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3D仿真组实物机器人环境下的机器人模型的设计工具。可以查看和修改现有模型的详细参数

Hi (To whom which may read this)

For non-TC only:
  Introduction to this project and it's motives can be found in Zigorat Teams' web @:
    http://zigorat3d.googlepages.com/

For TC:
  First of all, sorry for the poor documentation, A quick info is below
  
  This project contains 4 major modules:

    * 1st GUI (uses GTK as base), used for editing and displaying properties, files are as follows: 
        - callbacks.c/h      : signal handlers are defined and implemented in these files (By Glade & my modifications)
        - interface.c/h      : Interface creation and window management (By Glade & modifications)
        - JointsTreeView.cpp : Code for the treeview which lists joints
        - NodesTreeView.cpp  : Code for the treeview which shows the nodes in a tree way
        - support.c/h        : GTK support routines (By Glade)
    
    * 2nd GUI (uses MESA as base ), used for visualizing the robot while editing,
        No user interaction support but moving the camera, files:
        - GraphicEngine.cpp/h : All opengl operations are included in these files
    
    * RubyScene Engine, used for interacting with soccer scenes    
        - Geometry.h/cpp: Support for all kinds of mathematic operations (also used in GraphicEngine.h/cpp)
        - Parse.h/cpp : Support modules for parsing a scene
        - SceneComponents.h/cpp : Scene properties are devided into nodes, joints, definitions(also evaluations), 
          and the hierarchy of interacting nodes within wach other; itself (itself, I mean the hierarchy). These
          files(SceneComponents.h/cpp) contain nodes, joints and definitions
        - RubySceneGraph.h/cpp: Main module of loading, using, editing and saving actions for the scene graph
        - SharedData : Some enumerations and routines to enable inter-thread communication
    
    * Main Module:
        - Threads.cpp : Thread starters
        - main.cpp :  :)

  A brief runtime timeline of application:
      First main.cpp creates 2 Threads: One for 1st GUI, other for 2nd GUI, and passes control to first GUI, then user
    can load, edit & save a scene.
    
    For inter-thread operations, mutexes could be used (to threadsafe the code), but they are NOT used, bexause of 2 reason:
      1st: All inter-thread operations are in just one category, all are only reading, or requests for write, which none needs
      thread-safe codes
      2nd: Mutexes created puts overload in operations when used interacingly between GTK & MESA
    
    Everything is stored in a TRubySceneGraph instance, declared and shared in RubySceneGraph.cpp. TRubySceneGraph is a
    container capable of using its containings, which are nodes and joints. 
    
Cheers

Zigorat Robotic Team (http://zigorat3d.googlepages.com)