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[simspark-cvs] simspark/spark/plugin/rosimporter roselements.cpp, 1.5, 1.6 roselements.h, 1.5, 1.6 rosimporter.cpp, 1.10, 1.11 rosimporter.h, 1.8, 1.9
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From: Markus R. <rol...@us...> - 2007-06-15 08:48:47
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Update of /cvsroot/simspark/simspark/spark/plugin/rosimporter In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv14965/spark/plugin/rosimporter Modified Files: roselements.cpp roselements.h rosimporter.cpp rosimporter.h Log Message: - merged ROSIMPORTER_XLAB bracnh Index: roselements.h =================================================================== RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/roselements.h,v retrieving revision 1.5 retrieving revision 1.6 diff -C2 -d -r1.5 -r1.6 *** roselements.h 23 Feb 2006 13:40:23 -0000 1.5 --- roselements.h 15 Jun 2007 08:48:17 -0000 1.6 *************** *** 61,64 **** --- 61,65 ---- // PhysicalAttributes #define RA_VALUE "value" + #define RA_CANCOLLIDE "canCollide" // Use *************** *** 69,72 **** --- 70,77 ---- #define RA_VERTEXLIST "vertexList" + // Axis Deflection + #define RA_MIN "min" + #define RA_MAX "max" + class RosElements { *************** *** 108,113 **** --- 113,123 ---- RE_HINGE, + RE_UNIVERSAL, + RE_SLIDER, RE_ANCHORPOINT, RE_AXIS, + RE_AXIS1, + RE_AXIS2, + RE_DEFLECTION, RE_GLOBALPHYSICALPARAMETERS, *************** *** 120,124 **** RE_DEFAULTAPPEARANCE, RE_AMBIENTLIGHTCOLOR, ! RE_COLOR }; --- 130,136 ---- RE_DEFAULTAPPEARANCE, RE_AMBIENTLIGHTCOLOR, ! RE_COLOR, ! ! RE_INTERACTIVEBUTTON }; Index: roselements.cpp =================================================================== RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/roselements.cpp,v retrieving revision 1.5 retrieving revision 1.6 diff -C2 -d -r1.5 -r1.6 *** roselements.cpp 23 Feb 2006 13:40:23 -0000 1.5 --- roselements.cpp 15 Jun 2007 08:48:17 -0000 1.6 *************** *** 80,85 **** --- 80,90 ---- ROS_DEFINE_ELEMENT(RE_HINGE,"Hinge"); + ROS_DEFINE_ELEMENT(RE_SLIDER,"Slider"); + ROS_DEFINE_ELEMENT(RE_UNIVERSAL,"UniversalJoint"); ROS_DEFINE_ELEMENT(RE_ANCHORPOINT,"AnchorPoint"); ROS_DEFINE_ELEMENT(RE_AXIS,"Axis"); + ROS_DEFINE_ELEMENT(RE_AXIS1,"Axis1"); + ROS_DEFINE_ELEMENT(RE_AXIS2,"Axis2"); + ROS_DEFINE_ELEMENT(RE_DEFLECTION,"Deflection"); ROS_DEFINE_ELEMENT(RE_GLOBALPHYSICALPARAMETERS,"GlobalPhysicalParameters"); *************** *** 94,97 **** --- 99,103 ---- ROS_DEFINE_ELEMENT(RE_COLOR, "Color"); + ROS_DEFINE_ELEMENT(RE_INTERACTIVEBUTTON,"InteractiveButton"); } Index: rosimporter.cpp =================================================================== RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.cpp,v retrieving revision 1.10 retrieving revision 1.11 diff -C2 -d -r1.10 -r1.11 *** rosimporter.cpp 15 Mar 2007 07:26:28 -0000 1.10 --- rosimporter.cpp 15 Jun 2007 08:48:17 -0000 1.11 *************** *** 26,29 **** --- 26,30 ---- #include <oxygen/sceneserver/basenode.h> #include <oxygen/sceneserver/transform.h> + #include <oxygen/physicsserver/transformcollider.h> #include <oxygen/physicsserver/boxcollider.h> #include <oxygen/physicsserver/spherecollider.h> *************** *** 32,35 **** --- 33,38 ---- #include <oxygen/physicsserver/body.h> [...1990 lines suppressed...] + if (ja.axis2.setDeflection) + { + universal->SetParameter(dParamLoStop2, ja.axis2.loStop); + universal->SetParameter(dParamHiStop2, ja.axis2.hiStop); + universal->SetParameter(dParamLoStop2, ja.axis2.loStop); + } + + return; + } + + shared_ptr<SliderJoint> slider = shared_dynamic_cast<SliderJoint>(ja.joint); + if (slider.get() != 0) + { + // slider axis is set via parent transform node + // slider->SetAxis(ja.axis1); + return; + } + + assert(false); + } Index: rosimporter.h =================================================================== RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.h,v retrieving revision 1.8 retrieving revision 1.9 diff -C2 -d -r1.8 -r1.9 *** rosimporter.h 23 Feb 2006 13:40:23 -0000 1.8 --- rosimporter.h 15 Jun 2007 08:48:17 -0000 1.9 *************** *** 25,28 **** --- 25,29 ---- #include <map> #include <boost/shared_array.hpp> + #include <salt/matrix.h> #include <oxygen/sceneserver/sceneimporter.h> #include <oxygen/geometryserver/trimesh.h> *************** *** 34,40 **** --- 35,43 ---- class BaseNode; class Transform; + class TransformCollider; class ContactJointHandler; class Body; class Transform; + class Joint; } *************** *** 47,75 **** { public: ! enum ENodeContext { ! /** the node is read within a <Elements> tag, where no ! physical bodies are created ! */ ! NC_ELEMENTS, ! /** the node is read within a <Movable> tag or a joint ! node, where physical bodies are created ! */ ! NC_MOVABLE, ! }; ! struct Trans { public: ! salt::Vector3f translate; ! salt::Vector3f rotate; public: ! Trans() ! : translate(0.0, 0.0, 0.0), rotate (0.0, 0.0, 0.0) {} }; struct Appearance { --- 50,154 ---- { public: ! struct Trans ! { ! public: ! salt::Matrix matrix; ! ! public: ! Trans() { ! matrix.Identity(); ! } ! }; ! /** JointAxis describes a single joint axis along with associated ! joint parameters ! */ ! struct JointAxis ! { ! public: ! salt::Vector3f dir; ! //! true, iff loStop and hiStop angle are valid ! bool setDeflection; ! ! //! low stop angle (rad) ! double loStop; ! ! //! high stop angle (rad) ! double hiStop; ! ! public: ! JointAxis() ! : dir(0.0,0.0,0.0), setDeflection(false), ! loStop(0.0), hiStop(0.0) ! { ! } ! }; ! ! /** JointAttach describes how a joint connects two bodies along ! with the associated axis parameters ! */ ! struct JointAttach { public: ! boost::shared_ptr<oxygen::Joint> joint; ! boost::shared_ptr<oxygen::Body> body1; ! boost::shared_ptr<oxygen::Body> body2; ! JointAxis axis1; ! JointAxis axis2; public: ! JointAttach() ! { ! } ! }; ! ! /** RosContext refers to the current Transform parent node that is ! used to construct associated visual, geometric and physical ! nodes. It further describes mass and mass center of composite ! bodies. ! */ ! struct RosContext ! { ! public: ! boost::shared_ptr<oxygen::Transform> transform; ! boost::shared_ptr<oxygen::Body> body; ! bool adjustedPos; ! salt::Vector3f massCenter; ! double totalMass; ! bool movable; ! ! public: ! RosContext() ! : adjustedPos(false), massCenter(0.0,0.0,0.0), ! totalMass(0.0), movable(false) ! { ! } ! ! /** moves the Transform parent node in order to put the Body ! into the mass center of a composite body ! */ ! void AdjustPos(); + /** accumulates mass and adjusts the mass center */ + void AddMass(double mass, const Trans& trans); }; + /** declare a stack of RosContext nodes */ + typedef std::vector<RosContext > TRosStack; + + /** RosJointContext holds the child Body node that is connected to + the Body refered to in the current RosContext + */ + struct RosJointContext + { + boost::shared_ptr<oxygen::Body> body; + }; + + /** declare a stack of RosContext nodes */ + typedef std::vector<RosJointContext> TRosJointStack; + + /** Appearance holds a material definition */ struct Appearance { *************** *** 78,81 **** --- 157,163 ---- }; + /** Physical holds physical properties of the current + RosContext. + */ struct Physical { *************** *** 83,95 **** bool valid; double mass; salt::Vector3f massCenter; public: Physical() ! : valid(false), mass(0.0), massCenter(0.0, 0.0, 0.0) {} }; /** define a registry of macros; a macro is a XML subtree with the ! <Macro> node a the root element */ typedef std::map<std::string, boost::shared_ptr<TiXmlElement> > TMacroMap; --- 165,179 ---- bool valid; double mass; + bool canCollide; salt::Vector3f massCenter; public: Physical() ! : valid(false), mass(0.0), ! canCollide(true), massCenter(0.0, 0.0, 0.0) {} }; /** define a registry of macros; a macro is a XML subtree with the ! <Macro> node as the root element */ typedef std::map<std::string, boost::shared_ptr<TiXmlElement> > TMacroMap; *************** *** 101,107 **** salt::Vector3f vec; ! //! the index into an associated flat vertex array as used in ! //the TriMesh class int idx; public: TVertex() : idx(-1) {} --- 185,193 ---- salt::Vector3f vec; ! /** the index into an associated flat vertex array as used in ! the TriMesh class ! */ int idx; + public: TVertex() : idx(-1) {} *************** *** 150,153 **** --- 236,240 ---- }; + /** define a complex geom and it's associated vertices */ struct ComplexGeom { *************** *** 172,182 **** virtual bool ParseScene(const std::string& scene, ! boost::shared_ptr<oxygen::BaseNode> parent, ! boost::shared_ptr<zeitgeist::ParameterList> parameter); protected: virtual bool ParseScene(const char* scene, int size, ! boost::shared_ptr<oxygen::BaseNode> parent, ! boost::shared_ptr<zeitgeist::ParameterList> parameter); --- 259,280 ---- virtual bool ParseScene(const std::string& scene, ! boost::shared_ptr<oxygen::BaseNode> parent, ! boost::shared_ptr<zeitgeist::ParameterList> parameter); protected: + void PushContext(); + void PopContext(); + void PushJointContext(); + void PopJointContext(); + RosContext& GetContext(); + RosJointContext& RosImporter::GetJointContext(); + boost::shared_ptr<oxygen::Transform> GetContextTransform(boost::shared_ptr<oxygen::BaseNode> parent, const Trans& trans); + boost::shared_ptr<oxygen::Transform> CreateTransform(boost::shared_ptr<oxygen::BaseNode> parent, const Trans& trans); + boost::shared_ptr<oxygen::Body> GetContextBody(boost::shared_ptr<oxygen::BaseNode> parent); + void SetJointBody(boost::shared_ptr<oxygen::Body> body); + virtual bool ParseScene(const char* scene, int size, ! boost::shared_ptr<oxygen::BaseNode> parent, ! boost::shared_ptr<zeitgeist::ParameterList> parameter); *************** *** 185,189 **** bool IgnoreNode(const TiXmlNode* node) const; - bool HasBody(const Physical& physical, ENodeContext context); RosElements::ERosElement GetType(const TiXmlElement* element) const; --- 283,286 ---- *************** *** 192,196 **** void ApplyTransform(boost::shared_ptr<oxygen::Transform> transform, const Trans& trans); ! boost::shared_ptr<oxygen::Transform> CreateTransform (boost::shared_ptr<oxygen::BaseNode> parent, const Trans& trans); --- 289,293 ---- void ApplyTransform(boost::shared_ptr<oxygen::Transform> transform, const Trans& trans); ! boost::shared_ptr<oxygen::TransformCollider> CreateTransformCollider (boost::shared_ptr<oxygen::BaseNode> parent, const Trans& trans); *************** *** 209,219 **** bool ReadMacro(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadUse(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadChildElements(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadElements(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadCompound(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadMovable(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); bool ReadTrans(TiXmlElement* element, Trans& trans); --- 306,316 ---- bool ReadMacro(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadUse(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadChildElements(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadElements(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadCompound(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadMovable(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); bool ReadTrans(TiXmlElement* element, Trans& trans); *************** *** 222,242 **** bool ReadAppearance(TiXmlElement* element, Appearance& appear); ! bool ReadPhysical(TiXmlElement* element, Physical& physical, ENodeContext context); ! bool ReadBox(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadSphere(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadCylinder(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); ! bool ReadCappedCylinder(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); bool ReadAnchorPoint(TiXmlElement* element, salt::Vector3f& anchor); ! bool ReadAxis(TiXmlElement* element, salt::Vector3f& axis); ! boost::shared_ptr<oxygen::Body> RosImporter::GetJointParentBody(boost::shared_ptr<oxygen::BaseNode> parent); boost::shared_ptr<oxygen::Body> RosImporter::GetJointChildBody(boost::shared_ptr<oxygen::BaseNode> parent); ! bool ReadHinge(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); bool ReadVertexList(TiXmlElement* element); ! bool ReadComplexShape(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context); bool ReadGraphicalRep(TiXmlElement* element, boost::shared_ptr<oxygen::TriMesh> mesh, const Appearance& appear); bool ReadComplexElements(TiXmlElement* element, TComplexGeomList& geomList); --- 319,341 ---- bool ReadAppearance(TiXmlElement* element, Appearance& appear); ! bool ReadPhysical(TiXmlElement* element, Physical& physical); ! bool ReadBox(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadSphere(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadCylinder(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadCappedCylinder(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); bool ReadAnchorPoint(TiXmlElement* element, salt::Vector3f& anchor); ! bool ReadAxis(TiXmlElement* element, RosElements::ERosElement type, JointAxis& axis); ! boost::shared_ptr<oxygen::Body> RosImporter::GetJointParentBody(); boost::shared_ptr<oxygen::Body> RosImporter::GetJointChildBody(boost::shared_ptr<oxygen::BaseNode> parent); ! bool ReadHinge(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadSlider(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadUniversal(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); bool ReadVertexList(TiXmlElement* element); ! bool ReadComplexShape(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); bool ReadGraphicalRep(TiXmlElement* element, boost::shared_ptr<oxygen::TriMesh> mesh, const Appearance& appear); bool ReadComplexElements(TiXmlElement* element, TComplexGeomList& geomList); *************** *** 245,254 **** void BuildPolygon(oxygen::IndexBuffer& ibuffer, TVertexList& vertexList, const ComplexGeom& geom); ! bool ReadPhysicalRep(boost::shared_ptr<oxygen::Transform> transform, TiXmlElement* element, ENodeContext context); ! bool ReadSimpleBox(boost::shared_ptr<oxygen::Transform> transform, TiXmlElement* element, ENodeContext context); ! bool ReadSimpleSphere(boost::shared_ptr<oxygen::Transform> transform, TiXmlElement* element, ENodeContext context); ! bool ReadSimpleCappedCylinder(boost::shared_ptr<oxygen::Transform> transform, TiXmlElement* element, ENodeContext context); protected: /** the last supplied fileName */ std::string mFileName; --- 344,404 ---- void BuildPolygon(oxygen::IndexBuffer& ibuffer, TVertexList& vertexList, const ComplexGeom& geom); ! bool ReadPhysicalRep(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadSimpleBox(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadSimpleSphere(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! bool ReadSimpleCappedCylinder(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element); ! ! void Attach(boost::shared_ptr<oxygen::Joint> joint, boost::shared_ptr<oxygen::Body> body1, boost::shared_ptr<oxygen::Body> body2, ! const JointAxis& axis1, const JointAxis& axis2 = JointAxis()); ! void AttachJoint(const JointAttach& ja); ! ! private: ! /** RosContextScope is a helper class that creates a new ! RosContext and destroys it when it goes ot ouf scope ! */ ! struct RosContextScope ! { ! public: ! RosContextScope(RosImporter* i) ! : importer(i) ! { ! importer->PushContext(); ! } ! ! ~RosContextScope() ! { ! importer->PopContext(); ! } ! ! protected: ! RosImporter* importer; ! }; ! ! /** RosJointScope is a helper class that creates a new joint scope ! and destroys it when it goes out of scope ! */ ! struct RosJointScope ! { ! RosJointScope(RosImporter* i) ! : importer(i) ! { ! importer->PushJointContext(); ! } ! ! ~RosJointScope() ! { ! importer->PopJointContext(); ! } ! ! protected: ! RosImporter* importer; ! }; protected: + /** reference to the parent node under wich the imported scene is + constructed + */ + boost::shared_ptr<oxygen::BaseNode> mSceneParent; + /** the last supplied fileName */ std::string mFileName; *************** *** 268,273 **** /** the static macro registry is shared across RosImporter instances ! */ static TMacroMap mMacroMap; }; --- 418,429 ---- /** the static macro registry is shared across RosImporter instances ! */ static TMacroMap mMacroMap; + + /** the stack of RosContext instances */ + TRosStack mStack; + + /* the stack of JointContext instances */ + TRosJointStack mJointStack; }; |
