scenecomponents.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

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*   SceneComponents.cpp : Robocup Soccer Simulator Developement Team: Zigorat   *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Research Coordinator: Amin Mohammadi                                         *
*  Comments: Representors of scene nodes & joints                               *
*                                                                               *
*********************************************************************************
*/

/*! \file SceneComponents.cpp
<pre>
<b>File:</b>          SceneComponents.cpp
<b>Project:</b>       Robocup Soccer Simulator Developement Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi, Amin Mohammadi
<b>Created:</b>       12/02/2001
<b>Last Revision:</b> $ID$
<b>Contents:</b>      Representors of scene nodes & joints
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
07/08/2007       Mahdi Hamdarsi       Initial version created
</pre>
*/


#include "SceneComponents.h"

#include <cstdlib>
#include "Parse.h"

#include "GraphicEngine.h"
extern TOpenGLEngine * OpenGLEngine;




unsigned TSceneNode::m_GlobalReference; /*!< Declare the static m_GlobalReference of TSceneNode */

const bool bStrict = true;

// #define VERBOSE /*!< To print some logs on screen*/



TRGBA getColorFromMaterial( TMaterial mat )
{
  switch( mat )
  {
    case MAT_BLUE:
      return COLOR_BLUE;

    case MAT_DARKGREY:
      return COLOR_DARK_GREY;

    case MAT_GREEN:
      return COLOR_GREEN;

    case MAT_GREY:
      return COLOR_LIGHT_GREY;

    case MAT_RED:
      return COLOR_RED;

    case MAT_WHITE:
      return COLOR_WHITE;

    case MAT_YELLOW:
      return COLOR_YELLOW;

    default:
      break;
  }
  
  return COLOR_BLACK;
}

/*******************************************************************************/
/*******************************  TGenericData  ********************************/
/*******************************************************************************/

/**
 * This is the constructor of TGenericData, initializes the internals
 */
TGenericData::TGenericData()
{
  m_DataType = DT_ILLEGAL;
}

/**
 * This is the constructor of TGenericData, initializes the internals
 * @param value value to initialize tha data with
 */
TGenericData::TGenericData( const double & value )
{
  setValue( value );
}

/**
 * This is the constructor of TGenericData, initializes the internals
 * @param value value to initialize tha data with
 */
TGenericData::TGenericData( const string & value )
{
  setValue( value );
}

/**
 * This is the constructor of TGenericData, initializes the internals
 * @param value value to initialize tha data with
 */
TGenericData::TGenericData( const char * value )
{
  setValue( string(value) );
}

/**
 * This is the destructor of TGenericData, deinitializes the storage
 */
TGenericData::~TGenericData()
{
}

/**
 * This method returns the type of data currently residing in storage
 * @return type of the current data
 */
int TGenericData::getDataType() const
{
  return m_DataType;
}

/**
 * This method returns the name of the data stored
 * @return The name of the data stored
 */
string TGenericData::getName() const
{
  return m_DataName;
}

/**
 * This method sets the name of the data stored in storage
 * @param name The name of the data stored in storage
 */
void TGenericData::setName( const string & name )
{
  m_DataName = name;
}

/**
 * This method returns the value of the data stored as a string
 * @return Value of the data
 */
string TGenericData::getAsString() const
{
  return m_DataValue;
}

/**
 * This method sets the value of data as a double
 * @return Value of the data
 */
double TGenericData::getAsDouble() const
{
  return getNumberFromString( m_DataValue );
}

/**
 * This method returns the value of data, this is renamed copy of getAsString() function
 * @return Value of the data
 */
string TGenericData::getValue() const
{
  return m_DataValue;
}

/**
 * This method sets the value of data stored to the given one
 * @param value New value for the data
 */
void TGenericData::setValue( const string & value )
{                        
  m_DataValue = value;
  m_DataType = DT_STRING;
}

/**
 * This method sets the value of data to the given one
 * @param value New value for data
 */
void TGenericData::setValue( const double & value )
{
  char s[128];
  sprintf( s, "%f", value );
  m_DataValue = s;
  m_DataType = DT_NUMBER;
}

/**
 * This operator copies the information on paramter instance given to this instance
 * @param data Data to be copied on self
 * @return TGenericData instance to allow furthor copies
 */
TGenericData & TGenericData::operator = ( const TGenericData & data )
{
  setName( data.getName() );
  setValue( data.getValue() );

  return (*this);
}

/**
 * This method calculates the sum of the value of another storage to this storage and returns self
 * @param data Data for the sum to be calculated to current storage
 * @return current stoage to enable other uses
 */
TGenericData TGenericData::operator + ( const TGenericData & data )
{
  TGenericData result = *this;

  if( data.getDataType() == DT_STRING )
    result.setValue( m_DataValue + data.getValue() );
  else if( data.getDataType() == DT_NUMBER )
    result.setValue( getAsDouble() + data.getAsDouble() );

  return result;
}

/**
 * This method adds the value of another storage to this storage and returns self
 * @param data Data to be added to current storage
 * @return current stoage to enable other uses
 */
TGenericData & TGenericData::operator += ( const TGenericData & data )
{
  (*this) = (*this) + data;

  return (*this);
}

/**
 * This method calculates the subtract of the value of another storage to this storage and returns self
 * @param data Data for the sum to be calculated to current storage
 * @return current stoage to enable other uses
 */
TGenericData TGenericData::operator - ( const TGenericData & data )
{
  TGenericData result = (*this);

  if( data.getDataType() != DT_NUMBER )
    result.setValue( 0 );
  else
    result.setValue( getAsDouble() - data.getAsDouble() );

  return result;
}

/**
 * This method subtracts the value of another storage to this storage and returns self
 * @param data Data to be added to current storage
 * @return current stoage to enable other uses
 */
TGenericData & TGenericData::operator -= ( const TGenericData & data )
{
  (*this) = (*this) - data;

  return (*this);
}

/**
 * This method calculates the multiply of the value of another storage to this storage and returns self
 * @param data Data for the sum to be calculated to current storage
 * @return current stoage to enable other uses
 */
TGenericData TGenericData::operator * ( const TGenericData & data )
{
  TGenericData result = (*this);

  if( data.getDataType() != DT_NUMBER )
    result.setValue( 0 );
  else
    result.setValue( getAsDouble() * data.getAsDouble() );

  return result;
}

/**
 * This method multiplies the value of another storage to this storage and returns self
 * @param data Data to be added to current storage
 * @return current stoage to enable other uses
 */
TGenericData & TGenericData::operator *= ( const TGenericData & data )
{
  (*this) = (*this) * data;

  return (*this);
}

/**
 * This method calculates the division of the value of another storage to this storage and returns self
 * @param data Data for the sum to be calculated to current storage
 * @return current stoage to enable other uses
 */
TGenericData TGenericData::operator / ( const TGenericData & data )
{
  TGenericData result = (*this);

  if( data.getDataType() != DT_NUMBER )
    result.setValue( 0 );
  else
    result.setValue( getAsDouble() / data.getAsDouble() );

  return result;
}

/**
 * This method divides the value of another storage to this storage and returns self
 * @param data Data to be added to current storage
 * @return current stoage to enable other uses
 */
TGenericData & TGenericData::operator /= ( const TGenericData & data )
{
  (*this) = (*this) / data;

  return (*this);
}

/**
 * Overloaded version of the C++ output operator for TGenericDatas.
 * This operator makes it possible to use TGenericDatas in output
 * statements (e.g.  cout << data). The data name and values are
 * printed in the format '(name,value)'.
 * @param os Output stream which data is being printed
 * @param data Data which is being printed
 * @return Output stream instance to allow furthor prints
 */
ostream& operator <<( ostream &os, const TGenericData & data )
{
  return ( os << "( '" << data.getName() << "', " << data.getValue() << " )" );
}

/**
 * Overloaded version of the C++ output operator for TGenericDatas.
 * This operator makes it possible to use TGenericDatas in output
 * statements (e.g.  cout << data). The data name and values are
 * printed in the format '(name,value)'.
 * @param os Output stream which data is being printed
 * @param data Pointer to data which is being printed
 * @return Output stream instance to allow furthor prints
 */
ostream& operator <<( ostream &os, const TGenericData * data )
{
  return ( os << (*data) );
}

/**
 * This method returns number which resides in the string given
 * @param str string that contains the number
 * @return The number within the string
 */
double TGenericData::getNumberFromString( const string & str )
{
  char s[128], *p;
  strcpy( s, str.c_str() );
  p = s;

  return Parse::parseFirstDouble( &p );
}












/*********************************************************************************************/
/*************************************  Class TSceneNode  **************************************/
/*********************************************************************************************/

/**
 * This is the constructor of the TSceneNode wich initializes the internals with
 * default parameters
 * @return 
 */
TSceneNode::TSceneNode()
{
  m_Shape     = SHAPE_ILLEGAL;
  m_Material  = MAT_GREY;
  m_Name      = "";
  m_Mass      = 1;
  m_Radius    = 1;
  m_Length    = 1;
  m_Width     = 1;
  m_Height    = 1;
  m_Parrent   = NULL;
  m_Saved     = false;
  
  m_GlobalReference++;
  m_ID = m_GlobalReference;
}

/**
 * This is the destructor of TSceneJoint
 */
TSceneNode::~TSceneNode()
{
  m_Children.clear();
}


/**
 * This method parses a name from the supplied string
 * @param str String to get out the name
 * @return 
 */
string TSceneNode::parseName( string & str )
{
  if( str.compare( 0, CMD_NAME.length(), CMD_NAME ) != 0 )
  {
    cerr << "TSceneNode::parseName: This is not a setName command" << endl;
    return "";
  }

  unsigned index = CMD_NAME.length();
  string token;
  if( !Parse::getToken( str, index, token ) )
    return "";
  else
    return token;
}

/**
 * This method parses local rotation of the node
 * @param str String containing the local rotation information
 * @return Vetor containing local rotation
 */
VecPosition TSceneNode::parseLocalRotation( string & str )
{
  unsigned index = 0;
  if( str.compare( 0, CMD_ROTATATION.length(), CMD_ROTATATION ) != 0 )
  {
    cerr << "TSceneNode::parseLocalRotation: This is not a setLocalRotation command" << endl;
    return UnknownPosition;
  }

  index = 18;
  return parsePositions( str, index );
}

/**
 * This method parses position of node
 * @param str String containing position of node
 * @return Position of the node
 */
VecPosition TSceneNode::parseNodePosition( string & str )
{
  unsigned index = 0;
  if( str.compare( 0, CMD_POSITION.length(), CMD_POSITION ) != 0 )
  {
    cerr << "TSceneNode::parseNodePosition: This is not a setLocalPos command" << endl;
    return UnknownPosition;
  }

  index = 13;
  return parsePositions( str, index );
}

/**
 * This method returns material type parsed from the given string
 * @param str String that contains material information
 * @param index current position of string
 * @return Material residing in the string
 */
TMaterial TSceneNode::parseMaterial( string & str, unsigned & index )
{
  string token;
  if( !Parse::getToken( str, index, token ) )
    return MAT_ILLEGAL;

  if( token.compare( 0, 6, "matRed" ) == 0 )
    return MAT_RED;
  else if( token.compare( 0, 7, "matBlue" ) == 0 )
    return MAT_BLUE;
  else if( token.compare( 0, 7, "matWhite" ) == 0 )
    return MAT_WHITE;
  else if( token.compare( 0, 8, "matGreen" ) == 0 )
    return MAT_GREEN;
  else if( token.compare( 0, 7, "matGrey" ) == 0 )
    return MAT_GREY;
  else if( token.compare( 0, 11, "matDarkGrey" ) == 0 )
    return MAT_DARKGREY;
  else if( token.compare( 0, 8, "matWhite" ) == 0 )
    return MAT_WHITE;
  else if( token.compare( 0, 9, "matYellow" ) == 0 )
    return MAT_YELLOW;
  else
  {
    cerr << "TSceneNode::parseMaterial: parsed unknown material: '" << token << "'" << endl;
    return MAT_ILLEGAL;
  }
}

/**
 * This method parses the string given and takes out the material of node,