adds yaw zeroing button and much more

Display3D.java

@@ -60,10 +60,14 @@ class Display3D extends PApplet {
     ///// Draw methods /////
     ////////////////////////
 
+    public void drawBackground() {
+
+    }
+
     public void drawObject() {
         noFill();
         stroke( 255 );
-        box( xDim / 5, xDim / 3, xDim / 20 );
+        box( width / 5, width / 3, width / 20 );
     }
 
     ///////////////////////////
@@ -74,7 +78,7 @@ class Display3D extends PApplet {
         size( xDim, yDim, P3D );
         background( BACKGROUND_COLOR );
 
-        camera( (float)0.0, (float)( -xDim * Math.sin( camAngle )), (float)( xDim * Math.cos( camAngle ) ),
+        camera( (float)0.0, (float)( -width * Math.sin( camAngle )), (float)( width * Math.cos( camAngle ) ),
                 (float)0.0, (float)0.0, (float)0.0,
                 (float)0.0, (float)1.0, (float)0.0 );
     }
@@ -82,10 +86,11 @@ class Display3D extends PApplet {
     public void draw() {
         background( BACKGROUND_COLOR );
 
+        drawBackground();
         // draw image
         rotateZ( yaw );
         rotateX( pitch );
-        rotateY( roll );
+        rotateY( -roll );
         drawObject();
 
         if( keyPressed ) {
@@ -105,7 +110,7 @@ class Display3D extends PApplet {
 
         // set camera
 
-        camera( (float)0.0, (float)( xDim * Math.sin( camAngle )), (float)( xDim * Math.cos( camAngle ) ), // camera position
+        camera( (float)0.0, (float)( width * Math.sin( camAngle )), (float)( width * Math.cos( camAngle ) ), // camera position
                 (float)0.0, (float)0.0, (float)0.0,     // center
                 (float)0.0, (float)1.0, (float)0.0 );   // up axis
     }

DisplayQuad.java

@@ -8,6 +8,16 @@ class DisplayQuad extends Display3D {
         super( bkgnd );
     }
 
+    public void drawBackground() {
+        // sphere
+        pushMatrix();
+        rotateX((float)(Math.PI/2));
+        noFill();
+        stroke(100, 127 );
+        sphere( width );
+        popMatrix();
+    }
+
     /**
      *
      */
@@ -103,13 +113,5 @@ class DisplayQuad extends Display3D {
         vertex( s*100,  -s*75,  0 );
         vertex( s*25,   0,      0 );
         endShape();
-
-        // sphere
-        pushMatrix();
-        rotateX((float)(Math.PI/2));
-        noFill();
-        stroke(100);
-        sphere(280);
-        popMatrix();
     }
 }

Makefile

@@ -3,7 +3,7 @@ all: build run
 run: run_tester3d
 
 build:
-	javac -cp '.:core.jar:gluegen-rt.jar:jogl-all.jar:gluegen-rt-natives-macosx-universal.jar:jogl-all-natives-macosx-universal.jar' Display3D.java DisplayQuad.java Tester3D.java Serial.java
+	javac -cp '.:core.jar:gluegen-rt.jar:jogl-all.jar:gluegen-rt-natives-macosx-universal.jar:jogl-all-natives-macosx-universal.jar' Display3D.java DisplayQuad.java Tester3D.java
 
 run_tester:
 	java -cp '.:core.jar:gluegen-rt.jar:jogl-all.jar:gluegen-rt-natives-macosx-universal.jar:jogl-all-natives-macosx-universal.jar' tester

Tester3D.java

@@ -1,20 +1,79 @@
+import javax.swing.*;
+import javax.swing.event.*;
+import java.awt.*;
+import java.awt.event.*;
+import java.util.Scanner;
+
 import java.lang.*;
 import java.io.*;
 import java.net.*;
 
 class Tester3D {
+    public static Display3D area3d;
+    public static JFrame frame;
+    public static JSlider slider;
+    public static JButton button;
+    public static double rawYaw;
+    public static double yawAdjust = 0.0;
+
     public static void main(String[] args) {
+        frame = new JFrame( "Tester3D" );
+        frame.setResizable( true );
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        frame.setLayout( new BorderLayout() );
+
+        area3d = new DisplayQuad( 80 );
+        frame.add( area3d, BorderLayout.CENTER );
+        area3d.init();
+        while( area3d.defaultSize && !area3d.finished )
+            try { Thread.sleep( 5 ); } catch( Exception e ) {}
+
+        slider = new JSlider( JSlider.VERTICAL, 0, 157, 79 );
+        slider.addChangeListener( new ChangeListener() {
+            public void stateChanged( ChangeEvent evt ) {
+                Tester3D.area3d.camAngle = (float)( 157 - Tester3D.slider.getValue() ) / 100;
+            }
+        });
+        frame.add( slider, BorderLayout.EAST );
+
+        button = new JButton( "reset yaw" );
+        button.addActionListener( new ActionListener() {
+            public void actionPerformed( ActionEvent evt ) {
+                Tester3D.yawAdjust = rawYaw;
+            }
+        });
+        frame.add( button, BorderLayout.NORTH );
+
+        frame.pack();
+        frame.setVisible( true );
+
         try {
             Socket skt = new Socket("localhost", 7777);
             BufferedReader in = new BufferedReader(new
                 InputStreamReader(skt.getInputStream()));
-            System.out.print("Received string: '");
+            Scanner in2 = new Scanner( skt.getInputStream() );
+            System.out.println("STARTING...");
 
             while( !in.ready() ) {}
-            System.out.println(in.readLine()); // Read one line and output it
 
-            System.out.print("'\n");
+            String inString;
-            in.close();
+            while( true ) {
+                //while( !in.ready() ) {}
+                //inString = in.readLine();
+                if( in2.hasNext() ) {
+                    if( in2.next().equals( "ypr" ) ) {
+                        while( !in2.hasNext() ) {}
+                        rawYaw = (float)( 0.01745329251 * in2.nextFloat() );
+                        area3d.yaw = (float)( rawYaw - yawAdjust );
+                        while( !in2.hasNext() ) {}
+                        area3d.pitch = (float)( 0.01745329251 * in2.nextFloat() );
+                        while( !in2.hasNext() ) {}
+                        area3d.roll = (float)( 0.01745329251 * in2.nextFloat() );
+                    }
+                }
+            }
+            //System.out.print("'\n");
+            //in.close();
         }
         catch(Exception e) {
             System.out.print("Whoops! It didn't work!\n");