Merge pull request #391 from CommonWealthRobotics/kh/physics-update-m…

…ujoco

kernel

.github/workflows/release.yml

@@ -73,7 +73,15 @@ jobs:
             tag_name: ${{ github.ref }}
       env:
             GITHUB_TOKEN: ${{ github.token }}
-
+    - name: upload JVM Configuration
+      uses: actions/upload-release-asset@v1
+      env:
+            GITHUB_TOKEN: ${{ github.token }}
+      with:
+            upload_url: ${{ steps.create_release.outputs.upload_url }}
+            asset_path: jvm.json
+            asset_name: jvm.json
+            asset_content_type: application/json            
     - name: upload BowlerStudio artifact
       uses: actions/upload-release-asset@v1
       env:

.gitignore

@@ -26,3 +26,5 @@
 /Oracle_VM_VirtualBox_Extension_Pack-5.2.20.vbox-extpack
 /chdk-ptp-java.log
 /deps.txt
+/MUJOCO_LOG.TXT
+/physicsTest/

build.gradle

@@ -233,11 +233,9 @@ dependencies {
 	compile group: 'java3d', name: 'vecmath', version: '1.3.1'
 	compile 'org.slf4j:slf4j-simple:1.6.1'
 
-	//compile "com.neuronrobotics:JavaCad:0.14.0"
 	compile "com.neuronrobotics:CHDK-PTP-Java:0.5.3-SNAPSHOT"
 	//compile "com.neuronrobotics:java-bowler:3.25.4"
 	//compile fileTree (dir: '../java-bowler/build/libs/', includes: ['nrsdk-3.23.3-jar-with-dependencies.jar'])
-	//compile fileTree (dir: '../JCSG/build/libs/', includes: ['JavaCad-0.8.2.jar'])
 	compile "com.neuronrobotics:WalnutiQ:2.3.3"
 
 
@@ -342,7 +340,8 @@ dependencies {
 	//compile fileTree (dir: 'libraries/bowler-script-kernel/libs/', includes: ['*.jar'])
 	compile project(':libraries:bowler-script-kernel:java-bowler')
 	compile project(':libraries:bowler-script-kernel')
-	compile project(':libraries:bowler-script-kernel:JCSG')
+	//compile project(':libraries:bowler-script-kernel:JCSG')
+
 	compile project(':libraries:dockfx')
 	compile project(':libraries:bowler-script-kernel:GithubPasswordManager:GithubPasswordManager')
 	//compile project(':kinematics-chef')
@@ -356,6 +355,10 @@ dependencies {
 
 	//https://github.com/HanSolo/Medusa
 	compile group: 'eu.hansolo', name: 'Medusa', version: '7.1'
+	//MuJoCo
+	implementation group: 'org.bytedeco', name: 'javacpp', version: '1.5.7'
+	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version:'3.1.3-pre.11'
+
 
 }
 

jvm.json

@@ -0,0 +1,38 @@
+{
+"Linux-x64":{
+				"url":"https://cdn.azul.com/zulu/bin/"
+			  ,
+			  "type":"tar.gz",
+			  "name":"zulu8.78.0.19-ca-fx-jdk8.0.412-linux_x64",
+			  "jvmargs":["-Dprism.forceGPU=true"]
+			  },
+"Linux-aarch64":{
+				"url":"https://cdn.azul.com/zulu/bin/"
+			 ,
+			  "type":"tar.gz",
+			  "name":"zulu8.78.0.19-ca-fx-jdk8.0.412-linux_aarch64",
+			  "jvmargs":["-Dprism.forceGPU=true"]
+
+			  },
+"Windows-x64":{
+				"url":"https://cdn.azul.com/zulu/bin/"
+			  ,
+			  "type":"zip",
+			  "name":"zulu8.78.0.19-ca-fx-jdk8.0.412-win_x64"
+			  },
+"Mac-x64":{
+				"url":"https://cdn.azul.com/zulu/bin/"
+			  ,
+			  "type":"zip",
+			  "name":"zulu8.78.0.19-ca-fx-jdk8.0.412-macosx_x64",
+			  "jvmargs":["-Dprism.forceGPU=true"]
+			  },
+"Mac-aarch64":{
+				"url":"https://cdn.azul.com/zulu/bin/"
+			  ,
+			  "type":"zip",
+			  "name":"zulu8.78.0.19-ca-fx-jdk8.0.412-macosx_aarch64",
+			  "jvmargs":["-Dprism.forceGPU=true"]
+			  }			  
+
+}

settings.gradle

@@ -1,6 +1,5 @@
 include ':libraries:bowler-script-kernel'
 include ':libraries:bowler-script-kernel:java-bowler'
-include ':libraries:bowler-script-kernel:JCSG'
 include ':libraries:dockfx'
 include ':libraries:bowler-script-kernel:GithubPasswordManager:GithubPasswordManager'
 rootProject.name = 'BowlerStudio'

src/main/java/com/neuronrobotics/bowlerstudio/AddFileToGistController.java

@@ -1,6 +1,7 @@
 package com.neuronrobotics.bowlerstudio;
 
 import com.neuronrobotics.bowlerstudio.assets.AssetFactory;
+import com.neuronrobotics.bowlerstudio.assets.FontSizeManager;
 import com.neuronrobotics.bowlerstudio.scripting.ArduinoLoader;
 import com.neuronrobotics.bowlerstudio.scripting.IScriptingLanguage;
 import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine;
@@ -94,6 +95,12 @@ public void start(Stage primaryStage) throws Exception {
 		// This is needed when loading on MAC
 		loader.setClassLoader(getClass().getClassLoader());
 		root = loader.load();
+		FontSizeManager.addListener(fontNum->{
+			int tmp = fontNum-10;
+			if(tmp<12)
+				tmp=12;
+			root.setStyle("-fx-font-size: "+tmp+"pt");
+		});
 		extention.getItems().clear();
 		if (getGitRepo() != null) {
 			newProject.getChildren().clear();
@@ -114,6 +121,10 @@ public void start(Stage primaryStage) throws Exception {
 
 			icon = AssetFactory.loadAsset(asset);
 			langaugeIcon.setImage(icon);
+			FontSizeManager.addListener(fontNum->{
+		    	  langaugeIcon.setScaleX(FontSizeManager.getImageScale());
+		    	  langaugeIcon.setScaleY(FontSizeManager.getImageScale());
+		      });
 		} catch (Exception e2) {
 			// TODO Auto-generated catch block
 			e2.printStackTrace();
@@ -147,6 +158,7 @@ private void setSelected(String selectedItem) throws Exception {
 		Image loadAsset = AssetFactory.loadAsset(file);
 		try {
 		langaugeIcon.setImage(loadAsset);
+
 		}catch(Throwable t) {
 			t.printStackTrace();
 		}