SplineInterpolatorTest.java Source code

Introduction

Here is the source code for SplineInterpolatorTest.java

Source

/**********************************************************
 Copyright (C) 2001    Daniel Selman
    
 First distributed with the book "Java 3D Programming"
 by Daniel Selman and published by Manning Publications.
 http://manning.com/selman
    
 This program is free software; you can redistribute it and/or
 modify it under the terms of the GNU General Public License
 as published by the Free Software Foundation, version 2.
    
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
    
 The license can be found on the WWW at:
 http://www.fsf.org/copyleft/gpl.html
    
 Or by writing to:
 Free Software Foundation, Inc.,
 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
    
 Authors can be contacted at:
 Daniel Selman: daniel@selman.org
    
 If you make changes you think others would like, please 
 contact one of the authors or someone at the 
 www.j3d.org web site.
 **************************************************************/

/**
 * This example creates a 3D fly-over of the city of Boston. The viewer is
 * animated using a RotPosScaleTCBSplinePathInterpolator as well as 3
 * helicopters. The example uses PointSounds attached to the helicopters to
 * generate 3D spatial audio.
 */

import java.applet.Applet;
import java.awt.BorderLayout;
import java.awt.Color;
import java.awt.Component;
import java.awt.Dimension;
import java.awt.Frame;
import java.awt.GraphicsConfigTemplate;
import java.awt.GraphicsDevice;
import java.awt.GraphicsEnvironment;
import java.awt.image.BufferedImage;
import java.io.File;
import java.io.InputStream;
import java.net.URL;
import java.util.Enumeration;
import java.util.Vector;

import javax.media.j3d.Alpha;
import javax.media.j3d.Appearance;
import javax.media.j3d.AudioDevice;
import javax.media.j3d.Background;
import javax.media.j3d.BackgroundSound;
import javax.media.j3d.Behavior;
import javax.media.j3d.BoundingSphere;
import javax.media.j3d.Bounds;
import javax.media.j3d.BranchGroup;
import javax.media.j3d.Canvas3D;
import javax.media.j3d.ColoringAttributes;
import javax.media.j3d.DistanceLOD;
import javax.media.j3d.GeometryArray;
import javax.media.j3d.GraphicsConfigTemplate3D;
import javax.media.j3d.Group;
import javax.media.j3d.ImageComponent2D;
import javax.media.j3d.Locale;
import javax.media.j3d.MediaContainer;
import javax.media.j3d.Node;
import javax.media.j3d.PhysicalBody;
import javax.media.j3d.PhysicalEnvironment;
import javax.media.j3d.PointSound;
import javax.media.j3d.QuadArray;
import javax.media.j3d.Shape3D;
import javax.media.j3d.Sound;
import javax.media.j3d.Switch;
import javax.media.j3d.Texture;
import javax.media.j3d.Transform3D;
import javax.media.j3d.TransformGroup;
import javax.media.j3d.View;
import javax.media.j3d.ViewPlatform;
import javax.media.j3d.VirtualUniverse;
import javax.media.j3d.WakeupCondition;
import javax.media.j3d.WakeupCriterion;
import javax.media.j3d.WakeupOnCollisionEntry;
import javax.media.j3d.WakeupOnCollisionExit;
import javax.media.j3d.WakeupOr;
import javax.swing.JButton;
import javax.swing.JPanel;
import javax.swing.JSlider;
import javax.swing.event.ChangeEvent;
import javax.swing.event.ChangeListener;
import javax.vecmath.Color3f;
import javax.vecmath.Point2f;
import javax.vecmath.Point3d;
import javax.vecmath.Point3f;
import javax.vecmath.Quat4f;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;
import javax.vecmath.Vector4f;

import com.sun.j3d.audioengines.javasound.JavaSoundMixer;
import com.sun.j3d.loaders.Scene;
import com.sun.j3d.loaders.objectfile.ObjectFile;
import com.sun.j3d.utils.applet.MainFrame;
import com.sun.j3d.utils.behaviors.interpolators.RotPosScaleTCBSplinePathInterpolator;
import com.sun.j3d.utils.behaviors.interpolators.TCBKeyFrame;
import com.sun.j3d.utils.geometry.Primitive;
import com.sun.j3d.utils.geometry.Sphere;
import com.sun.j3d.utils.image.TextureLoader;

/*
 * This example uses a Spline Interpolator to animate a fly-over the city of
 * Boston. The city is rendered using satellite images with a Level of Detail
 * behavior. The scene includes a number of moving helicopters, each with an
 * associated sound.
 */
public class SplineInterpolatorTest extends Java3dApplet {
    // size of the 3D window - enlage on powerful systems
    private static int m_kWidth = 200;

    private static int m_kHeight = 200;

    // a shared appearance for the buildings we create
    private Appearance m_BuildingAppearance = null;

    // the size of the high resolution "world".
    // the world is centered at 0,0,0 and extends
    // to +- LAND_WIDTH in the x direction and
    //+- LAND_LENGTH in the z direction.
    // These dimensions are loosely based on pixel
    // coordinates from the texture images
    private static final float LAND_WIDTH = 180;

    private static final float LAND_LENGTH = 180;

    // the satellite images used as textures have
    // been manually edited so that the water in the
    // images corresponds to the following RGB values.
    // this allows the application to avoid creating
    // buildings in the water!
    private static final float WATER_COLOR_RED = 0;

    private static final float WATER_COLOR_GREEN = 57;

    private static final float WATER_COLOR_BLUE = 123;

    public SplineInterpolatorTest() {
        initJava3d();
    }

    // scale eveything so we can use pixel coordinates
    protected double getScale() {
        return 0.1;
    }

    protected int getCanvas3dWidth(Canvas3D c3d) {
        return m_kWidth;
    }

    protected int getCanvas3dHeight(Canvas3D c3d) {
        return m_kHeight;
    }

    protected Bounds createApplicationBounds() {
        m_ApplicationBounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), 10.0);
        return m_ApplicationBounds;
    }

    // we want a texture mapped background of a sky
    protected Background createBackground() {
        // add the sky backdrop
        Background back = new Background();
        back.setApplicationBounds(getApplicationBounds());

        BranchGroup bgGeometry = new BranchGroup();

        // create an appearance and assign the texture image
        Appearance app = new Appearance();
        Texture tex = new TextureLoader("sky.gif", this).getTexture();
        app.setTexture(tex);

        Sphere sphere = new Sphere(1.0f, Primitive.GENERATE_TEXTURE_COORDS | Primitive.GENERATE_NORMALS_INWARD,
                app);

        bgGeometry.addChild(sphere);
        back.setGeometry(bgGeometry);

        return back;
    }

    // this controls how close to a helicopter we can
    // be and still hear it. If the helicopters sound
    // scheduling bounds intersect our ViewPlatformActivationRadius
    // the sound of the helicopter is potentially audible.
    protected float getViewPlatformActivationRadius() {
        return 20;
    }

    // creates the objects within our world
    protected BranchGroup createSceneBranchGroup() {
        BranchGroup objRoot = super.createSceneBranchGroup();

        // create a root TG in case we need to scale the scene
        TransformGroup objTrans = new TransformGroup();
        objTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        objTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);

        Transform3D t3d = new Transform3D();
        objTrans.setTransform(t3d);

        Group hiResGroup = createLodLand(objTrans);
        createBuildings(objTrans);
        createHelicopters(objTrans);

        // connect
        objRoot.addChild(objTrans);

        return objRoot;
    }

    // we create 2 TransformGroups above the ViewPlatform:
    // the first merely applies a scale, while the second
    // has a RotPosScaleTCBSplinePathInterpolator attached
    // so that the viewer of the scene is animated along
    // a spline curve.
    public TransformGroup[] getViewTransformGroupArray() {
        TransformGroup[] tgArray = new TransformGroup[2];
        tgArray[0] = new TransformGroup();
        tgArray[1] = new TransformGroup();

        Transform3D t3d = new Transform3D();
        t3d.setScale(getScale());
        t3d.invert();
        tgArray[0].setTransform(t3d);

        // create an Alpha object for the Interpolator
        Alpha alpha = new Alpha(-1, Alpha.INCREASING_ENABLE | Alpha.DECREASING_ENABLE, 0, 0, 25000, 4000, 100,
                20000, 5000, 50);

        // ensure the Interpolator can access the TG
        tgArray[1].setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

        try {
            // create the Interpolator and load the keyframes from disk
            RotPosScaleTCBSplinePathInterpolator splineInterpolator = Utils.createSplinePathInterpolator(
                    new UiAlpha(alpha), tgArray[1], new Transform3D(),
                    new URL(getWorkingDirectory(), "rotate_viewer_spline.xls"));

            // set the scheduling bounds and attach to the scenegraph
            splineInterpolator.setSchedulingBounds(getApplicationBounds());
            tgArray[1].addChild(splineInterpolator);
        } catch (Exception e) {
            System.err.println(e.toString());
        }

        return tgArray;
    }

    // overidden so that the example can use audio
    protected AudioDevice createAudioDevice(PhysicalEnvironment pe) {
        return new JavaSoundMixer(pe);
    }

    // creates a Switch group that contains two versions
    // of the world - the first is a high resolution version,
    // the second if a lower resolution version.
    public Group createLodLand(Group g) {
        Switch switchNode = new Switch();
        switchNode.setCapability(Switch.ALLOW_SWITCH_WRITE);

        Group hiResGroup = createLand(switchNode);
        createEnvirons(switchNode);

        // create a DistanceLOD that will select the child of
        // the Switch node based on distance. Here we are selecting
        // child 0 (high res) if we are closer than 180 units to
        // 0,0,0 and child 1 (low res) otherwise.
        float[] distanceArray = { 180 };

        DistanceLOD distanceLod = new DistanceLOD(distanceArray);
        distanceLod.setSchedulingBounds(getApplicationBounds());
        distanceLod.addSwitch(switchNode);

        g.addChild(distanceLod);
        g.addChild(switchNode);

        return hiResGroup;
    }

    // creates a high resolution representation of the world.
    // a single texture mapped square and a larger (water colored)
    // square to act as a horizon.
    public Group createLand(Group g) {
        Land land = new Land(this, g, ComplexObject.GEOMETRY | ComplexObject.TEXTURE);
        Group hiResGroup = land.createObject(new Appearance(), new Vector3d(),
                new Vector3d(LAND_WIDTH, 1, LAND_LENGTH), "boston.gif", null, null);

        Appearance app = new Appearance();
        app.setColoringAttributes(new ColoringAttributes(WATER_COLOR_RED / 255f, WATER_COLOR_GREEN / 255f,
                WATER_COLOR_BLUE / 255f, ColoringAttributes.FASTEST));

        Land base = new Land(this, hiResGroup, ComplexObject.GEOMETRY);
        base.createObject(app, new Vector3d(0, -5, 0), new Vector3d(4 * LAND_WIDTH, 1, 4 * LAND_LENGTH), null, null,
                null);

        return hiResGroup;
    }

    // creates a low resolution version of the world and
    // applies the low resolution satellite image
    public Group createEnvirons(Group g) {
        Land environs = new Land(this, g, ComplexObject.GEOMETRY | ComplexObject.TEXTURE);
        return environs.createObject(new Appearance(), new Vector3d(),
                new Vector3d(2 * LAND_WIDTH, 1, 2 * LAND_LENGTH), "environs.gif", null, null);
    }

    // returns true if the given x,z location in the world
    // corresponds to water in the satellite image
    protected boolean isLocationWater(BufferedImage image, float posX, float posZ) {
        Color color = null;

        float imageWidth = image.getWidth();
        float imageHeight = image.getHeight();

        // range from 0 to 1
        float nPixelX = (posX + LAND_WIDTH) / (2 * LAND_WIDTH);
        float nPixelY = (posZ + LAND_LENGTH) / (2 * LAND_LENGTH);

        // rescale
        nPixelX *= imageWidth;
        nPixelY *= imageHeight;

        if (nPixelX >= 0 && nPixelX < imageWidth && nPixelY >= 0 && nPixelY < imageHeight) {
            color = new Color(image.getRGB((int) nPixelX, (int) nPixelY));
            return (color.getBlue() >= WATER_COLOR_BLUE && color.getGreen() <= WATER_COLOR_GREEN
                    && color.getRed() <= WATER_COLOR_RED);
        }

        return false;
    }

    // creates up to 120 building objects - ensures that
    // buildings are not positioned over water.
    public Group createBuildings(Group g) {
        m_BuildingAppearance = new Appearance();
        BranchGroup bg = new BranchGroup();

        Texture tex = new TextureLoader("boston.gif", this).getTexture();
        BufferedImage image = ((ImageComponent2D) tex.getImage(0)).getImage();

        final int nMaxBuildings = 120;

        for (int n = 0; n < nMaxBuildings; n++) {
            Cuboid building = new Cuboid(this, bg, ComplexObject.GEOMETRY | ComplexObject.TEXTURE);

            float posX = (int) Utils.getRandomNumber(0, LAND_WIDTH);
            float posZ = (int) Utils.getRandomNumber(0, LAND_LENGTH);

            if (isLocationWater(image, posX, posZ) == false) {
                building.createObject(m_BuildingAppearance, new Vector3d(posX, 0, posZ),
                        new Vector3d(Utils.getRandomNumber(3, 2), Utils.getRandomNumber(8, 7),
                                Utils.getRandomNumber(3, 2)),
                        "house.gif", null, null);
            }
        }

        g.addChild(bg);
        return bg;
    }

    // creates three helicopters
    public void createHelicopters(Group g) {
        for (int n = 0; n < 3; n++)
            createHelicopter(g);
    }

    // edit the positions of the clipping
    // planes so we don't clip on the front
    // plane prematurely
    protected double getBackClipDistance() {
        return 50.0;
    }

    protected double getFrontClipDistance() {
        return 0.1;
    }

    // creates a single helicopter object
    public Group createHelicopter(Group g) {
        BranchGroup bg = new BranchGroup();

        Helicopter heli = new Helicopter(this, bg, ComplexObject.GEOMETRY | ComplexObject.SOUND);

        heli.createObject(new Appearance(), new Vector3d(Utils.getRandomNumber(0, LAND_WIDTH),
                Utils.getRandomNumber(15, 5), Utils.getRandomNumber(0, LAND_LENGTH)), new Vector3d(10, 10, 10),
                null, "heli.wav", null);

        g.addChild(bg);

        return bg;
    }

    public static void main(String[] args) {
        SplineInterpolatorTest splineInterpolatorTest = new SplineInterpolatorTest();
        splineInterpolatorTest.saveCommandLineArguments(args);

        new MainFrame(splineInterpolatorTest, m_kWidth, m_kHeight);
    }
}

/*******************************************************************************
 * Copyright (C) 2001 Daniel Selman
 * 
 * First distributed with the book "Java 3D Programming" by Daniel Selman and
 * published by Manning Publications. http://manning.com/selman
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation, version 2.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * The license can be found on the WWW at: http://www.fsf.org/copyleft/gpl.html
 * 
 * Or by writing to: Free Software Foundation, Inc., 59 Temple Place - Suite
 * 330, Boston, MA 02111-1307, USA.
 * 
 * Authors can be contacted at: Daniel Selman: daniel@selman.org
 * 
 * If you make changes you think others would like, please contact one of the
 * authors or someone at the www.j3d.org web site.
 ******************************************************************************/

//*****************************************************************************
/**
 * Java3dApplet
 * 
 * Base class for defining a Java 3D applet. Contains some useful methods for
 * defining views and scenegraphs etc.
 * 
 * @author Daniel Selman
 * @version 1.0
 */
//*****************************************************************************

abstract class Java3dApplet extends Applet {
    public static int m_kWidth = 300;

    public static int m_kHeight = 300;

    protected String[] m_szCommandLineArray = null;

    protected VirtualUniverse m_Universe = null;

    protected BranchGroup m_SceneBranchGroup = null;

    protected Bounds m_ApplicationBounds = null;

    //   protected com.tornadolabs.j3dtree.Java3dTree m_Java3dTree = null;

    public Java3dApplet() {
    }

    public boolean isApplet() {
        try {
            System.getProperty("user.dir");
            System.out.println("Running as Application.");
            return false;
        } catch (Exception e) {
        }

        System.out.println("Running as Applet.");
        return true;
    }

    public URL getWorkingDirectory() throws java.net.MalformedURLException {
        URL url = null;

        try {
            File file = new File(System.getProperty("user.dir"));
            System.out.println("Running as Application:");
            System.out.println("   " + file.toURL());
            return file.toURL();
        } catch (Exception e) {
        }

        System.out.println("Running as Applet:");
        System.out.println("   " + getCodeBase());

        return getCodeBase();
    }

    public VirtualUniverse getVirtualUniverse() {
        return m_Universe;
    }

    //public com.tornadolabs.j3dtree.Java3dTree getJ3dTree() {
    //return m_Java3dTree;
    //   }

    public Locale getFirstLocale() {
        java.util.Enumeration e = m_Universe.getAllLocales();

        if (e.hasMoreElements() != false)
            return (Locale) e.nextElement();

        return null;
    }

    protected Bounds getApplicationBounds() {
        if (m_ApplicationBounds == null)
            m_ApplicationBounds = createApplicationBounds();

        return m_ApplicationBounds;
    }

    protected Bounds createApplicationBounds() {
        m_ApplicationBounds = new BoundingSphere(new Point3d(0.0, 0.0, 0.0), 100.0);
        return m_ApplicationBounds;
    }

    protected Background createBackground() {
        Background back = new Background(new Color3f(0.9f, 0.9f, 0.9f));
        back.setApplicationBounds(createApplicationBounds());
        return back;
    }

    public void initJava3d() {
        //   m_Java3dTree = new com.tornadolabs.j3dtree.Java3dTree();
        m_Universe = createVirtualUniverse();

        Locale locale = createLocale(m_Universe);

        BranchGroup sceneBranchGroup = createSceneBranchGroup();

        ViewPlatform vp = createViewPlatform();
        BranchGroup viewBranchGroup = createViewBranchGroup(getViewTransformGroupArray(), vp);

        createView(vp);

        Background background = createBackground();

        if (background != null)
            sceneBranchGroup.addChild(background);

        //      m_Java3dTree.recursiveApplyCapability(sceneBranchGroup);
        //   m_Java3dTree.recursiveApplyCapability(viewBranchGroup);

        locale.addBranchGraph(sceneBranchGroup);
        addViewBranchGroup(locale, viewBranchGroup);

        onDoneInit();
    }

    protected void onDoneInit() {
        //   m_Java3dTree.updateNodes(m_Universe);
    }

    protected double getScale() {
        return 1.0;
    }

    public TransformGroup[] getViewTransformGroupArray() {
        TransformGroup[] tgArray = new TransformGroup[1];
        tgArray[0] = new TransformGroup();

        // move the camera BACK a little...
        // note that we have to invert the matrix as
        // we are moving the viewer
        Transform3D t3d = new Transform3D();
        t3d.setScale(getScale());
        t3d.setTranslation(new Vector3d(0.0, 0.0, -20.0));
        t3d.invert();
        tgArray[0].setTransform(t3d);

        return tgArray;
    }

    protected void addViewBranchGroup(Locale locale, BranchGroup bg) {
        locale.addBranchGraph(bg);
    }

    protected Locale createLocale(VirtualUniverse u) {
        return new Locale(u);
    }

    protected BranchGroup createSceneBranchGroup() {
        m_SceneBranchGroup = new BranchGroup();
        return m_SceneBranchGroup;
    }

    protected View createView(ViewPlatform vp) {
        View view = new View();

        PhysicalBody pb = createPhysicalBody();
        PhysicalEnvironment pe = createPhysicalEnvironment();

        AudioDevice audioDevice = createAudioDevice(pe);

        if (audioDevice != null) {
            pe.setAudioDevice(audioDevice);
            audioDevice.initialize();
        }

        view.setPhysicalEnvironment(pe);
        view.setPhysicalBody(pb);

        if (vp != null)
            view.attachViewPlatform(vp);

        view.setBackClipDistance(getBackClipDistance());
        view.setFrontClipDistance(getFrontClipDistance());

        Canvas3D c3d = createCanvas3D();
        view.addCanvas3D(c3d);
        addCanvas3D(c3d);

        return view;
    }

    protected PhysicalBody createPhysicalBody() {
        return new PhysicalBody();
    }

    protected AudioDevice createAudioDevice(PhysicalEnvironment pe) {
        JavaSoundMixer javaSoundMixer = new JavaSoundMixer(pe);

        if (javaSoundMixer == null)
            System.out.println("create of audiodevice failed");

        return javaSoundMixer;
    }

    protected PhysicalEnvironment createPhysicalEnvironment() {
        return new PhysicalEnvironment();
    }

    protected float getViewPlatformActivationRadius() {
        return 100;
    }

    protected ViewPlatform createViewPlatform() {
        ViewPlatform vp = new ViewPlatform();
        vp.setViewAttachPolicy(View.RELATIVE_TO_FIELD_OF_VIEW);
        vp.setActivationRadius(getViewPlatformActivationRadius());

        return vp;
    }

    protected Canvas3D createCanvas3D() {
        GraphicsConfigTemplate3D gc3D = new GraphicsConfigTemplate3D();
        gc3D.setSceneAntialiasing(GraphicsConfigTemplate.PREFERRED);
        GraphicsDevice gd[] = GraphicsEnvironment.getLocalGraphicsEnvironment().getScreenDevices();

        Canvas3D c3d = new Canvas3D(gd[0].getBestConfiguration(gc3D));
        c3d.setSize(getCanvas3dWidth(c3d), getCanvas3dHeight(c3d));

        return c3d;
    }

    protected int getCanvas3dWidth(Canvas3D c3d) {
        return m_kWidth;
    }

    protected int getCanvas3dHeight(Canvas3D c3d) {
        return m_kHeight;
    }

    protected double getBackClipDistance() {
        return 100.0;
    }

    protected double getFrontClipDistance() {
        return 1.0;
    }

    protected BranchGroup createViewBranchGroup(TransformGroup[] tgArray, ViewPlatform vp) {
        BranchGroup vpBranchGroup = new BranchGroup();

        if (tgArray != null && tgArray.length > 0) {
            Group parentGroup = vpBranchGroup;
            TransformGroup curTg = null;

            for (int n = 0; n < tgArray.length; n++) {
                curTg = tgArray[n];
                parentGroup.addChild(curTg);
                parentGroup = curTg;
            }

            tgArray[tgArray.length - 1].addChild(vp);
        } else
            vpBranchGroup.addChild(vp);

        return vpBranchGroup;
    }

    protected void addCanvas3D(Canvas3D c3d) {
        setLayout(new BorderLayout());
        add(c3d, BorderLayout.CENTER);
        doLayout();
    }

    protected VirtualUniverse createVirtualUniverse() {
        return new VirtualUniverse();
    }

    protected void saveCommandLineArguments(String[] szArgs) {
        m_szCommandLineArray = szArgs;
    }

    protected String[] getCommandLineArguments() {
        return m_szCommandLineArray;
    }
}

//*****************************************************************************
/**
 * Utils
 * 
 * @author Daniel Selman
 * @version 1.0
 */
//*****************************************************************************

class Utils {
    // convert an angular rotation about an axis to a Quaternion
    static Quat4f createQuaternionFromAxisAndAngle(Vector3d axis, double angle) {
        double sin_a = Math.sin(angle / 2);
        double cos_a = Math.cos(angle / 2);

        // use a vector so we can call normalize
        Vector4f q = new Vector4f();

        q.x = (float) (axis.x * sin_a);
        q.y = (float) (axis.y * sin_a);
        q.z = (float) (axis.z * sin_a);
        q.w = (float) cos_a;

        // It is necessary to normalise the quaternion
        // in case any values are very close to zero.
        q.normalize();

        // convert to a Quat4f and return
        return new Quat4f(q);
    }

    // convert three rotations about the Euler axes to a Quaternion
    static Quat4f createQuaternionFromEuler(double angleX, double angleY, double angleZ) {
        // simply call createQuaternionFromAxisAndAngle
        // for each axis and multiply the results
        Quat4f qx = createQuaternionFromAxisAndAngle(new Vector3d(1, 0, 0), angleX);
        Quat4f qy = createQuaternionFromAxisAndAngle(new Vector3d(0, 1, 0), angleY);
        Quat4f qz = createQuaternionFromAxisAndAngle(new Vector3d(0, 0, 1), angleZ);

        // qx = qx * qy
        qx.mul(qy);

        // qx = qx * qz
        qx.mul(qz);

        return qx;
    }

    static public double getRandomNumber(double basis, double random) {
        return basis + ((float) Math.random() * random * 2f) - (random);
    }

    static public double getRandomNumber(double basis, double random, double scale) {
        double value = basis + ((float) Math.random() * random * 2f) - (random);
        return value * scale;
    }

    static public StringBuffer readFile(URL urlFile) {
        // allocate a temporary buffer to store the input file
        StringBuffer szBufferData = new StringBuffer();
        Vector keyFramesVector = new Vector();

        try {
            InputStream inputStream = urlFile.openStream();

            int nChar = 0;

            // read the entire file into the StringBuffer
            while (true) {
                nChar = inputStream.read();

                // if we have not hit the end of file
                // add the character to the StringBuffer
                if (nChar != -1)
                    szBufferData.append((char) nChar);
                else
                    // EOF
                    break;
            }

            inputStream.close();
        } catch (Exception e) {
            System.err.println(e.toString());
            return null;
        }

        return szBufferData;
    }

    static public RotPosScaleTCBSplinePathInterpolator createSplinePathInterpolator(Alpha alpha, TransformGroup tg,
            Transform3D axis, URL urlKeyframes) {
        TCBKeyFrame[] keyFrames = readKeyFrames(urlKeyframes);

        if (keyFrames != null)
            return new RotPosScaleTCBSplinePathInterpolator(alpha, tg, axis, keyFrames);

        return null;
    }

    static public TCBKeyFrame[] readKeyFrames(URL urlKeyframes) {
        StringBuffer szBufferData = readFile(urlKeyframes);

        if (szBufferData == null)
            return null;

        Vector keyFramesVector = new Vector();

        // create a tokenizer to tokenize the input file at whitespace
        java.util.StringTokenizer tokenizer = new java.util.StringTokenizer(szBufferData.toString());

        // each keyframe is defined as follows
        // - knot (0 >= k <= 1)
        // - position (x,y,z)
        // - rotation (rx,ry,rz)
        // - scale (x,y,z)

        // - tension (-1 >= t <= 1)
        // - continuity (-1 >= c <= 1)
        // - bias (-1 >= b <= 1)
        // - linear (int - 0 or 1)

        while (true) {
            try {
                float knot = Float.parseFloat(tokenizer.nextToken());

                float posX = Float.parseFloat(tokenizer.nextToken());
                float posY = Float.parseFloat(tokenizer.nextToken());
                float posZ = Float.parseFloat(tokenizer.nextToken());

                float rotX = Float.parseFloat(tokenizer.nextToken());
                float rotY = Float.parseFloat(tokenizer.nextToken());
                float rotZ = Float.parseFloat(tokenizer.nextToken());

                float scaleX = Float.parseFloat(tokenizer.nextToken());
                float scaleY = Float.parseFloat(tokenizer.nextToken());
                float scaleZ = Float.parseFloat(tokenizer.nextToken());

                float tension = Float.parseFloat(tokenizer.nextToken());
                float continuity = Float.parseFloat(tokenizer.nextToken());
                float bias = Float.parseFloat(tokenizer.nextToken());

                int linear = Integer.parseInt(tokenizer.nextToken());

                TCBKeyFrame keyframe = new TCBKeyFrame(knot, linear, new Point3f(posX, posY, posZ),
                        createQuaternionFromEuler(rotX, rotY, rotZ), new Point3f(scaleX, scaleY, scaleZ), tension,
                        continuity, bias);

                keyFramesVector.add(keyframe);
            } catch (Exception e) {
                break;
            }
        }

        // create the return structure and populate
        TCBKeyFrame[] keysReturn = new TCBKeyFrame[keyFramesVector.size()];

        for (int n = 0; n < keysReturn.length; n++)
            keysReturn[n] = (TCBKeyFrame) keyFramesVector.get(n);

        // return the array
        return keysReturn;
    }
}

//this class defines an Alpha class that returns a random
//value every N milliseconds.

class UiAlpha extends Alpha implements ChangeListener {
    protected Alpha m_Alpha = null;

    protected float m_AlphaValue = 0.5f;

    JButton m_Button = null;

    boolean m_bAuto = true;

    public UiAlpha(Alpha alpha) {
        m_Alpha = alpha;

        Frame frame = new Frame("Alpha Control Panel");
        JPanel panel = new JPanel();
        frame.add(panel);
        addUiToPanel(panel);
        frame.pack();
        frame.setSize(new Dimension(400, 80));
        frame.validate();
        frame.setVisible(true);
    }

    protected void addUiToPanel(JPanel panel) {
        JSlider slider = new JSlider();
        slider.addChangeListener(this);
        panel.add(slider);

        m_Button = new JButton("Auto");
        m_Button.addChangeListener(this);
        panel.add(m_Button);
    }

    public void stateChanged(ChangeEvent e) {
        if (e.getSource() instanceof JSlider) {
            m_AlphaValue = ((JSlider) e.getSource()).getValue() / 100.0f;
            m_bAuto = false;
        } else {
            m_bAuto = true;
        }
    }

    // core method override
    // returns the Alpha value for a given time
    public float value(long time) {
        if (m_bAuto == true)
            return m_Alpha.value(time);

        return m_AlphaValue;
    }
}

class Land extends ComplexObject {
    public static final float WIDTH = 1.0f;

    public static final float LENGTH = 1.0f;

    public static final float HEIGHT = 0.0f;

    public Land(Component comp, Group g, int nFlags) {
        super(comp, g, nFlags);
    }

    protected Group createGeometryGroup(Appearance app, Vector3d position, Vector3d scale, String szTextureFile,
            String szSoundFile) {
        int nFlags = GeometryArray.COORDINATES | GeometryArray.NORMALS;

        if ((m_nFlags & TEXTURE) == TEXTURE)
            nFlags |= GeometryArray.TEXTURE_COORDINATE_2;

        QuadArray quadArray = new QuadArray(4, nFlags);

        float[] coordArray = { -WIDTH, HEIGHT, LENGTH, WIDTH, HEIGHT, LENGTH, WIDTH, HEIGHT, -LENGTH, -WIDTH,
                HEIGHT, -LENGTH };

        quadArray.setCoordinates(0, coordArray, 0, coordArray.length / 3);

        for (int n = 0; n < coordArray.length / 3; n++)
            quadArray.setNormal(n, new Vector3f(0, 1, 0));

        if ((m_nFlags & TEXTURE) == TEXTURE) {
            float[] texArray = { 0, 0, 1, 0, 1, 1, 0, 1 };

            quadArray.setTextureCoordinates(0, 0, texArray, 0, coordArray.length / 3);
            setTexture(app, szTextureFile);
        }

        BranchGroup bg = new BranchGroup();
        Shape3D shape = new Shape3D(quadArray, app);
        bg.addChild(shape);

        return bg;
    }
}

abstract class ComplexObject extends BranchGroup {
    protected Group m_ParentGroup = null;

    protected int m_nFlags = 0;

    protected BackgroundSound m_CollideSound = null;

    protected Component m_Component = null;

    protected TransformGroup m_TransformGroup = null;

    protected TransformGroup m_BehaviorTransformGroup = null;

    public static final int SOUND = 0x001;

    public static final int GEOMETRY = 0x002;

    public static final int TEXTURE = 0x004;

    public static final int COLLISION = 0x008;

    public static final int COLLISION_SOUND = 0x010;

    public ComplexObject(Component comp, Group group, int nFlags) {
        m_ParentGroup = group;
        m_nFlags = nFlags;
        m_Component = comp;
    }

    public Bounds getGeometryBounds() {
        return new BoundingSphere(new Point3d(0, 0, 0), 100);
    }

    private MediaContainer loadSoundFile(String szFile) {
        try {
            File file = new File(System.getProperty("user.dir"));
            URL url = file.toURL();

            URL soundUrl = new URL(url, szFile);
            return new MediaContainer(soundUrl);
        } catch (Exception e) {
            System.err.println("Error could not load sound file: " + e);
            System.exit(-1);
        }

        return null;
    }

    protected void setTexture(Appearance app, String szFile) {
        Texture tex = new TextureLoader(szFile, m_Component).getTexture();
        app.setTexture(tex);
    }

    abstract protected Group createGeometryGroup(Appearance app, Vector3d position, Vector3d scale,
            String szTextureFile, String szSoundFile);

    protected Group loadGeometryGroup(String szModel, Appearance app) throws java.io.FileNotFoundException {
        // load the object file
        Scene scene = null;
        Shape3D shape = null;

        // read in the geometry information from the data file
        ObjectFile objFileloader = new ObjectFile(ObjectFile.RESIZE);

        scene = objFileloader.load(szModel);

        // retrieve the Shape3D object from the scene
        BranchGroup branchGroup = scene.getSceneGroup();
        shape = (Shape3D) branchGroup.getChild(0);
        shape.setAppearance(app);

        return branchGroup;
    }

    protected int getSoundLoop(boolean bCollide) {
        return 1;
    }

    protected float getSoundPriority(boolean bCollide) {
        return 1.0f;
    }

    protected float getSoundInitialGain(boolean bCollide) {
        return 1.0f;
    }

    protected boolean getSoundInitialEnable(boolean bCollide) {
        return true;
    }

    protected boolean getSoundContinuousEnable(boolean bCollide) {
        return false;
    }

    protected Bounds getSoundSchedulingBounds(boolean bCollide) {
        return new BoundingSphere(new Point3d(0, 0, 0), 1.0);
    }

    protected boolean getSoundReleaseEnable(boolean bCollide) {
        return true;
    }

    protected Point2f[] getSoundDistanceGain(boolean bCollide) {
        return null;
    }

    protected void setSoundAttributes(Sound sound, boolean bCollide) {
        sound.setCapability(Sound.ALLOW_ENABLE_WRITE);
        sound.setCapability(Sound.ALLOW_ENABLE_READ);

        sound.setSchedulingBounds(getSoundSchedulingBounds(bCollide));
        sound.setEnable(getSoundInitialEnable(bCollide));
        sound.setLoop(getSoundLoop(bCollide));
        sound.setPriority(getSoundPriority(bCollide));
        sound.setInitialGain(getSoundInitialGain(bCollide));

        sound.setContinuousEnable(getSoundContinuousEnable(bCollide));
        sound.setReleaseEnable(bCollide);

        if (sound instanceof PointSound) {
            PointSound pointSound = (PointSound) sound;
            pointSound.setInitialGain(getSoundInitialGain(bCollide));

            Point2f[] gainArray = getSoundDistanceGain(bCollide);

            if (gainArray != null)
                pointSound.setDistanceGain(gainArray);
        }
    }

    public Group createObject(Appearance app, Vector3d position, Vector3d scale, String szTextureFile,
            String szSoundFile, String szCollisionSound) {
        m_TransformGroup = new TransformGroup();
        Transform3D t3d = new Transform3D();

        t3d.setScale(scale);
        t3d.setTranslation(position);

        m_TransformGroup.setTransform(t3d);

        m_BehaviorTransformGroup = new TransformGroup();

        if ((m_nFlags & GEOMETRY) == GEOMETRY)
            m_BehaviorTransformGroup
                    .addChild(createGeometryGroup(app, position, scale, szTextureFile, szSoundFile));

        if ((m_nFlags & SOUND) == SOUND) {
            MediaContainer media = loadSoundFile(szSoundFile);
            PointSound pointSound = new PointSound(media, getSoundInitialGain(false), 0, 0, 0);
            setSoundAttributes(pointSound, false);
            m_BehaviorTransformGroup.addChild(pointSound);
        }

        if ((m_nFlags & COLLISION) == COLLISION) {
            m_BehaviorTransformGroup.setCapability(Node.ENABLE_COLLISION_REPORTING);
            m_BehaviorTransformGroup.setCollidable(true);
            m_BehaviorTransformGroup.setCollisionBounds(getGeometryBounds());

            if ((m_nFlags & COLLISION_SOUND) == COLLISION_SOUND) {
                MediaContainer collideMedia = loadSoundFile(szCollisionSound);

                m_CollideSound = new BackgroundSound(collideMedia, 1);
                setSoundAttributes(m_CollideSound, true);
                m_TransformGroup.addChild(m_CollideSound);
            }

            CollisionBehavior collision = new CollisionBehavior(m_BehaviorTransformGroup, this);
            collision.setSchedulingBounds(getGeometryBounds());

            m_BehaviorTransformGroup.addChild(collision);
        }

        m_TransformGroup.addChild(m_BehaviorTransformGroup);
        m_ParentGroup.addChild(m_TransformGroup);

        return m_BehaviorTransformGroup;
    }

    public void onCollide(boolean bCollide) {
        System.out.println("Collide: " + bCollide);

        if (m_CollideSound != null && bCollide == true)
            m_CollideSound.setEnable(true);
    }

    public void attachBehavior(Behavior beh) {
        m_BehaviorTransformGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
        beh.setSchedulingBounds(getGeometryBounds());
        m_BehaviorTransformGroup.addChild(beh);
    }

    public TransformGroup getBehaviorTransformGroup() {
        return m_BehaviorTransformGroup;
    }

    public void attachSplinePathInterpolator(Alpha alpha, Transform3D axis, URL urlKeyframes) {
        // read a spline path definition file and
        // add a Spline Path Interpolator to the TransformGroup for the object.

        m_BehaviorTransformGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

        RotPosScaleTCBSplinePathInterpolator splineInterpolator = Utils.createSplinePathInterpolator(alpha,
                m_BehaviorTransformGroup, axis, urlKeyframes);

        if (splineInterpolator != null) {
            splineInterpolator.setSchedulingBounds(getGeometryBounds());
            m_BehaviorTransformGroup.addChild(splineInterpolator);
        } else {
            System.out.println("attachSplinePathInterpolator failed for: " + urlKeyframes);
        }
    }
}

/**
 * This class is a simple behavior that invokes the KeyNavigator to modify the
 * view platform transform.
 */

class CollisionBehavior extends Behavior {
    private WakeupOnCollisionEntry wakeupOne = null;

    private WakeupOnCollisionExit wakeupTwo = null;

    private WakeupCriterion[] wakeupArray = new WakeupCriterion[2];

    private WakeupCondition wakeupCondition = null;

    private ComplexObject m_Owner = null;

    public CollisionBehavior(Node node, ComplexObject owner) {
        wakeupOne = new WakeupOnCollisionEntry(node, WakeupOnCollisionEntry.USE_GEOMETRY);
        wakeupTwo = new WakeupOnCollisionExit(node, WakeupOnCollisionExit.USE_GEOMETRY);

        wakeupArray[0] = wakeupOne;
        wakeupArray[1] = wakeupTwo;

        wakeupCondition = new WakeupOr(wakeupArray);

        m_Owner = owner;
    }

    /**
     * Override Behavior's initialize method to setup wakeup criteria.
     */
    public void initialize() {
        // Establish initial wakeup criteria
        wakeupOn(wakeupCondition);
    }

    /**
     * Override Behavior's stimulus method to handle the event.
     */
    public void processStimulus(Enumeration criteria) {
        WakeupCriterion genericEvt;

        while (criteria.hasMoreElements()) {
            genericEvt = (WakeupCriterion) criteria.nextElement();

            if (genericEvt instanceof WakeupOnCollisionEntry) {
                m_Owner.onCollide(true);
            } else if (genericEvt instanceof WakeupOnCollisionExit) {
                m_Owner.onCollide(false);
            }
        }

        // Set wakeup criteria for next time
        wakeupOn(wakeupCondition);
    }
}

//creates a 2x2x2 cuboid with its base at y=0

class Cuboid extends ComplexObject {
    public Cuboid(Component comp, Group g, int nFlags) {
        super(comp, g, nFlags);
    }

    protected Group createGeometryGroup(Appearance app, Vector3d position, Vector3d scale, String szTextureFile,
            String szSoundFile) {
        int nFlags = GeometryArray.COORDINATES | GeometryArray.NORMALS;

        if ((m_nFlags & TEXTURE) == TEXTURE)
            nFlags |= GeometryArray.TEXTURE_COORDINATE_2;

        QuadArray quadArray = new QuadArray(24, nFlags);

        quadArray.setCoordinates(0, verts, 0, 24);

        for (int n = 0; n < 24; n++)
            quadArray.setNormal(n, normals[n / 4]);

        if ((m_nFlags & TEXTURE) == TEXTURE) {
            quadArray.setTextureCoordinates(0, 0, tcoords, 0, 24);
            setTexture(app, szTextureFile);
        }

        Shape3D shape = new Shape3D(quadArray, app);

        BranchGroup bg = new BranchGroup();
        bg.addChild(shape);
        return bg;
    }

    private static final float[] verts = {
            // front face
            1.0f, 0.0f, 1.0f, 1.0f, 2.0f, 1.0f, -1.0f, 2.0f, 1.0f, -1.0f, 0.0f, 1.0f,
            // back face
            -1.0f, 0.0f, -1.0f, -1.0f, 2.0f, -1.0f, 1.0f, 2.0f, -1.0f, 1.0f, 0.0f, -1.0f,
            // right face
            1.0f, 0.0f, -1.0f, 1.0f, 2.0f, -1.0f, 1.0f, 2.0f, 1.0f, 1.0f, 0.0f, 1.0f,
            // left face
            -1.0f, 0.0f, 1.0f, -1.0f, 2.0f, 1.0f, -1.0f, 2.0f, -1.0f, -1.0f, 0.0f, -1.0f,
            // top face
            1.0f, 2.0f, 1.0f, 1.0f, 2.0f, -1.0f, -1.0f, 2.0f, -1.0f, -1.0f, 2.0f, 1.0f,
            // bottom face
            -1.0f, 0.0f, 1.0f, -1.0f, 0.0f, -1.0f, 1.0f, 0.0f, -1.0f, 1.0f, 0.0f, 1.0f, };

    private static final float[] tcoords = {
            // front
            1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f,
            // back
            1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f,
            //right
            1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f,
            // left
            1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f,
            // top
            1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f,
            // bottom
            0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 1.0f };

    private static final Vector3f[] normals = { new Vector3f(0.0f, 0.0f, 1.0f), // front
            // face
            new Vector3f(0.0f, 0.0f, -1.0f), // back face
            new Vector3f(1.0f, 0.0f, 0.0f), // right face
            new Vector3f(-1.0f, 0.0f, 0.0f), // left face
            new Vector3f(0.0f, 1.0f, 0.0f), // top face
            new Vector3f(0.0f, -1.0f, 0.0f), // bottom face
    };
}

class Helicopter extends ComplexObject {
    public static final float WIDTH = 2.0f;
    public static final float HEIGHT = 2.0f;
    public static final float LENGTH = 2.0f;

    public Helicopter(Component comp, Group g, int nFlags) {
        super(comp, g, nFlags);
    }

    protected Group createGeometryGroup(Appearance app, Vector3d position, Vector3d scale, String szTextureFile,
            String szSoundFile) {
        TransformGroup tg = new TransformGroup();

        // we need to flip the helicopter model
        // 90 degrees about the X axis
        Transform3D t3d = new Transform3D();
        t3d.rotX(Math.toRadians(-90));
        tg.setTransform(t3d);

        try {
            tg.addChild(loadGeometryGroup("heli.obj", app));

            // create an Alpha object for the Interpolator
            Alpha alpha = new Alpha(-1, Alpha.INCREASING_ENABLE | Alpha.DECREASING_ENABLE,
                    (long) Utils.getRandomNumber(0, 500), (long) Utils.getRandomNumber(0, 500),
                    (long) Utils.getRandomNumber(20000, 5000), 4000, 100, (long) Utils.getRandomNumber(20000, 5000),
                    5000, 50);

            attachSplinePathInterpolator(alpha, new Transform3D(),
                    new URL(((Java3dApplet) m_Component).getWorkingDirectory(), "heli_spline.xls"));
        } catch (Exception e) {
            System.err.println(e.toString());
        }

        return tg;
    }

    protected int getSoundLoop(boolean bCollide) {
        return -1;
    }

    protected float getSoundPriority(boolean bCollide) {
        return 1.0f;
    }

    protected float getSoundInitialGain(boolean bCollide) {
        return 3.0f;
    }

    protected Point2f[] getSoundDistanceGain(boolean bCollide) {
        Point2f[] gainArray = new Point2f[2];

        gainArray[0] = new Point2f(2, 0.2f);
        gainArray[1] = new Point2f(20, 0.05f);

        return gainArray;
    }

    protected boolean getSoundInitialEnable(boolean bCollide) {
        return true;
    }

    protected boolean getSoundContinuousEnable(boolean bCollide) {
        return false;
    }

    protected Bounds getSoundSchedulingBounds(boolean bCollide) {
        return new BoundingSphere(new Point3d(0, 0, 0), 20);
    }

    protected boolean getSoundReleaseEnable(boolean bCollide) {
        return true;
    }
}
//heli.obj

/*
    
# Mon Jun 21 15:53:56 1993
#
#
    
g
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v -0.620000 3.690000 3.670000
v -0.620000 -3.740000 3.670000
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v 0.580000 3.690000 3.670000
v -0.010000 13.150000 0.000000
v -0.620000 3.690000 0.000000
v -0.620000 -3.740000 0.000000
v 0.580000 -3.740000 0.000000
v 0.580000 3.690000 0.000000
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# 0 texture vertices
    
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g TURBINE
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g ROTOR
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g FEET
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g LEGS
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g TAIL
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g BODY
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g TUBE
f 672 624 626
f 624 625 627
f 624 627 626
f 625 675 627
f 672 626 628
f 626 627 629
f 626 629 628
f 627 675 629
f 672 628 630
f 628 629 631
f 628 631 630
f 629 675 631
f 672 630 632
f 630 631 633
f 630 633 632
f 631 675 633
f 672 632 634
f 632 633 635
f 632 635 634
f 633 675 635
f 672 634 636
f 634 635 637
f 634 637 636
f 635 675 637
f 672 636 638
f 636 637 639
f 636 639 638
f 637 675 639
f 672 638 640
f 638 639 641
f 638 641 640
f 639 675 641
f 672 640 642
f 640 641 643
f 640 643 642
f 641 675 643
f 672 642 644
f 642 643 645
f 642 645 644
f 643 675 645
f 672 644 646
f 644 645 647
f 644 647 646
f 645 675 647
f 672 646 648
f 646 647 649
f 646 649 648
f 647 675 649
f 672 648 650
f 648 649 651
f 648 651 650
f 649 675 651
f 672 650 652
f 650 651 653
f 650 653 652
f 651 675 653
f 672 652 654
f 652 653 655
f 652 655 654
f 653 675 655
f 672 654 656
f 654 655 657
f 654 657 656
f 655 675 657
f 672 656 658
f 656 657 659
f 656 659 658
f 657 675 659
f 672 658 660
f 658 659 661
f 658 661 660
f 659 675 661
f 672 660 662
f 660 661 663
f 660 663 662
f 661 675 663
f 672 662 664
f 662 663 665
f 662 665 664
f 663 675 665
f 672 664 666
f 664 665 667
f 664 667 666
f 665 675 667
f 672 666 668
f 666 667 669
f 666 669 668
f 667 675 669
f 672 668 670
f 668 669 671
f 668 671 670
f 669 675 671
f 672 670 673
f 670 671 674
f 670 674 673
f 671 675 674
f 672 673 624
f 673 674 625
f 673 625 624
f 674 675 625
# 1270 elements
    
    
*/