simspark-cvs

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/spark/plugin/rosimporter
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24229

Modified Files:
	roselements.cpp roselements.h rosimporter.cpp rosimporter.h 
Log Message:
- implemented parsing of graphical representation within complex shapes,
still needs translation into our own TrimMesh class


Index: roselements.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/roselements.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** roselements.h	19 Feb 2006 14:16:58 -0000	1.3
--- roselements.h	22 Feb 2006 19:42:07 -0000	1.4
***************
*** 66,69 ****
--- 66,72 ----
  #define RA_INSTANCENAME "instanceName"
  
+ // ComplexShape
+ #define RA_VERTEXLIST "vertexList"
+ 
  class RosElements
  {
***************
*** 92,95 ****
--- 95,100 ----
              RE_VERTEXLIST,
              RE_VERTEX,
+             RE_GRAPHICALREPRESENTATION,
+             RE_POLYGON,
  
              RE_MACRO,

Index: roselements.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/roselements.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** roselements.cpp	19 Feb 2006 14:16:58 -0000	1.3
--- roselements.cpp	22 Feb 2006 19:42:07 -0000	1.4
***************
*** 66,69 ****
--- 66,71 ----
      ROS_DEFINE_ELEMENT(RE_VERTEXLIST,"VertexList");
      ROS_DEFINE_ELEMENT(RE_VERTEX,"Vertex");
+     ROS_DEFINE_ELEMENT(RE_GRAPHICALREPRESENTATION, "GraphicalRepresentation");
+     ROS_DEFINE_ELEMENT(RE_POLYGON,"Polygon");
  
      ROS_DEFINE_ELEMENT(RE_MACRO, "Macro");

Index: rosimporter.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** rosimporter.cpp	19 Feb 2006 15:04:01 -0000	1.7
--- rosimporter.cpp	22 Feb 2006 19:42:07 -0000	1.8
***************
*** 32,35 ****
--- 32,36 ----
  #include <oxygen/physicsserver/body.h>
  #include <oxygen/physicsserver/hingejoint.h>
+ #include <oxygen/geometryserver/trimesh.h>
  #include <kerosin/openglserver/glbase.h>
  #include <kerosin/materialserver/materialserver.h>
***************
*** 87,91 ****
  }
  
! bool RosImporter::ImportScene(const std::string& fileName,
                                      shared_ptr<BaseNode> parent,
                                      shared_ptr<ParameterList> parameter)
--- 88,92 ----
  }
  
! bool RosImporter::ImportScene(const string& fileName,
                                      shared_ptr<BaseNode> parent,
                                      shared_ptr<ParameterList> parameter)
***************
*** 111,115 ****
  }
  
! bool RosImporter::ParseScene(const std::string& scene,
                                     shared_ptr<BaseNode> parent,
                                     shared_ptr<ParameterList> parameter)
--- 112,116 ----
  }
  
! bool RosImporter::ParseScene(const string& scene,
                                     shared_ptr<BaseNode> parent,
                                     shared_ptr<ParameterList> parameter)
***************
*** 226,231 ****
  }
  
! bool RosImporter::ReadAttribute(TiXmlElement* element, const std::string& attribute,
!                                 std::string& value, bool succeedIfMissing)
  {
      if (element == 0)
--- 227,232 ----
  }
  
! bool RosImporter::ReadAttribute(TiXmlElement* element, const string& attribute,
!                                 string& value, bool succeedIfMissing)
  {
      if (element == 0)
***************
*** 250,254 ****
  }
  
! bool RosImporter::ReadAttribute(TiXmlElement* element, const std::string& attribute,
                                  double& value, bool succeedIfMissing)
  {
--- 251,255 ----
  }
  
! bool RosImporter::ReadAttribute(TiXmlElement* element, const string& attribute,
                                  double& value, bool succeedIfMissing)
  {
***************
*** 1185,1190 ****
--- 1186,1314 ----
      transform->SetName(name);
  
+     // TODO: read <Appearance> tag, does ist always 'ref' to the
+     // surrounding compley shape?
+ 
+     TriMesh mesh;
+     if (! ReadGraphicalRep(parent, element, mesh))
+         {
+             return false;
+         }
+ 
      GetLog()->Debug() << "(RosImporter) read complex shape " << name << "\n";
  
      return true;
  }
+ 
+ bool RosImporter::ReadGraphicalRep(shared_ptr<BaseNode> parent, TiXmlElement* element, TriMesh& mesh)
+ {
+     TiXmlElement* graphRepElem = GetFirstChild(element, RosElements::RE_GRAPHICALREPRESENTATION);
+     if (graphRepElem == 0)
+         {
+             string name = S_UNNAMED;
+             ReadAttribute(element, RA_NAME, name, true);
+ 
+             GetLog()->Error() << "(RosImporter) ERROR: missing graphical representation in "
+                               << GetXMLPath(element) << " name " << name << " \n";
+ 
+             return false;
+         }
+ 
+     string vertexListName;
+     if (! ReadAttribute(graphRepElem, RA_VERTEXLIST, vertexListName))
+         {
+             return false;
+         }
+ 
+     TVertexListMap::const_iterator iter = mVertexListMap.find(vertexListName);
+     if (iter == mVertexListMap.end())
+         {
+             string name;
+             ReadAttribute(element, RA_NAME, name, true);
+ 
+             GetLog()->Error() << "(RosImporter) ERROR: undefined vertex list " << vertexListName << " in "
+                               << GetXMLPath(element) << " name " << name << " \n";
+ 
+             return false;
+         }
+ 
+     const TVertexList& vertexList = (*iter).second;
+ 
+     TComplexGeomList geomList;
+     if (! ReadComplexElements(graphRepElem, geomList))
+         {
+             return false;
+         }
+ 
+     return true;
+ }
+ 
+ bool RosImporter::ReadComplexElements(TiXmlElement* element, TComplexGeomList& geomList)
+ {
+     // TODO: read TriangleStrips
+ 
+     for (
+          TiXmlNode* node = GetFirstChild(element, RosElements::RE_POLYGON);
+          node != 0;
+          node = element->IterateChildren(node)
+          )
+         {
+             TiXmlElement* element = static_cast<TiXmlElement*>(node);
+ 
+             RosElements::ERosElement type = GetType(element);
+             switch (type)
+                 {
+                 default:
+                     GetLog()->Error() << "(RosImporter::ReadComplexElements) ERROR: skipping unknown element "
+                                       << GetXMLPath(element) << "\n";
+                     break;
+ 
+                 case RosElements::RE_POLYGON:
+                     ComplexGeom geom(CG_Polygon);
+                     if (! ReadComplexGeom(element, geom))
+                         {
+                             return false;
+                         }
+ 
+                     GetLog()->Debug() << "(RosImporter) read polygon with " << geom.vertices.size() << " vertices\n";
+                     geomList.push_back(geom);
+                     break;
+                 }
+         }
+ 
+     return true;
+ }
+ 
+ bool RosImporter::ReadComplexGeom(TiXmlElement* element, ComplexGeom& geom)
+ {
+     for (
+          TiXmlNode* node = GetFirstChild(element, RosElements::RE_VERTEX);
+          node != 0;
+          node = element->IterateChildren(node)
+          )
+         {
+             TiXmlElement* element = static_cast<TiXmlElement*>(node);
+ 
+             RosElements::ERosElement type = GetType(element);
+             switch (type)
+                 {
+                 default:
+                     GetLog()->Error() << "(RosImporter::ReadComplexGeom) ERROR: skipping unknown element "
+                                       << GetXMLPath(element) << "\n";
+                     break;
+ 
+                 case RosElements::RE_VERTEX:
+                     {
+                         string ref;
+                         if (! ReadAttribute(element, RA_REF, ref))
+                             {
+                                 return false;
+                             }
+ 
+                         geom.vertices.push_back(ref);
+                         break;
+                     }
+                 }
+         }
+ 
+     return true;
+ }

Index: rosimporter.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** rosimporter.h	19 Feb 2006 15:04:01 -0000	1.6
--- rosimporter.h	22 Feb 2006 19:42:07 -0000	1.7
***************
*** 34,37 ****
--- 34,38 ----
      class ContactJointHandler;
      class Body;
+     class TriMesh;
  }
  
***************
*** 100,103 ****
--- 101,130 ----
      typedef std::map<std::string, TVertexList> TVertexListMap;
  
+     /** define a list of string references into a vertex list */
+     typedef std::list<std::string> TVertexRefList;
+ 
+     /** the possible types of complex geoms that make up a
+         ComplexShape
+     */
+     enum EComplexGeom
+         {
+             CG_None = 0,
+             CG_Polygon,
+             CG_TriangleStrip
+         };
+ 
+     struct ComplexGeom
+     {
+     public:
+         EComplexGeom type;
+         TVertexRefList vertices;
+ 
+     public:
+         ComplexGeom(EComplexGeom t = CG_None) : type(t) {}
+     };
+ 
+     /** defines a list of complex geoms */
+     typedef std::list<ComplexGeom> TComplexGeomList;
+ 
  public:
      RosImporter();
***************
*** 174,178 ****
      bool ReadVertexList(TiXmlElement* element);
      bool ReadComplexShape(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context);
! 
  
  protected:
--- 201,207 ----
      bool ReadVertexList(TiXmlElement* element);
      bool ReadComplexShape(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context);
!     bool ReadGraphicalRep(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, oxygen::TriMesh& mesh);
!     bool ReadComplexElements(TiXmlElement* element, TComplexGeomList& geomList);
!     bool ReadComplexGeom(TiXmlElement* element, ComplexGeom& geom);
  
  protected: