rubyscenegraph.cpp

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

  joint->setType( (TJoint)msg.m_Shape );

  for(unsigned i = 0; i < m_Nodes.size(); i++)
    if( m_Nodes[i]->getName() == msg.m_Name )
      joint->setParrent( m_Nodes[i] );

      
  if( msg.m_ParrentIndex >= 0 && (unsigned)msg.m_ParrentIndex < m_Nodes.size() )
    joint->setParrent( m_Nodes[msg.m_ParrentIndex] );

  if( joint->getParrent() != NULL && joint->getChild() != NULL )
    joint->calculateRelativePositions();

  m_Joints.push_back( joint );
  
  if( OpenGLEngine != NULL )
    OpenGLEngine->addObject( joint );

  return true;
}

/*! This method edits a joint from the recieved message
    \param msg Message to edit the joint from
    \return bool Indicating wheather update was successfull */
bool TRubySceneGraph::cmdEditJoint( TMessage msg )
{
  unsigned index = msg.m_Index;

  if( index < 0 || index >= m_Joints.size() )
  {
    cerr << "TRubySceneGraph::cmdEditJoint: Joint does not exist: '" << msg.m_Index << "'" << endl;
    return false;
  }

  if( msg.m_Command == CMD_JOINT_RETYPE )
  {
    m_Joints[ index ]->setType( (TJoint)msg.m_Shape );
    return true;
  }

  if( msg.m_Command == CMD_JOINT_REPARRENT )
  {
    if( msg.m_Name == "Unknown" )
    {
      m_Joints[index]->setParrent( NULL );
      return true;
    }

    for( unsigned i = 0; i < m_Nodes.size(); i++ )
      if( msg.m_Name == m_Nodes[i]->getName() )
      {
        m_Joints[index]->setParrent( m_Nodes[i] );
        
        return true;
      }

    cerr << "TRubySceneGraph::cmdEditJoint: Parrent specified does not exist: '" << msg.m_Name << "'" << endl;
    return false;
  }

  if( msg.m_Command == CMD_JOINT_RECHILD )
  {
    if( msg.m_Name == "Unknown" )
    {
      m_Joints[index]->setChild( NULL );
      return true;
    }

    for( unsigned i = 0; i < m_Nodes.size(); i++ )
      if( msg.m_Name == m_Nodes[i]->getName() )
      {
        m_Joints[index]->setChild( m_Nodes[i] );

        return true;
      }

    cerr << "TRubySceneGraph::cmdEditJoint: Child specified does not exist: '" << msg.m_Name << "'" << endl;
    return false;
  }

  if( msg.m_Command == CMD_JOINT_ANCHOR )
  {
    m_Joints[index]->setAnchor( msg.m_Position );
    return true;
  }
  
  if( msg.m_Command == CMD_JOINT_PERCEPTOR )
  {
    m_Joints[index]->setPerceptorName( msg.m_Name );
    return true;
  }
  
  if( msg.m_Command == CMD_JOINT_EFFECTOR )
  {
    m_Joints[index]->setEffectorName( msg.m_Name );
    return true;
  }
  
  if( msg.m_Command == CMD_JOINT_MOTOR )
  {
    if( msg.m_Number != 1 && msg.m_Number != 2 )
    {
      cerr << "TRubySceneGraph::cmdEditJoint: Unknown motor specified:" << msg.m_Number << endl;
      return false;
    }
    
    m_Joints[index]->setMaxMotorForce( msg.m_Number, (int)msg.m_Force );
    return true;
  }
  
  if( msg.m_Command == CMD_JOINT_AXIS )
  {
    if( msg.m_Number != 1 && msg.m_Number != 2 )
    {
      cerr << "TRubySceneGraph::cmdEditJoint: Unknown axis specified:" << msg.m_Number << endl;
      return false;
    }
    
    m_Joints[index]->setAxis( msg.m_Position, msg.m_Number );
    return true;
  }

  return false;
}

/*! This method clears the internal data of the scene */
void TRubySceneGraph::clearScene()
{
  unsigned i;

  if( OpenGLEngine != NULL )
    OpenGLEngine->clearScene();

  for( i = 0; i < m_Joints.size(); i++ )
    delete m_Joints[i];
  m_Joints.clear();

  for( i = 0; i < m_Nodes.size(); i++ )
    if( !m_Nodes[i]->getParrent() )
      delete m_Nodes[i];
  m_Nodes.clear();

  m_Changed = false;
  m_FileName = "";
}

/*! This method loads a scene into memory
    \param strFile File name that contains scene informtion
    \return bool Indicating wheather scene was imported successfully */
bool TRubySceneGraph::LoadScene( const char * strFile )
{
  bool bResult;
  clearScene();
  bResult = ParseMain( strFile );
  initializeRendering();

  if( bResult )
  {
    m_FileName = strFile;
    m_Changed = false;
  }
  
  return bResult;
}

void TRubySceneGraph::SaveScene( const char * strFileName )
{
  ofstream file(strFileName);
  if( !file )
    return;

  unsigned i = 0;
  for( i = 0; i < m_Nodes.size(); i++ )
    m_Nodes[i]->setNotSaved();
  for( i = 0; i < m_Joints.size(); i++ )
    m_Joints[i]->setNotSaved();

  file << ";\n;This file is generated by ZigoBot Designer\n;\n\n(RSG 0 1)\n\n(\n";

  for( unsigned i = 0; i < m_Nodes.size(); i++ )
    if( m_Nodes[i]->getParrent() == NULL )
      m_Nodes[i]->saveToStream( file, "  " );

  file << ")\n\n;End of file\n" << endl;
  file.close();

  m_FileName = strFileName;
  m_Changed = false;
}

/**
 *  This method adds all of the nodes of robot body to the OpenGL/MESA engine so
 *  that they can be viewed
 * @return indicating wheather all of the nodes were added successfully
 */
bool TRubySceneGraph::initializeRendering()
{
  if( OpenGLEngine == NULL )
    return false;

  OpenGLEngine->clearScene();

  for( unsigned i = 0; i < m_Nodes.size(); i++ )
    if( m_Nodes[i]->getParrent() == NULL )
      OpenGLEngine->addObject( m_Nodes[i] );

  for( unsigned i = 0; i < m_Joints.size(); i++ )
    OpenGLEngine->addObject( m_Joints[i] );

  return true;
}

/*! This method updates graph scene from the message recieved from the GTK Engine
    \param msg Data of the update
    \return bool indicating wheather update was successfull */
bool TRubySceneGraph::respondToCommand( TMessage msg )
{
  if( msg.m_Command == CMD_ILLEGAL )
    return false;

  unsigned index = msg.m_Index;
  bool bResult = false;
  
  if( msg.m_Command == CMD_NODE_CREATE )
    bResult = cmdAddNode( msg );
  else if( msg.m_Command == CMD_JOINT_CREATE )
    bResult = cmdAddJoint( msg );
  else if( msg.m_Command < CMD_NODE_MAX ) /// Nodes part
  {
    const TSceneNode *node = getNodeWithID( msg.m_Index, &index );
    if( node == NULL )
    {
      cerr << "TRubySceneGraph::respondToCommand: Unknown node recieved: '" << msg.m_Index << "'" << endl;
      return false;
    }   
    
    if( msg.m_Command == CMD_NODE_DELETE )
      bResult = cmdRemoveNode( index );
    else
      bResult = cmdEditNode( msg, index );
  }
  else /// Joint part
  {
    if( index < 0 || index >= m_Joints.size() )   /// Check for the joint to exist
    {
      cerr << "TRubySceneGraph::respondToCommand: Specified joint '" << msg.m_Index << "' doesn't exist" << endl;
      bResult = false;
    }
    else if( msg.m_Command == CMD_JOINT_DELETE )
      bResult = cmdRemoveJoint( index );
    else
      bResult = cmdEditJoint( msg );
  }

  if( bResult )
    m_Changed = true;

  return bResult;
}

/*! This method returns index of a node
    \param name Name of the node
    \return int Index of the node */
int TRubySceneGraph::getNodeIndex( string name ) const
{
  for( unsigned i = 0; i < m_Nodes.size(); i++ )
    if( m_Nodes[i]->getName() == name )
      return i;

  return -1;
}

/*! This method searches for a node named 'name'
    \return bool Indicating node exists or not */
bool TRubySceneGraph::nodeExists( string name ) const
{
  for( unsigned i = 0; i < m_Nodes.size(); i++ )
    if( m_Nodes[ i ]->getName() == name )
      return true;
  
  return false;
}

/*! This method returns the current nodes count
    \return Count of the nodes */
int TRubySceneGraph::getNodesCount() const
{
  return m_Nodes.size();
}

/*! This method returns the properties of the specified node
    \param number Node number
    \return TSceneNode* Porperties of the node */
TSceneNode* TRubySceneGraph::getNode( unsigned number ) const
{
  if( number < 0 || number >= m_Nodes.size() )
  {
    cerr << "TRubySceneGraph::getNode(): Wanted access to node #" << number;
    cerr << ", which is out of bounds (" << m_Nodes.size() << ")" << endl;
    return NULL;
  }

  return m_Nodes[ number ];
}

/**
 * This method returns a node which its ID is the one passed here
 * @param id ID of node to return
 * @return The node with desired global ID
 */
const TSceneNode * TRubySceneGraph::getNodeWithID( unsigned id, unsigned *index ) const
{
  if( index )
    *index = -1;

  for( unsigned i = 0; i < m_Nodes.size(); i++ )
    if( m_Nodes[i]->getID() == id )
    {
      if( index )
        *index = i;
      return m_Nodes[i];
    }
  
  return NULL;
}

/*! This method returns wheather specified joint exists or not
    \param number Number of the joint
    \return bool Whether joint existed */
bool TRubySceneGraph::jointExists( int number ) const
{
  for( unsigned i = 0; i < m_Joints.size(); i++ )
    if( m_Joints[ i ]->getNumber() == number )
      return true;

  return false;
}

/*! This method returns the current joints count
    \return Count of the joints */
int TRubySceneGraph::getJointCount() const
{
  return m_Joints.size();
}

/*! This method returns the properties of the specified joint
    \param number Joint number
    \return TSceneJoint Porperties of the joint */
const TSceneJoint * TRubySceneGraph::getJoint( unsigned number ) const
{
  if( number < 0 || number >= m_Joints.size() )
  {
    cerr << "TRubySceneGraph::getJoint(): Wanted access to joint #" << number;
    cerr << ", which is out of bounds (" << m_Joints.size() << ")" << endl;
    return NULL;
  }

  return m_Joints[number];
}

/*! This method gets wheather data has been changed or not
    \return bool Wheather data has been changed */
bool TRubySceneGraph::changed() const
{
  return m_Changed;
}

/*! This method returns the scene file name
    \return string Scene file name */
string TRubySceneGraph::getSceneName() const
{
  return m_FileName;
}

/*-----------------------------------------------------------------------------------*/
/*---------------------------  External Variables Decleration  ----------------------*/
/*-----------------------------------------------------------------------------------*/

TRubySceneGraph * RubySceneGraph;

void InitializeScene()
{
  RubySceneGraph = new TRubySceneGraph();
}

void FinalizeScene()
{
  delete RubySceneGraph;
  RubySceneGraph = NULL;
}