// Java 3D Test Applet
// TCBSplinePathTest.java
//   Copyright (c) 1999 ENDO Yasuyuki
//                      mailto:yasuyuki@javaopen.org
//                      http://www.javaopen.org/j3dbook/index.html

import java.applet.*;
import java.awt.*;
import java.awt.event.*;
import javax.media.j3d.*;
import javax.vecmath.*;
import com.sun.j3d.utils.applet.MainFrame;
import com.sun.j3d.utils.universe.SimpleUniverse;
import com.sun.j3d.utils.behaviors.picking.PickRotateBehavior;
import com.sun.j3d.utils.behaviors.picking.PickTranslateBehavior;
import com.sun.j3d.utils.behaviors.picking.PickZoomBehavior;
import com.sun.j3d.utils.behaviors.picking.PickObject;
import com.sun.j3d.utils.behaviors.picking.PickingCallback;
import com.sun.j3d.utils.geometry.ColorCube;
import com.sun.j3d.utils.geometry.Primitive;
import com.sun.j3d.utils.geometry.Box;
import com.sun.j3d.utils.behaviors.interpolators.RotPosScaleTCBSplinePathInterpolator;
import com.sun.j3d.utils.behaviors.interpolators.TCBKeyFrame;

public class TCBSplinePathTest extends Applet {
  private Canvas3D canvas = null;
  private SimpleUniverse universe = null;
  private BranchGroup scene = null;
  private Point3f[] points = null;
  private TCBKeyFrame[] keys = null;
  private TransformGroup[] strans = null;
  private AlphaPanel apanel = null;
  private TransformGroup ctrans = null;
  private BoundingSphere bounds = null;
  private RotPosScaleTCBSplinePathInterpolator rinterp = null;

  public TCBSplinePathTest() {
    this.setLayout(new BorderLayout());
    
    apanel = new AlphaPanel();
    this.add(apanel, BorderLayout.NORTH);
    
    Panel ppanel = new Panel();
    ppanel.setLayout( new GridLayout(4, 0) );
    this.add(ppanel, BorderLayout.SOUTH);
    
    Panel[] ppanels = new Panel[4];
    for (int i=0; i<4; i++) {
      ppanels[i] = new Panel();
      ppanel.add(ppanels[i]);
    }

    final Button sbutton = new Button("Gen");
    sbutton.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        String blabel = sbutton.getLabel();
        if (blabel.equals("Gen")) {
          universe.getLocale().removeBranchGraph(scene);
          removeChild(scene, rinterp);
          rinterp = createInterpolator(apanel.getAlpha(), ctrans, keys, bounds);
          addChild(scene, rinterp);
	  apanel.reset();
          universe.addBranchGraph(scene);
          sbutton.setLabel("Stop");
        } else if (blabel.equals("Stop")) {
          rinterp.setEnable(false);
          sbutton.setLabel("Gen");
        }
      }
    });
    ppanels[0].add(sbutton);

    ppanels[0].add( new Label("k0") );
    TextField k0field = new TextField("0.0");
    k0field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float k = 0.0f;
        try {
          k = Float.parseFloat(e.getActionCommand());
          if (k < 0.0f) k = 0.0f;
          if (k > 1.0f) k = 1.0f;
          keys[0].knot = k;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[0].add(k0field);
    
    Checkbox l0check = new Checkbox("L", false);
    l0check.addItemListener( new ItemListener() {
      public void itemStateChanged(ItemEvent e) {
        int state = e.getStateChange();
        if (state == ItemEvent.SELECTED) {
          keys[0].linear = 1;
        } else if (state == ItemEvent.DESELECTED) {
          keys[0].linear = 0;
        }
      }
    });
    ppanels[0].add(l0check);
    
    ppanels[0].add( new Label("t0") );
    TextField t0field = new TextField("0.0");
    t0field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float t = 0.0f;
        try {
          t = Float.parseFloat(e.getActionCommand());
          if (t < -1.0f) t = -1.0f;
          if (t >  1.0f) t =  1.0f;
          keys[0].tension = t;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[0].add(t0field);

    ppanels[0].add( new Label("c0") );
    TextField c0field = new TextField("0.0");
    c0field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float c = 0.0f;
        try {
          c = Float.parseFloat(e.getActionCommand());
          if (c < -1.0f) c = -1.0f;
          if (c >  1.0f) c =  1.0f;
          keys[0].continuity = c;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[0].add(c0field);
    
    ppanels[0].add( new Label("b0") );
    TextField b0field = new TextField("0.0");
    b0field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float b = 0.0f;
        try {
          b = Float.parseFloat(e.getActionCommand());
          keys[0].bias = b;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[0].add(b0field);
    
    ppanels[0].add( new Label("s0") );
    TextField s0field = new TextField("1.0");
    s0field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float s = 0.0f;
        try {
          s = Float.parseFloat(e.getActionCommand());
          keys[0].scale = new Point3f(s, s, s);
          Transform3D t3d = new Transform3D();
          strans[0].getTransform(t3d);
          t3d.setScale(s);
          strans[0].setTransform(t3d);
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[0].add(s0field);
    
    ppanels[1].add( new Label("k1") );
    TextField k1field = new TextField("0.4");
    k1field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float k = 0.0f;
        try {
          k = Float.parseFloat(e.getActionCommand());
          if (k < 0.0f) k = 0.0f;
          if (k > 1.0f) k = 1.0f;
          keys[1].knot = k;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[1].add(k1field);
    
    Checkbox l1check = new Checkbox("L", false);
    l1check.addItemListener( new ItemListener() {
      public void itemStateChanged(ItemEvent e) {
        int state = e.getStateChange();
        if (state == ItemEvent.SELECTED) {
          keys[1].linear = 1;
        } else if (state == ItemEvent.DESELECTED) {
          keys[1].linear = 0;
        }
      }
    });
    ppanels[1].add(l1check);
    
    ppanels[1].add( new Label("t1") );
    TextField t1field = new TextField("0.0");
    t1field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float t = 0.0f;
        try {
          t = Float.parseFloat(e.getActionCommand());
          if (t < -1.0f) t = -1.0f;
          if (t >  1.0f) t =  1.0f;
          keys[1].tension = t;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[1].add(t1field);

    ppanels[1].add( new Label("c1") );
    TextField c1field = new TextField("0.0");
    c1field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float c = 0.0f;
        try {
          c = Float.parseFloat(e.getActionCommand());
          if (c < -1.0f) c = -1.0f;
          if (c >  1.0f) c =  1.0f;
          keys[1].continuity = c;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[1].add(c1field);
    
    ppanels[1].add( new Label("b1") );
    TextField b1field = new TextField("0.0");
    b1field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float b = 0.0f;
        try {
          b = Float.parseFloat(e.getActionCommand());
          keys[1].bias = b;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[1].add(b1field);
    
    ppanels[1].add( new Label("s1") );
    TextField s1field = new TextField("1.0");
    s1field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float s = 0.0f;
        try {
          s = Float.parseFloat(e.getActionCommand());
          keys[1].scale = new Point3f(s, s, s);
          Transform3D t3d = new Transform3D();
          strans[1].getTransform(t3d);
          t3d.setScale(s);
          strans[1].setTransform(t3d);
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[1].add(s1field);
    
    ppanels[2].add( new Label("k2") );
    TextField k2field = new TextField("0.6");
    k2field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float k = 0.0f;
        try {
          k = Float.parseFloat(e.getActionCommand());
          if (k < 0.0f) k = 0.0f;
          if (k > 1.0f) k = 1.0f;
          keys[2].knot = k;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[2].add(k2field);
    
    Checkbox l2check = new Checkbox("L", false);
    l2check.addItemListener( new ItemListener() {
      public void itemStateChanged(ItemEvent e) {
        int state = e.getStateChange();
        if (state == ItemEvent.SELECTED) {
          keys[2].linear = 1;
        } else if (state == ItemEvent.DESELECTED) {
          keys[2].linear = 0;
        }
      }
    });
    ppanels[2].add(l2check);
    
    ppanels[2].add( new Label("t2") );
    TextField t2field = new TextField("0.0");
    t2field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float t = 0.0f;
        try {
          t = Float.parseFloat(e.getActionCommand());
          if (t < -1.0f) t = -1.0f;
          if (t >  1.0f) t =  1.0f;
          keys[2].tension = t;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[2].add(t2field);

    ppanels[2].add( new Label("c2") );
    TextField c2field = new TextField("0.0");
    c2field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float c = 0.0f;
        try {
          c = Float.parseFloat(e.getActionCommand());
          if (c < -1.0f) c = -1.0f;
          if (c >  1.0f) c =  1.0f;
          keys[2].continuity = c;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[2].add(c2field);
    
    ppanels[2].add( new Label("b2") );
    TextField b2field = new TextField("0.0");
    b2field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float b = 0.0f;
        try {
          b = Float.parseFloat(e.getActionCommand());
          keys[2].bias = b;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[2].add(b2field);
    
    ppanels[2].add( new Label("s2") );
    TextField s2field = new TextField("1.0");
    s2field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float s = 0.0f;
        try {
          s = Float.parseFloat(e.getActionCommand());
          keys[2].scale = new Point3f(s, s, s);
          Transform3D t3d = new Transform3D();
          strans[2].getTransform(t3d);
          t3d.setScale(s);
          strans[2].setTransform(t3d);
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[2].add(s2field);
    
    ppanels[3].add( new Label("k3") );
    TextField k3field = new TextField("1.0");
    k3field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float k = 0.0f;
        try {
          k = Float.parseFloat(e.getActionCommand());
          if (k < 0.0f) k = 0.0f;
          if (k > 1.0f) k = 1.0f;
          keys[3].knot = k;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[3].add(k3field);
    
    Checkbox l3check = new Checkbox("L", false);
    l3check.addItemListener( new ItemListener() {
      public void itemStateChanged(ItemEvent e) {
        int state = e.getStateChange();
        if (state == ItemEvent.SELECTED) {
          keys[3].linear = 1;
        } else if (state == ItemEvent.DESELECTED) {
          keys[3].linear = 0;
        }
      }
    });
    ppanels[3].add(l3check);
    
    ppanels[3].add( new Label("t3") );
    TextField t3field = new TextField("0.0");
    t3field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float t = 0.0f;
        try {
          t = Float.parseFloat(e.getActionCommand());
          if (t < -1.0f) t = -1.0f;
          if (t >  1.0f) t =  1.0f;
          keys[3].tension = t;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[3].add(t3field);

    ppanels[3].add( new Label("c3") );
    TextField c3field = new TextField("0.0");
    c3field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float c = 0.0f;
        try {
          c = Float.parseFloat(e.getActionCommand());
          if (c < -1.0f) c = -1.0f;
          if (c >  1.0f) c =  1.0f;
          keys[3].continuity = c;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[3].add(c3field);
    
    ppanels[3].add( new Label("b3") );
    TextField b3field = new TextField("0.0");
    b3field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float b = 0.0f;
        try {
          b = Float.parseFloat(e.getActionCommand());
          keys[3].bias = b;
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[3].add(b3field);
    
    ppanels[3].add( new Label("s3") );
    TextField s3field = new TextField("1.0");
    s3field.addActionListener( new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        float s = 0.0f;
        try {
          s = Float.parseFloat(e.getActionCommand());
          keys[3].scale = new Point3f(s, s, s);
          Transform3D t3d = new Transform3D();
          strans[3].getTransform(t3d);
          t3d.setScale(s);
          strans[3].setTransform(t3d);
        } catch (NumberFormatException ex) {}
      }
    });
    ppanels[3].add(s3field);
    
    GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
    canvas = new Canvas3D(config);
    this.add(canvas, BorderLayout.CENTER);
    
    universe = new SimpleUniverse(canvas);
    universe.getViewingPlatform().setNominalViewingTransform();
    
    scene = createSceneGraph();
    universe.addBranchGraph(scene);
  }
  
  private BranchGroup createSceneGraph() {
    BranchGroup root = new BranchGroup();
    root.setCapability(BranchGroup.ALLOW_DETACH);
    
    bounds = new BoundingSphere(new Point3d(), 100.0);

    TransformGroup mtrans = new TransformGroup();
    mtrans.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
    mtrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    mtrans.setCapability(TransformGroup.ENABLE_PICK_REPORTING);
    mtrans.setUserData("mtrans");
    root.addChild(mtrans);

    final TransformGroup rtrans = new TransformGroup();
    rtrans.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
    rtrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    root.addChild(rtrans);
    
    points = new Point3f[4];
    points[0] = new Point3f( 0.0f, -0.6f, 0.1f);
    points[1] = new Point3f(-0.4f, -0.2f, 0.1f);
    points[2] = new Point3f( 0.4f,  0.2f, 0.1f);
    points[3] = new Point3f( 0.0f,  0.6f, 0.1f);
    
    keys = new TCBKeyFrame[4];

    keys[0] =
      new TCBKeyFrame(0.0f, 0, new Point3f(points[0]),
                      new Quat4f(0.0f, 0.0f, 0.0f, 0.0f),
                      new Point3f(1.0f, 1.0f, 1.0f), 0.0f, 0.0f, 0.0f);
    keys[1] =
      new TCBKeyFrame(0.4f, 0, new Point3f(points[1]),
                      new Quat4f(0.0f, 0.0f, 0.0f, 0.0f),
                      new Point3f(1.0f, 1.0f, 1.0f), 0.0f, 0.0f, 0.0f);
    keys[2] =
      new TCBKeyFrame(0.6f, 0, new Point3f(points[2]),
                      new Quat4f(0.0f, 0.0f, 0.0f, 0.0f),
                      new Point3f(1.0f, 1.0f, 1.0f), 0.0f, 0.0f, 0.0f);
    keys[3] =
      new TCBKeyFrame(1.0f, 0, new Point3f(points[3]),
                      new Quat4f(0.0f, 0.0f, 0.0f, 0.0f),
                      new Point3f(1.0f, 1.0f, 1.0f), 0.0f, 0.0f, 0.0f);

    TransformGroup[] ptrans = new TransformGroup[4];
    for (int i=0; i<4; i++) {
      Transform3D pt3d = new Transform3D();
      pt3d.set( new Vector3f( (Tuple3f)keys[i].position ) );
      ptrans[i] = new TransformGroup(pt3d);
      ptrans[i].setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
      ptrans[i].setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
      rtrans.addChild(ptrans[i]);
    }

    strans = new TransformGroup[4];
    for (int i=0; i<4; i++) {
      strans[i] = createCube(0.05, new Vector3d(), true);
      strans[i].setUserData("p" + Integer.toString(i));
      ptrans[i].addChild(strans[i]);
    }
  
    PickRotateBehavior mrotator =
      new PickRotateBehavior(root, canvas, bounds, PickObject.USE_GEOMETRY);
    mrotator.setupCallback( new PickingCallback() {
      public void transformChanged(int type, TransformGroup trans) {
        if (trans != null) {
          String udata = (String)trans.getUserData();
          if (udata != null) {
            //System.out.println(udata);//DEBUG
            Transform3D t3d = new Transform3D();
            trans.getTransform(t3d);
            if (udata.equals("mtrans")) {
              rtrans.setTransform(t3d);
            } else if (udata.equals("p0")) {
              Quat4f quat = new Quat4f();
              t3d.get(quat);
              keys[0].quat = quat; // TEST
            } else if (udata.equals("p1")) {
              Quat4f quat = new Quat4f();
              t3d.get(quat);
              keys[1].quat = quat;
            } else if (udata.equals("p2")) {
              Quat4f quat = new Quat4f();
              t3d.get(quat);
              keys[2].quat = quat;
            } else if (udata.equals("p3")) {
              Quat4f quat = new Quat4f();
              t3d.get(quat);
              keys[3].quat = quat;
            }
          }
        }
      }
    });
    root.addChild(mrotator);

    PickTranslateBehavior translator =
      new PickTranslateBehavior(root, canvas, bounds, PickObject.USE_GEOMETRY);
    translator.setupCallback( new PickingCallback() {
      public void transformChanged(int type, TransformGroup trans) {
        if (trans != null) {
          String udata = (String)trans.getUserData();
          if (udata != null) {
            //System.out.println(udata);//DEBUG
            Transform3D t3d = new Transform3D();
            trans.getTransform(t3d);
            if (udata.equals("mtrans")) {
              rtrans.setTransform(t3d);
            } else if (udata.equals("p0")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[0].position.x = points[0].x + pos.x;
              keys[0].position.y = points[0].y + pos.y;
            } else if (udata.equals("p1")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[1].position.x = points[1].x + pos.x;
              keys[1].position.y = points[1].y + pos.y;
            } else if (udata.equals("p2")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[2].position.x = points[2].x + pos.x;
              keys[2].position.y = points[2].y + pos.y;
            } else if (udata.equals("p3")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[3].position.x = points[3].x + pos.x;
              keys[3].position.y = points[3].y + pos.y;
            }
          }
        }
      }
    });
    root.addChild(translator);
    
    PickZoomBehavior zoomer =
      new PickZoomBehavior(root, canvas, bounds, PickObject.USE_GEOMETRY);
    zoomer.setupCallback( new PickingCallback() {
      public void transformChanged(int type, TransformGroup trans) {
        if (trans != null) {
          String udata = (String)trans.getUserData();
          if (udata != null) {
            //System.out.println(udata);//DEBUG
            Transform3D t3d = new Transform3D();
            trans.getTransform(t3d);
            if (udata.equals("mtrans")) {
              rtrans.setTransform(t3d);
            } else if (udata.equals("p0")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[0].position.z = points[0].z + pos.z;
            } else if (udata.equals("p1")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[1].position.z = points[1].z + pos.z;
            } else if (udata.equals("p2")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[2].position.z = points[2].z + pos.z;
            } else if (udata.equals("p3")) {
              Vector3f pos = new Vector3f();
              t3d.get(pos);
              keys[3].position.z = points[3].z + pos.z;
            }
          }
        }
      }
    });
    root.addChild(zoomer);
    
    double[] vertices = { -0.8, -0.8, 0.0,   
                          -0.8,  0.8, 0.0,   
                          -0.4, -0.8, 0.0,   
                          -0.4,  0.8, 0.0,   
                           0.0, -0.8, 0.0,   
                           0.0,  0.8, 0.0,   
                           0.4, -0.8, 0.0,   
                           0.4,  0.8, 0.0,   
                           0.8, -0.8, 0.0,   
                           0.8,  0.8, 0.0,   
                          -0.8, -0.8, 0.0,   
                           0.8, -0.8, 0.0,   
                          -0.8, -0.4, 0.0,   
                           0.8, -0.4, 0.0,   
                          -0.8,  0.0, 0.0,   
                           0.8,  0.0, 0.0,   
                          -0.8,  0.4, 0.0,   
                           0.8,  0.4, 0.0,   
                          -0.8,  0.8, 0.0,   
                           0.8,  0.8, 0.0 }; 

    LineArray geom = new LineArray( vertices.length / 3, GeometryArray.COORDINATES);
    geom.setCapability(GeometryArray.ALLOW_INTERSECT);
    geom.setCoordinates(0, vertices);
    Shape3D grid = new Shape3D(geom);
    grid.setCapability(Shape3D.ALLOW_GEOMETRY_READ);
    mtrans.addChild(grid);
    
    mtrans.addChild( createCorner(0.05f, new Vector3d(-0.8, -0.8, 0.0)) );
    mtrans.addChild( createCorner(0.05f, new Vector3d( 0.8, -0.8, 0.0)) );
    mtrans.addChild( createCorner(0.05f, new Vector3d(-0.8,  0.8, 0.0)) );
    mtrans.addChild( createCorner(0.05f, new Vector3d( 0.8,  0.8, 0.0)) );

    ctrans = createCube(0.05, new Vector3d(0.0, 0.0, 0.1), false);
    rtrans.addChild(ctrans);

    rinterp = createInterpolator(apanel.getAlpha(), ctrans, keys, bounds);
    rinterp.setEnable(false);
    root.addChild(rinterp);
    
    return root;
  }
  
  private RotPosScaleTCBSplinePathInterpolator
  createInterpolator( Alpha alpha, TransformGroup trans,
                      TCBKeyFrame[] keys, Bounds bounds )
  {
     Transform3D t3d = new Transform3D();
     RotPosScaleTCBSplinePathInterpolator rinterp =
       new RotPosScaleTCBSplinePathInterpolator(alpha, trans, t3d, keys);
     rinterp.setSchedulingBounds(bounds);
     return rinterp;
  }
  
  private TransformGroup createCorner(float size, Vector3d position) {
    Transform3D t3d = new Transform3D();
    t3d.set(position);
    TransformGroup trans = new TransformGroup(t3d);
    Appearance app = new Appearance();
    Box box = new Box(size, size, size, Primitive.ENABLE_GEOMETRY_PICKING, app);
    trans.addChild(box);
    return trans;
  }
  
  private TransformGroup createCube(double size, Vector3d pos, boolean pick) {
    Transform3D t3d = new Transform3D();
    t3d.set(pos);
    TransformGroup ctrans = new TransformGroup(t3d);
    ctrans.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
    ctrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    if (pick) ctrans.setCapability(TransformGroup.ENABLE_PICK_REPORTING);
    
    ColorCube cube = new ColorCube(size);
    cube.setCapability(Shape3D.ALLOW_GEOMETRY_READ);
    cube.getGeometry().setCapability(GeometryArray.ALLOW_INTERSECT);
    ctrans.addChild(cube);
    return ctrans;
  }

  private void addChild(Group group, Node node) {
    for (int i=0; i<group.numChildren(); i++) if (node == group.getChild(i)) return;
    group.addChild(node);
  }

  private void removeChild(Group group, Node node) {
    for (int i=0; i<group.numChildren(); i++) {
      if (node == group.getChild(i)) group.removeChild(i);
    }
  }

  public static void main(String[] args) {
    TCBSplinePathTest applet = new TCBSplinePathTest();
    Frame frame = new MainFrame(applet, 500, 600);
  }
}