans = null;
        vpTrans = su.getViewingPlatform().getViewPlatformTransform();

        Appearance wyglad_platforma = new Appearance();
        Appearance wyglad_robot = new Appearance();
        Appearance wyglad_klocek = new Appearance();


        // Tło
        Background background = new Background(0.8f,0.2f, 0.1f);
        BoundingSphere sphere = new BoundingSphere(new Point3d(0,0,0), 100000);
        background.setApplicationBounds(sphere);
        wezel_scena.addChild(background);


        // Wgranie tekstury na platforme
        TextureLoader loader = new TextureLoader("tekstury/marmur.jpg",null);
        ImageComponent2D image = loader.getImage();

        Texture2D Tplatforma = new Texture2D(Texture.BASE_LEVEL, Texture.RGBA,
                                        image.getWidth(), image.getHeight());

        Tplatforma.setImage(0, image);
        Tplatforma.setBoundaryModeS(Texture.WRAP);
        Tplatforma.setBoundaryModeT(Texture.WRAP);
        wyglad_platforma.setTexture(Tplatforma);

        // Wgranie tekstury na robota
        loader = new TextureLoader("tekstury/metal.jpg",this);
        image = loader.getImage();

        Texture2D robot_tekstura = new Texture2D(Texture.BASE_LEVEL, Texture.RGBA,
                                        image.getWidth(), image.getHeight());
        robot_tekstura.setImage(0, image);
        robot_tekstura.setBoundaryModeS(Texture.WRAP);
        robot_tekstura.setBoundaryModeT(Texture.WRAP);
        wyglad_robot.setTexture(robot_tekstura);

        // Wgranie tekstury na robota
        loader = new TextureLoader("tekstury/sruby.jpg",this);
        image = loader.getImage();

        Texture2D klocek_tekstura = new Texture2D(Texture.BASE_LEVEL, Texture.RGBA,
                                        image.getWidth(), image.getHeight());
        klocek_tekstura.setImage(0, image);
        klocek_tekstura.setBoundaryModeS(Texture.WRAP);
        klocek_tekstura.setBoundaryModeT(Texture.WRAP);
        wyglad_klocek.setTexture(klocek_tekstura);

        ////// Utworzenie platformy
        Cylinder platforma = new Cylinder(0.6f,0.01f,Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_platforma);

        //wezel_scena.addChild(platforma);

        ////// Utworzenie grupy robota SCARA
        TransformGroup robot = new TransformGroup();
        Transform3D przesuniecie_robota = new Transform3D();
        przesuniecie_robota.set(new Vector3f(0.0f,0.02f,0.0f));
        robot.setTransform(przesuniecie_robota);

        // Utworzenie podstawy, baza + słup
        Box podstawa = new Box(0.08f,0.02f,0.08f, Box.GENERATE_NORMALS| Box.GENERATE_TEXTURE_COORDS| Box.GENERATE_TEXTURE_COORDS_Y_UP, wyglad_robot);
        Cylinder slup = new Cylinder(0.05f, 0.25f, Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_robot);

        Transform3D poz_slup = new Transform3D();
        poz_slup.set(new Vector3f(0.0f, 0.125f, 0.0f));

        Transform3D poz_podstawa = new Transform3D();
        poz_podstawa.set(new Vector3f(0.0f, 0.02f, 0.0f));

        TransformGroup trans_podstawa = new TransformGroup(poz_podstawa);
        trans_podstawa.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_podstawa.addChild(podstawa);

        TransformGroup trans_slup = new TransformGroup(poz_slup);
        trans_slup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_slup.addChild(slup);

        trans_baza = new TransformGroup();
        trans_baza.addChild(trans_podstawa);
        trans_baza.addChild(trans_slup);
        robot.addChild(trans_baza);

        trans_baza.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

        // Utworzenie 1 ramienia oraz stawu obrotowego robota
        Cylinder staw1 = new Cylinder(0.05f, 0.05f, Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_robot);
        Transform3D poz_staw1 = new Transform3D();
        poz_staw1.set(new Vector3f(0.0f, 0.27f, 0.0f));
        TransformGroup przesun_staw1 = new TransformGroup(poz_staw1);
        przesun_staw1.addChild(staw1);

        Box ramie1 = new Box(0.05f,0.024f,0.12f, Box.GENERATE_NORMALS| Box.GENERATE_TEXTURE_COORDS| Box.GENERATE_TEXTURE_COORDS_Y_UP,
                wyglad_robot);
        Transform3D poz_ramie1 = new Transform3D();
        poz_ramie1.set(new Vector3f(0.0f, 0.27f, 0.12f));
        TransformGroup przesun_ramie1 = new TransformGroup(poz_ramie1);
        przesun_ramie1.addChild(ramie1);

        trans_ramie1 = new TransformGroup();
        trans_ramie1.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_ramie1.addChild(przesun_staw1);
        trans_ramie1.addChild(przesun_ramie1);
        /////////////////////
        /////klocek

        Box klocek = new Box(0.05f,0.05f,0.05f, Box.GENERATE_NORMALS| Box.GENERATE_TEXTURE_COORDS| Box.GENERATE_TEXTURE_COORDS_Y_UP, wyglad_klocek);
        Transform3D poz_klocek = new Transform3D();
        poz_klocek.set(new Vector3f(0.0f, 0.07f, 0.48f));

        trans_klocek = new TransformGroup(poz_klocek);
        trans_klocek.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_klocek.addChild(klocek);

        /////////////////////
        ///// Przegub robota między ramieniem 1 a ramieniem 2
        Cylinder przegub = new Cylinder(0.02f, 0.15f, Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_robot);
        Transform3D  poz_przegub = new Transform3D();
        poz_przegub.set(new Vector3f(0.0f,0.294f,0.245f));
        trans_przegub = new TransformGroup(poz_przegub);
        trans_przegub.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_przegub.addChild(przegub);

        /////////////////////
        ///// Ramie 2 robota
        Cylinder staw2 = new Cylinder(0.05f, 0.105f, Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_robot);
        Cylinder staw3 = new Cylinder(0.05f, 0.05f, Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_robot);
        Box ramie2 = new Box(0.05f,0.024f,0.12f, Box.GENERATE_NORMALS| Box.GENERATE_TEXTURE_COORDS| Box.GENERATE_TEXTURE_COORDS_Y_UP,
                wyglad_robot);


        Transform3D poz_staw2 = new Transform3D();
        poz_staw2.set(new Vector3f(0.0f, -0.025f, -0.12f));

        Transform3D poz_staw3 = new Transform3D();
        poz_staw3.set(new Vector3f(0.0f, 0.0f, 0.12f));

        Transform3D poz_ramie2 = new Transform3D();
        poz_ramie2.set(new Vector3f(0.0f, 0.026f, 0.118f));

        TransformGroup trans_staw2 = new TransformGroup(poz_staw2);
        trans_staw2.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_staw2.addChild(staw2);

        TransformGroup trans_staw3 = new TransformGroup(poz_staw3);
        trans_staw3.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_staw3.addChild(staw3);

        trans_ramie2 = new TransformGroup(poz_ramie2);
        trans_ramie2.addChild(ramie2);
        trans_ramie2.addChild(trans_staw2);
        trans_ramie2.addChild(trans_staw3);

        trans_ramie2.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_ramie2.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);

        ////////////////////////
        ///// Ramie przesuwne
        Cylinder ramie_przesuwne = new Cylinder(0.02f, 0.25f, Cylinder.GENERATE_NORMALS| Cylinder.GENERATE_TEXTURE_COORDS, wyglad_robot);
        Transform3D poz_ramie_przesuwne = new Transform3D();
        poz_ramie_przesuwne.set(new Vector3f(0.0f, 0.0f, 0.12f));
        TransformGroup przesun_ramie_przesuwne = new TransformGroup(poz_ramie_przesuwne);
        przesun_ramie_przesuwne.addChild(ramie_przesuwne);

        trans_patyk = new TransformGroup();
        trans_patyk.addChild(przesun_ramie_przesuwne);

        trans_patyk.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
        trans_patyk.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        trans_patyk.setCapability(TransformGroup.ALLOW_CHILDREN_EXTEND);

        ///////
        trans_ramie1.addChild(trans_przegub);
        trans_przegub.addChild(trans_ramie2);
        trans_ramie2.addChild(trans_patyk);
        //trans_patyk.addChild(trans_klocek);

        robot.addChild(platforma);
        robot.addChild(trans_ramie1);
        //////////////////////////////
        // Rotacja robota kursorem
        //

        obrot = new TransformGroup();

        obrot.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        obrot.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
        obrot.setCapability(TransformGroup.ALLOW_CHILDREN_WRITE);
        obrot.setCapability(TransformGroup.ALLOW_CHILDREN_READ);
        obrot.setCapability(TransformGroup.ALLOW_CHILDREN_EXTEND);

        obiekt = new BranchGroup();
        obiekt.setCapability(obiekt.ALLOW_DETACH);
        obiekt.setCapability(obiekt.ALLOW_CHILDREN_WRITE);
        obiekt.setCapability(obiekt.ALLOW_CHILDREN_READ);
        obiekt.addChild(trans_klocek);

        obrot.addChild(obiekt);

        BoundingSphere bounds = new BoundingSphere();
        MouseRotate behavior = new MouseRotate();
        behavior.setTransformGroup(obrot);
        obrot.addChild(behavior);
        //behavior.setFactor(0.01, 0);
        behavior.setSchedulingBounds(bounds);

        obrot.addChild(robot);
        wezel_scena.addChild(obrot);


        return wezel_scena;
    }
    class Zadanie extends TimerTask
        {
            public void run()
            {
                if(klawisze[0])
                {
                   ObrotRamie1Lewo();
                }
                else if(klawisze[1])
                {
                   ObrotRamie1Prawo();
                }
                else if(klawisze[2])
                {
                   ObrotRamie2Lewo();
                }
                else if(klawisze[3])
                {
                   ObrotRamie2Prawo();
                }
                else if(klawisze[4])
                {
                   ChwytakDoGory();
                }
                else if(klawisze[5])
                {
                   ChwytakWDol();
                }
                else if(klawisze[6])
                {
                   if(chwytak && zawias == true){
                       chwytak = false;
                       System.out.println("puszczam");
                       zawias = false;
                   }
                   else if(wys<=-0.096f && zawias == true){
                       chwytak = true;
                       obrot.removeChild(obiekt);
                       trans_patyk.addChild(obiekt);
                       Transform3D tmp = new Transform3D();
                       tmp.set(new Vector3f(0.0f, -0.173f, 0.118f));
                       trans_klocek.setTransform(tmp);
                       System.out.println("trzymam");
                       zawias = false;
                   }
                }
            }
        }


            @Override
            public void keyPressed(KeyEvent e)
            {
                switch(e.getKeyCode())
                {
                    case KeyEvent.VK_LEFT:    System.out.println("lewo"); klawisze[0] = true; break;
                    case KeyEvent.VK_RIGHT:   System.out.println("prawo"); klawisze[1] = true; break;
                    case KeyEvent.VK_A:    System.out.println("lewo2"); klawisze[2] = true; break;
                    case KeyEvent.VK_D:   System.out.println("prawo2"); klawisze[3] = true; break;
                    case KeyEvent.VK_UP:   System.out.println("gora"); klawisze[4] = true; break;
                    case KeyEvent.VK_DOWN:   System.out.println("dol"); klawisze[5] = true; break;
                    case KeyEvent.VK_SPACE:   klawisze[6] = true; break;
                }
            }

            public void keyReleased(KeyEvent e)
            {
                switch(e.getKeyCode())
                {
                    case KeyEvent.VK_LEFT:    System.out.println("lewo"); klawisze[0] = false; break;
                    case KeyEvent.VK_RIGHT:   System.out.println("prawo"); klawisze[1] = false; break;
                    case KeyEvent.VK_A:    System.out.println("lewo2"); klawisze[2] = false; break;
                    case KeyEvent.VK_D:   System.out.println("prawo2"); klawisze[3] = false; break;
                    case KeyEvent.VK_UP:   System.out.println("gora"); klawisze[4] = false; break;
                    case KeyEvent.VK_DOWN:   System.out.println("dol"); klawisze[5] = false; break;
                    case KeyEvent.VK_SPACE:   klawisze[6] = false; zawias = true; break;
                }
            }

            @Override
            public void keyTyped(KeyEvent ke) {
                //throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates.
            }

    public static void main(String[] args) {
        ProjektSCARA okno = new ProjektSCARA();
        okno.addKeyListener(okno);
        MainFrame mf = new MainFrame(okno, 1600, 800);
    }
}