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Fix up arrow snapgrid #73

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Merged
madhephaestus merged 1 commit into from
Mar 11, 2026
Merged

Fix up arrow snapgrid #73

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107 changes: 34 additions & 73 deletions src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/Manipulation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,13 @@ public interface DragCallback {
Point3D onDrag(double screenX, double screenY, double snapGridValue);
}

public static final double SNAP_GRID_OFF = 0.0009;
private static double snapGridValue = SNAP_GRID_OFF;

private static double objectHeight = 0;
private static double startObjectHeight = 0;
private static boolean snapGridEnabled = true;

private DragCallback onDragCallback = null;

public HashMap<EventType<MouseEvent>, EventHandler<MouseEvent>> map = new HashMap<>();
Expand All @@ -39,16 +46,12 @@ public interface DragCallback {
private Point3D startingPointWorld = null;
private Point3D newWorldPos = new Point3D(0, 0, 0);
private boolean zMove = false;

private boolean scaleMove = false;
private double newX = 0;
private double newY = 0;
private double newZ = 0;
private boolean dragging = false;
private boolean snapGridEnabled = true;
private boolean startCorrected = false; // Keep track if starting point was corrected
private double snapGridValue = SNAP_GRID_OFF;

public static final double SNAP_GRID_OFF = 0.0009;

private static IInteractiveUIElementProvider ui = new IInteractiveUIElementProvider() {

Expand All @@ -73,10 +76,11 @@ public PerspectiveCamera getCamera() {
private double gridOffsetZ = 0;
private Point3D startingWorkplanePosition = null;

public Manipulation(Affine mm, Vector3d o, TransformNR p, DragCallback callback, boolean zMove) {
public Manipulation(Affine mm, Vector3d o, TransformNR p, DragCallback callback, boolean zMove, boolean scaleMove) {
this(mm, o, p);
this.onDragCallback = callback;
this.zMove = zMove;
this.scaleMove = scaleMove;
}

public Manipulation(Affine mm, Vector3d o, TransformNR p) {
Expand Down Expand Up @@ -105,6 +109,11 @@ public boolean isWorkplaneRotated() {
return (Math.abs(rm[0][2]) > 1e-9) || (Math.abs(rm[1][2]) > 1e-9) || (Math.abs(rm[2][2] - 1.0) > 1e-9);
}

public void setObjectHeight(double objectHeight) {
this.objectHeight = objectHeight;
this.startObjectHeight = objectHeight;
}

// Calculate the starting point based on the active work plane
public void setStartingWorkplanePosition(Point3D startingPointWorld) {

Expand All @@ -115,7 +124,6 @@ public void setStartingWorkplanePosition(Point3D startingPointWorld) {
gridOffsetX = 0;
gridOffsetY = 0;
gridOffsetZ = 0;

this.startingWorkplanePosition = startingPointWorld;

double x = startingPointWorld.getX();
Expand All @@ -128,7 +136,6 @@ public void setStartingWorkplanePosition(Point3D startingPointWorld) {
x = 0;
y = 0;
}

this.startingWorkplanePosition = new Point3D(x, y, z);
}

Expand All @@ -139,12 +146,21 @@ private void calculateGridOffsets() {

double gridX = Math.round(startingWorkplanePosition.getX() / snapGridValue) * snapGridValue;
double gridY = Math.round(startingWorkplanePosition.getY() / snapGridValue) * snapGridValue;
double gridZ = Math.round(startingWorkplanePosition.getZ() / snapGridValue) * snapGridValue;

double gridZ;
if (zMove && !scaleMove) {
// The Z-arrow is 5mm above the object, snap object bottom to grid
double handleOffset = objectHeight + 5.0;
double objectBottomZ = startingWorkplanePosition.getZ() - handleOffset;
double snappedBottomZ = Math.round(objectBottomZ / snapGridValue) * snapGridValue;

gridZ = snappedBottomZ + handleOffset;
} else
gridZ = Math.round(startingWorkplanePosition.getZ() / snapGridValue) * snapGridValue;

gridOffsetX = (gridX - startingWorkplanePosition.getX()) * orientation.getX();
gridOffsetY = (gridY - startingWorkplanePosition.getY()) * orientation.getY();
gridOffsetZ = (gridZ - startingWorkplanePosition.getZ()) * orientation.getZ();

}

public enum DragState {
Expand Down Expand Up @@ -272,8 +288,11 @@ private void dragged(MouseEvent event, MouseEvent event2) {
// Request new world position based on mouse scene position
newWorldPos = onDragCallback.onDrag(event.getSceneX(), event.getSceneY(), snapGridValue);

if (zMove)
if (zMove) {
z = newWorldPos.getZ() - startingPointWorld.getZ();
if (!scaleMove)
z -= 5.0; // Adjust for arrow offset of 5.0mm
}
else {
x = newWorldPos.getX() - startingPointWorld.getX();
y = newWorldPos.getY() - startingPointWorld.getY();
Expand Down Expand Up @@ -361,68 +380,6 @@ private double getDepthNow() {
return -1600 / getUi().getCamerDepth();
}

// public void setNewWorldPosition(Point3D newWorldPos) {
// System.out.println("%%%%%%%%%%%% MANIPULATION RECEIVED: newWorld" + newWorldPos);
// this.newWorldPos = newWorldPos;
// }

private void performMoveUnified(TransformNR trans, MouseEvent event2) {
try {
// Extract translation from the input (ignore any rotation)
double xDelta = trans.getX();
double yDelta = trans.getY();
double zDelta = trans.getZ();

TransformNR wp = getFrameOfReference().copy();

// Remove translation from workplane, keep only rotation for coordinate
// transformation
wp.setX(0);
wp.setY(0);
wp.setZ(0);

// Transform the translation into workplane coordinates
TransformNR global = wp.inverse().times(new TransformNR(xDelta, yDelta, zDelta, new RotationNR()));

if (!startCorrected && dragging) {
startCorrected = true;
calculateGridOffsets();
}

if (snapGridEnabled) {
newX = snapToGrid(global.getX() * orientation.getX()) + gridOffsetX;
newY = snapToGrid(global.getY() * orientation.getY()) + gridOffsetY;
newZ = snapToGrid(global.getZ() * orientation.getZ()) + gridOffsetZ;
} else {
newX = global.getX() * orientation.getX();
newY = global.getY() * orientation.getY();
newZ = global.getZ() * orientation.getZ();
}

// Build final transform with NO rotation
TransformNR finalTransform = new TransformNR();
finalTransform.setX(newX);
finalTransform.setY(newY);
finalTransform.setZ(newZ);
finalTransform.setRotation(new RotationNR()); // Explicitly no rotation

// Apply workplane transformation back
TransformNR o = wp.times(finalTransform).times(wp.inverse());
o.setRotation(new RotationNR()); // Ensure no rotation

// Combine with existing global pose (translation only)
TransformNR globalTrans = globalPose.copy().setRotation(new RotationNR());
global = globalTrans.times(o);
global.setRotation(new RotationNR()); // Final safety: no rotation

setGlobal(global);

} catch (Throwable t) {
t.printStackTrace();
}

fireMove(trans, event2);
}

private void performMoveTranslate(TransformNR trans, MouseEvent event2) {
try {
Expand Down Expand Up @@ -450,6 +407,10 @@ private void performMoveTranslate(TransformNR trans, MouseEvent event2) {
newZ = trans.getZ() * orientation.getZ();
}

// Keep object height updated when manipulating the height
if (zMove && scaleMove)
objectHeight = startObjectHeight + newZ;

// Build final transform with NO rotation
TransformNR finalTransform = new TransformNR();
finalTransform.setX(newX);
Expand Down