check manipulator before using it

Author: madhephaestus

src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/BezierEditor.java

@@ -192,10 +192,17 @@ public void update() {
 		ArrayList<Transform> transforms = transforms();
 		for (int i = 0; i < getNumParts(); i++) {
 			TransformNR nr = TransformFactory.csgToNR(transforms.get(i));
-			Affine partsGetGetManipulator = getPartsInternal().get(i).getManipulator();
-			BowlerKernel.runLater(() -> {
-				TransformFactory.nrToAffine(nr, partsGetGetManipulator);
-			});
+			Affine partsGetGetManipulator;
+			try {
+				partsGetGetManipulator = getPartsInternal().get(i).getManipulator();
+				BowlerKernel.runLater(() -> {
+					TransformFactory.nrToAffine(nr, partsGetGetManipulator);
+				});
+			} catch (MissingManipulatorException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+
 		}
 
 		updateLines(start, cp1Manip, cp1Line, cp1LinePose);

src/main/java/com/neuronrobotics/bowlerstudio/creature/LimbOption.java

@@ -38,6 +38,7 @@
 
 import eu.mihosoft.vrl.v3d.CSG;
 import eu.mihosoft.vrl.v3d.FileUtil;
+import eu.mihosoft.vrl.v3d.MissingManipulatorException;
 import eu.mihosoft.vrl.v3d.parametrics.CSGDatabase;
 import eu.mihosoft.vrl.v3d.parametrics.CSGDatabaseInstance;
 import javafx.embed.swing.SwingFXUtils;
@@ -185,7 +186,12 @@ public void build(CaDoodleFile f) throws IOException {
 	}
 	CSG get(CSG in) {
 		if(in.hasManipulator())
-			return in.transformed(TransformFactory.nrToCSG(TransformFactory.affineToNr(in.getManipulator())));
+			try {
+				return in.transformed(TransformFactory.nrToCSG(TransformFactory.affineToNr(in.getManipulator())));
+			} catch (MissingManipulatorException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
 		return in;
 	}
 	public javafx.scene.image.Image getImage() {

src/main/java/com/neuronrobotics/bowlerstudio/creature/ThumbnailImage.java

@@ -9,6 +9,7 @@
 
 import eu.mihosoft.vrl.v3d.Bounds;
 import eu.mihosoft.vrl.v3d.CSG;
+import eu.mihosoft.vrl.v3d.MissingManipulatorException;
 import eu.mihosoft.vrl.v3d.Vector3d;
 import eu.mihosoft.vrl.v3d.parametrics.CSGDatabase;
 import eu.mihosoft.vrl.v3d.parametrics.CSGDatabaseInstance;
@@ -67,8 +68,14 @@ public static WritableImage get(CSGDatabaseInstance instance,List<CSG> c) {
 		ArrayList<CSG> csgList=new ArrayList<CSG>() ;
 		for(CSG cs:c) {
 			if(cs.hasManipulator()) {
-				TransformNR nr = TransformFactory.affineToNr(cs.getManipulator());
-				csgList.add(cs.transformed(TransformFactory.nrToCSG(nr)).syncProperties(instance,cs));
+				TransformNR nr;
+				try {
+					nr = TransformFactory.affineToNr(cs.getManipulator());
+					csgList.add(cs.transformed(TransformFactory.nrToCSG(nr)).syncProperties(instance,cs));
+				} catch (MissingManipulatorException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
 			}else
 				csgList.add(cs);
 		}

src/main/java/com/neuronrobotics/bowlerstudio/physics/CSGPhysicsManager.java

@@ -20,6 +20,7 @@
 
 import eu.mihosoft.vrl.v3d.CSG;
 import eu.mihosoft.vrl.v3d.Cube;
+import eu.mihosoft.vrl.v3d.MissingManipulatorException;
 import eu.mihosoft.vrl.v3d.Polygon;
 import eu.mihosoft.vrl.v3d.Sphere;
 import eu.mihosoft.vrl.v3d.Vertex;
@@ -43,8 +44,15 @@ public CSGPhysicsManager(List<CSG> baseCSG, Transform pose, double mass, boolean
 		ObjectArrayList<Vector3f> arg0 = new ObjectArrayList<>();
 		for (int i = 0; i < baseCSG.size(); i++) {
 
-			CSG back = loadCSGToPoints(baseCSG.get(i), adjustCenter, pose, arg0);
-			back.setManipulator(baseCSG.get(i).getManipulator());
+			CSG csg = baseCSG.get(i);
+			CSG back = loadCSGToPoints(csg, adjustCenter, pose, arg0);
+			try {
+				if(csg.hasManipulator())
+					back.setManipulator(csg.getManipulator());
+			} catch (MissingManipulatorException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
 			baseCSG.set(i, back);
 		}
 		CollisionShape fallShape = new com.bulletphysics.collision.shapes.ConvexHullShape(arg0);

src/main/java/com/neuronrobotics/bowlerstudio/physics/MobileBasePhysicsManager.java

@@ -31,6 +31,7 @@
 import Jama.Matrix;
 
 import eu.mihosoft.vrl.v3d.CSG;
+import eu.mihosoft.vrl.v3d.MissingManipulatorException;
 import eu.mihosoft.vrl.v3d.parametrics.CSGDatabaseInstance;
 //import eu.mihosoft.vrl.v3d.ext.quickhull3d.HullUtil;
 //import eu.mihosoft.vvecmath.Vector3d;
@@ -127,7 +128,14 @@ public MobileBasePhysicsManager(CSGDatabaseInstance db,MobileBase base, ArrayLis
 		BowlerKernel.runLater(new Runnable() {
 			@Override
 			public void run() {
-				TransformFactory.bulletToAffine(baseCad.get(0).getManipulator(), start);
+				try {
+					CSG csg = baseCad.get(0);
+					if(csg.hasManipulator())
+						TransformFactory.bulletToAffine(csg.getManipulator(), start);
+				} catch (MissingManipulatorException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
 			}
 		});
 		CSG collisionBod;