import java.awt.BorderLayout;
import java.awt.FlowLayout;
import java.awt.GraphicsConfiguration;
import java.awt.GridLayout;
import java.awt.event.*;
import java.awt.*;

import java.util.Vector;
import javax.media.j3d.*;
import javax.media.j3d.Alpha;
import javax.media.j3d.Appearance;
import javax.media.j3d.BoundingSphere;
import javax.media.j3d.BranchGroup;
import javax.media.j3d.Canvas3D;
import javax.media.j3d.ColoringAttributes;
import javax.media.j3d.RotationInterpolator;
import javax.media.j3d.Transform3D;
import javax.media.j3d.TransformGroup;
import javax.swing.*;
import javax.vecmath.*;


import com.sun.j3d.utils.behaviors.vp.OrbitBehavior;
import com.sun.j3d.utils.geometry.*;
import com.sun.j3d.utils.geometry.Box;
import com.sun.j3d.utils.universe.SimpleUniverse;
import com.sun.j3d.utils.universe.ViewingPlatform;

import java.applet.Applet;

public class ZSBScreen extends JPanel
{
	public Vector graphs = new Vector();
	public SimpleUniverse u;
	public DHJoint j;
	public JPanel controller;

	/**
	 *
	 * @param s
	 */
	public String addJointLine(String s)
	{
		DHJoint joint = new DHJoint(s);
		if (this.j == null) {
			this.j = joint;
		} else {
			this.j.addToEnd(joint);
		}
		return joint.toString();
	}

	public void setBranchGroup(BranchGroup bg)
	{
		this.removeAllBranchGroups();
		this.addBranchGroup(bg);
	}

	public void addBranchGroup(BranchGroup bg)
	{
		this.graphs.add(bg);
		this.u.addBranchGraph(bg);
	}

	public void removeAllBranchGroups()
	{
		BranchGroup traverse;
		for (int i=0;i<this.graphs.size();i++) {
			traverse = (BranchGroup) this.graphs.get(i);
			traverse.detach();
		}
		this.controller = null;
	}

	public BranchGroup createRobotGraph()
	{
		BranchGroup bg = new BranchGroup();
		bg.setCapability(BranchGroup.ALLOW_DETACH);
		TransformGroup objScale = new TransformGroup();
        Transform3D t3d = new Transform3D();
        t3d.setScale(0.1);
        objScale.setTransform(t3d);
        objScale.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

        /// add tgscale to objscale
        bg.addChild(objScale);

        /// add joint to tgscale
        objScale.addChild(j.getBranchGraph());
		bg.compile();
		return bg;
	}

	public ZSBScreen()
	{
		setLayout(new GridLayout(1,2));
		GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
		Canvas3D canvas3d = new Canvas3D(config);
		add(canvas3d);
		this.u = new SimpleUniverse(canvas3d);

		// Create the scene; attach it to the virtual universe
		BranchGroup scene = createSceneGraph();
	    u.addBranchGraph(scene);

		// add mouse behaviors to the ViewingPlatform
		ViewingPlatform viewingPlatform = u.getViewingPlatform();

        // This will move the ViewPlatform back a bit so the
        // objects in the scene can be viewed.
	    u.getViewingPlatform().setNominalViewingTransform();

		// add orbit behavior to the viewing platform
		OrbitBehavior orbit = new OrbitBehavior(canvas3d, OrbitBehavior.REVERSE_ALL);
		BoundingSphere bounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), 1000.0);
		orbit.setSchedulingBounds(bounds);
		viewingPlatform.setViewPlatformBehavior(orbit);
	}


	public BranchGroup createSceneGraph()
	{
        // Create the root of the branch graph
        //BranchGroup objRoot = new BranchGroup();
		BranchGroup objRoot = new BranchGroup();

        // Create the TransformGroup node and initialize it to the
        // identity. Enable the TRANSFORM_WRITE capability so that
        // our behavior code can modify it at run time. Add it to
        // the root of the subgraph.
        TransformGroup objTrans = new TransformGroup();
        objTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        objRoot.addChild(objTrans);
        objTrans.addChild(new ColorCube(0.01));

        // Create a new Behavior object that will perform the
        // desired operation on the specified transform and add
        // it into the scene graph.
        Transform3D yAxis = new Transform3D();
        Alpha rotationAlpha = new Alpha(-1, 4000);

        RotationInterpolator rotator = new RotationInterpolator(
                rotationAlpha, objTrans, yAxis, 0.0f, (float) Math.PI*2.0f
        );

        BoundingSphere bounds = new BoundingSphere(new Point3d(0.0,0.0,0.0), 100.0);
        rotator.setSchedulingBounds(bounds);
        objRoot.addChild(rotator);

        // Have Java 3D perform optimizations on this scene graph.
        objRoot.compile();
        return objRoot;
    }

}