Added graphics client for SIM rigid body.

trick_sims/SIM_singlerigidbody/S_overrides.mk

@@ -1,2 +1,14 @@
 TRICK_CFLAGS += -Imodels
 TRICK_CXXFLAGS += -Imodels
+
+.PHONY: clean_graphics
+
+all: models/singlerigidbodygraphics/build/SingleRigidBodyDisplay.jar
+
+spotless: clean_graphics
+
+models/singlerigidbodygraphics/build/SingleRigidBodyDisplay.jar:
+	${MAKE} -C ./models/singlerigidbodygraphics
+
+clean_graphics:
+	${MAKE} -C ./models/singlerigidbodygraphics clean

trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/Makefile

@@ -0,0 +1,6 @@
+
+all:
+	mvn package
+
+clean:
+	rm -rf build

trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/pom.xml

@@ -0,0 +1,121 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <groupId>trick-java</groupId>
+  <artifactId>trick-java</artifactId>
+  <version>23.0.0-beta</version>
+
+  <name>trick-java</name>
+
+  <url>https://github.com/nasa/trick</url>
+
+  <properties>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    <maven.compiler.source>1.8</maven.compiler.source>
+    <maven.compiler.target>1.8</maven.compiler.target>
+  </properties>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.13.1</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+  <build>
+
+    <finalName>SingleRigidBodyDisplay</finalName>
+
+    <directory>build</directory>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
+        <version>3.1.1</version>
+        <configuration>
+          <javadocExecutable>${java.home}/bin/javadoc</javadocExecutable>
+          <destDir>../../share/doc/trick/java</destDir>
+        </configuration>
+      </plugin>
+    </plugins>
+
+    <pluginManagement><!-- lock down plugins versions to avoid using Maven defaults (may be moved to parent pom) -->
+
+      <plugins>
+        <!-- clean lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#clean_Lifecycle -->
+        <plugin>
+          <artifactId>maven-clean-plugin</artifactId>
+          <version>3.1.0</version>
+        </plugin>
+
+        <!-- default lifecycle, jar packaging: see https://maven.apache.org/ref/current/maven-core/default-bindings.html#Plugin_bindings_for_jar_packaging -->
+        <plugin>
+          <artifactId>maven-resources-plugin</artifactId>
+          <version>3.0.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-compiler-plugin</artifactId>
+          <version>3.8.0</version>
+          <configuration>
+            <compilerArgs>
+              <arg>-g</arg>
+              <arg>-Xlint:unchecked</arg>
+              <arg>-Xlint:deprecation</arg>
+            </compilerArgs>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <!-- Build an executable JAR -->
+          <groupId>org.apache.maven.plugins</groupId>
+          <artifactId>maven-jar-plugin</artifactId>
+          <version>3.1.0</version>
+          <configuration>
+            <archive>
+              <manifest>
+                <addClasspath>true</addClasspath>
+                <classpathPrefix>lib/</classpathPrefix>
+                <mainClass>trick.SRBDisplay</mainClass>
+              </manifest>
+            </archive>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-surefire-plugin</artifactId>
+          <version>2.22.1</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-install-plugin</artifactId>
+          <version>2.5.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-deploy-plugin</artifactId>
+          <version>2.8.2</version>
+        </plugin>
+
+        <!-- site lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#site_Lifecycle -->
+        <plugin>
+          <artifactId>maven-site-plugin</artifactId>
+          <version>3.7.1</version>
+        </plugin>
+
+<!--
+        <plugin>
+          <artifactId>maven-project-info-reports-plugin</artifactId>
+          <version>3.0.0</version>
+        </plugin>
+-->
+
+      </plugins>
+    </pluginManagement>
+  </build>
+</project>

trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/matrixops/MatrixOps.java

@@ -0,0 +1,152 @@
+// This file contains helper functions for the matrix operations necessary for the graphics to be generated.
+
+package trick.matrixOps;
+
+
+
+public class MatrixOps { // Defines the matrix operation class.
+
+    public static void printMatrix(double M[][]) { // Prints out the matrix.
+        int M_rows = M.length;
+        int M_cols = M[0].length;
+        for (int i = 0; i < M_rows; i++) {
+            for (int j = 0; j < M_cols; j++)
+                System.out.print(" " + M[i][j]);
+            System.out.println();
+        }
+    }
+
+    public static void printDVector(double V[]) { // Prints out a vector passed as a double.
+        System.out.print("(");
+        for (int i = 0; i < V.length; i++) {
+            System.out.print(" " + V[i]);
+        }
+        System.out.println(")");
+    }
+
+    public static void printIVector(int V[]) { // Prints out a vector passed as an integer.
+        System.out.print("(");
+        for (int i = 0; i < V.length; i++) {
+            System.out.print(" " + V[i]);
+        }
+        System.out.println(")");
+    }
+
+    public static void MtimesM( double R[][], double A[][], double B[][]) { // Multiplies two matrices together.
+        int A_rows = A.length;
+        int A_cols = A[0].length;
+        int B_rows = B.length;
+        int B_cols = B[0].length;
+        int R_rows = R.length;
+        int R_cols = R[0].length;
+
+        if (A_cols != B_rows) { // Checks if the matrices can be multiplied.
+            System.out.println( "\nNot possible to multiply matrixes,");
+            System.out.println("where the first has " + A_cols + " columns,");
+            System.out.println("and the second has " + B_rows + "rows.");
+            return;
+        }
+        if ((R_rows != A_rows) || (R_cols != B_cols)) { // Checks if the defined result matrix is the wrong size.
+            System.out.println( "\n Result matrix is wrong size.");
+            return;
+        }
+
+        for (int i = 0; i < A_rows; i++) { // Multiplies the two matrices together.
+            for (int j = 0; j < B_cols; j++) {
+                R[i][j] = 0.0;
+                for (int k = 0; k < B_rows; k++)
+                    R[i][j] += A[i][k] * B[k][j];
+            }
+        }
+    }
+
+    public static void MtimesV( double R[], double M[][], double V[]) { // Multiplies a matrix with a vector. 
+        int M_rows = M.length;
+        int M_cols = M[0].length;
+        int V_rows = V.length;
+
+        if (M_cols != V_rows) { // Checks if the matrix and the vector can be multiplied together.
+            System.out.println( "\nNot possible to multiply matrix and vector,");
+            System.out.println( "where the matrix has " + M_cols + " columns,");
+            System.out.println("and the vector has " + V_rows + " elements.");
+            return;
+        }
+
+        if (R.length != M.length) { // Checks if the defined result vector is the wrong size.
+          System.out.println( "\n Result vector is wrong size.");
+          return;
+        }
+
+        for (int i =0; i < M_rows ; i++) { // Multiplies the vector with the matrix.
+            R[i] = 0.0;
+            for (int j =0; j < M_cols ; j++) {
+                R[i] += M[i][j] * V[j];
+            }
+        }
+        return;
+    }
+
+    public static void VplusV(double R[], double A[], double B[]) { // Adds two matrices together.
+        if ((A.length != B.length) || (A.length != R.length)) {
+          System.out.println( "\n MatrixOps::VplusV : Vectors are not the same size.");
+        }
+        for (int i=0; i<A.length ; i++) {
+          R[i] = A[i] + B[i];
+        }
+    }
+
+    public static void VminusV(double R[], double A[], double B[]) { // Subtracts two matrices together.
+        if ((A.length != B.length) || (A.length != R.length)) {
+          System.out.println( "\n MatrixOps::VminusV : Vectors are not the same size.");
+          return;
+        }
+        for (int i=0; i<A.length ; i++) {
+          R[i] = A[i] - B[i];
+        }
+    }
+
+    public static void VcrossV(double R[], double A[], double B[]) { // Finds the cross product of two matrices.
+        if ((R.length != 3) || (A.length != 3) || (B.length != 3)) {
+          System.out.println( "\n MatrixOps::VcrossV : All vector args must be length 3.");
+          return;
+        }
+        R[0] = A[1] * B[2] - A[2] * B[1];
+        R[1] = A[2] * B[0] - A[0] * B[2];
+        R[2] = A[0] * B[1] - A[1] * B[0];
+    }
+
+    public static double VdotV(double A[], double B[]) { // Finds the dot product of two matrices.
+        if (A.length != B.length) {
+          System.out.println( "\n MatrixOps::VdotV : Vectors are not the same size.");
+          return 0.0;
+        }
+        double R = 0.0;
+        for (int i=0; i<A.length ; i++) {
+          R += A[i] * B[i];
+        }
+        return R;
+    }
+
+    public static void Vscale(double R[], double A[], double S) { // Scales a vector (Multiplies by a given number).
+        if (A.length != R.length) {
+          System.out.println( "\n MatrixOps::Vscale : Input and output vectors are not the same size.");
+          return;
+        }
+        for (int i=0; i<A.length ; i++) {
+          R[i] = A[i] * S;
+        }
+    }
+
+    public static double Vmagnitude (double V[]) { // Returns the magnitude of a vector (Length of a vector).
+        double S = 0;
+        for (int i =0; i < V.length ; i++) {
+            S += V[i]*V[i];
+        }
+        return Math.sqrt(S);
+    }
+
+}
+
+
+
+