scenecomponents.cpp

来自「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」· C++ 代码 · 共 2,568 行 · 第 1/5 页

  {
    cerr << "TSceneNode::parseCylinderNode: This is not a cylinder node information" << endl;
    return false;
  }

  index = 14;
  int pran = 1;

  if( !parseInformation( str, index, pran, nodes, joints ) )
  {
    cerr << "TSceneNode::parseCylinderNode: In parsing a cylinder node" << endl << endl;
    return false;
  }

  setShape( SHAPE_CAPSULE );

  bool bReturn = false;
  if( pran != 1 )
  {}
  else if( !initialized() )
  {
    for( unsigned k = 0; m_Children.size(); k++ )
    {
      for( unsigned j = 0; j < nodes.size(); j++ )
        if( nodes[j] == m_Children[k] )
          nodes.erase( nodes.begin() + j );
      delete m_Children[k];
    }
    m_Children.clear();

    unsigned jindex = index;
    Parse::eatMessage( str, jindex, pran );

    cerr << "TSceneNode::parseCylinderNode: Node is not inited: " << this << endl;
    cerr << "TSceneNode::parseCylinderNode: '" << str.substr( index - 15, jindex - (index - 15) + 1 ) << "'" << endl;
  }
  else
  {
    setNodeName( NODE_CCYLINDER );
    bReturn = true;
  }

  return bReturn;
  
  
  if( pran != 1 )
    return false;

  if( !initialized() )
  {
    cerr << "TSceneNode::parseCylinderNode: No cylinder taken out: " << this << endl;
    return false;
  }

  return true;
}

/**
 * This method parses a box node and adds it to the node list
 * @param str String that contains the box node
 * @param parrent Parrent of this node to use
 * @param nodes All the nodes that have been previously parsed
 * @param joints All the joints that havve been 
 * @return Indicates wheather any node was taken out or not
 */
bool TSceneNode::parseBoxNode( string & str, TSceneNode * parrent, TNodeList & nodes, TJointList & joints )
{
  unsigned index = 0;

  if( str.compare( index + 4, NODE_BOX.length(), NODE_BOX ) != 0 )
  {
    cerr << "TSceneNode::parseBoxNode: This is not a transform node" << endl;
    return false;
  }

  index += 8;
  int        pran = 1;

  if( !parseInformation( str, index, pran, nodes, joints ) )
  {
    cerr << "TSceneNode::parseBoxNode: In parsing a box node" << endl << endl;
    return false;
  }

  setShape( SHAPE_BOX );

  bool bReturn = false;
  if( pran != 1 )
  {}
  else if( !initialized() )
  {
    unsigned jindex = index;
    Parse::eatMessage( str, jindex, pran );
    
    clearChildren( nodes );
    cerr << "TSceneNode::parseBoxNode: Node is not inited: " << this << endl;
    cerr << "TSceneNode::parseBoxNode: '" << str.substr( index - 15, jindex - (index - 15) + 1 ) << "'" << endl;
  }
  else
  {
    setNodeName( NODE_BOX );
    bReturn = true;
  }

  return bReturn;
  
  
  if( pran != 1 )
    return false;

  if( !initialized() )
  {
    cerr << "TSceneNode::parseBoxNode: No box taken out: " << this << endl;
    return false;
  }

  return true;
}

/**
 * This method parses a transform node and adds it to the node list
 * @param str String that contains the box node
 * @param parrent Parrent of this node to use
 * @param nodes All the nodes that have been previously parsed
 * @param joints All the joints that havve been 
 * @return Indicates wheather any node was taken out or not
 */
bool TSceneNode::parseTransformNode( string str, TSceneNode * parrent, TNodeList & nodes, TJointList & joints )
{
  unsigned index = 0;

  if( str.compare( index + 4, NODE_TRANSFORM.length(), NODE_TRANSFORM ) != 0 )
  {
    cerr << "TSceneNode::parseTransformNode: This is not a transform node" << endl;
    return false;
  }

  index += 15;
  int pran = 1;

  if( !parseInformation( str, index, pran, nodes, joints ) )
  {
    cerr << "TSceneNode::parseTransformNode: In parsing a transform node" << endl << endl;
    return false;
  }

  bool bReturn = false;
  if( pran != 1 )
  {}
  else if( !initialized() )
  {
    unsigned jindex = index;
    Parse::eatMessage( str, jindex, pran );
    
    clearChildren( nodes );
    cerr << "TSceneNode::parseTransformNode: Node is not inited: " << this << endl;
    cerr << "TSceneNode::parseTransformNode: '" << str.substr( index - 15, jindex - (index - 15) + 1 ) << "'" << endl;
  }
  else
  {
    setNodeName( NODE_TRANSFORM );
    bReturn = true;
  }

  return bReturn;
}

/**
 * This method is responsible for updating the node
 * @return Indicates updates was successfull
 */
bool TSceneNode::update()
{
  return true;
}

/**
 * This method renders the node 
 * @return Indicates render was successfull
 */
bool TSceneNode::render()
{
  TOpenGLDrawing::changeDiffuseColor( m_DiffuseColor );
  if( m_Shape == SHAPE_CAPSULE )
    glTranslatef( m_Position.getX(), m_Position.getY(), m_Position.getZ() - m_Length / 2.0 );
  else
    glTranslatef( m_Position.getX(), m_Position.getY(), m_Position.getZ() );

  glRotatef( m_Direction.getZ(), 0, 0, 1 );
  glRotatef( m_Direction.getY(), 0, 1, 0 );
  glRotatef( m_Direction.getX(), 1, 0, 0 );

  if( m_Shape == SHAPE_SPHERE )
    TOpenGLDrawing::drawSphere( m_Radius );
  else if( m_Shape == SHAPE_BOX )
    TOpenGLDrawing::drawBox( m_Length, m_Width, m_Height );
  else if( m_Shape == SHAPE_CAPSULE )
  {
    e_Capsule.setDiffuseColor(m_DiffuseColor);
    e_Capsule.setTopRadius( m_Radius );
    e_Capsule.setBottomRadius( m_Radius );
    e_Capsule.setHeight( m_Length );
    e_Capsule.update();
    e_Capsule.render();
  }

  for( unsigned i = 0; i < m_Children.size(); i++ )
  {
    glPushMatrix();
    m_Children[i]->update();
    m_Children[i]->render();
    glPopMatrix();
  }

  return true;
}

/**
 * This method overrides the default position setter for this object to enable other nodes re-positioning
 * @param pos New Position to set for the object
 * @return 
 */
bool TSceneNode::setPosition( const VecPosition & pos )
{
  TOpenGLObject::setPosition( pos );
  rePosition( NULL );

  return true;
}

/**
 * This method returns ID of node to be used in calling nodes
 * Each node'd ID is unique so that nodes can be used individually
 * with it
 * @return Unique global id of node
 */
unsigned TSceneNode::getID() const
{
  return m_ID;
}

/**
 * This method returns the name of node
 * @return name of the node
 */
string TSceneNode::getName() const
{
  return m_Name;
}

/**
 * This method sets the name of node
 * @param name New name for the node
 */
void TSceneNode::setName( string name )
{
  m_Name = name;
}

/**
 * This method returns the name of node itself
 * @return name of the node itself
 */
string TSceneNode::getNodeName() const
{
  return m_NodeName;
}

/**
 * This method sets the name of node itself
 * @param name New name for the node itself
 */
void TSceneNode::setNodeName( string name )
{
  m_NodeName = name;
}

/**
 * This method returns the shape of node
 * @return TShape shape of node
 */           
TShape TSceneNode::getShape() const
{
  return m_Shape;
}

/**
 * This method sets the shape of node
 * @param shape Shape of the node
 */
void TSceneNode::setShape( TShape shape )
{
  m_Shape = shape;
}

/**
 * This method returns the length of node
 * @return double Length of node
 */
double TSceneNode::getLength() const
{
  return m_Length;
}

/**
 * This method sets the length of node
 * @param length Length of the node
 */
void TSceneNode::setLength( double length )
{
  m_Length = length;
}

/**
 * This method returns the width of node
 * @return double Width of node
 */
double TSceneNode::getWidth() const
{
  return m_Width;
}

/**
 * This method sets the width of node
 * @param width Width of the node
 */
void TSceneNode::setWidth( double width )
{
  m_Width = width;
}

/**
 * This method returns the height of node
 * @return double height of node
 */
double TSceneNode::getHeight() const
{
  return m_Height;
}

/**
 * This method sets the height of node
 * @param height Height of the node
 */
void TSceneNode::setHeight( double height )
{
  m_Height = height;
}

/**
 * This method returns the radius of node
 * @return double radius of node
 */
double TSceneNode::getRadius() const
{
  return m_Radius;
}

/**
 * This method sets the radius of node
 * @param radius Radius of the node
 */
void TSceneNode::setRadius( double radius )
{
  m_Radius = radius;
}

/**
 * This method returns the mass of node
 * @return mass of node
 */
double TSceneNode::getMass() const
{
  return m_Mass;
}

/**
 * This method sets the mass of node
 * @param mass mass of the node
 */
void TSceneNode::setMass( double mass )
{
  m_Mass = mass;
}

/**
 *  This method returns the material of node
 * @return material of node
 */
TMaterial TSceneNode::getMaterial() const
{
  return m_Material;
}

/**
 * This method sets material of node
 * @param material Material of the node
 */
void TSceneNode::setMaterial( TMaterial material )
{
  m_Material = material;
  m_DiffuseColor = getColorFromMaterial( m_Material );
}

/**
 * The method returns wheather node has been saved before or not,
 * this is used in joint that wants to attach the nodes in saving
 * the result to a scene file
 * @return Indicates that node has been saved before or not
 */
bool TSceneNode::isSaved() const
{
  return m_Saved;
}

/**
 * This method sets the internal memory of node about being saved to be cleared,
 *  and thats because the node and its joint can be saved 
 */
void TSceneNode::setNotSaved()
{
  m_Saved = false;
}

/**
 * This method resizes the node and moves the up and down other nodes
 */
void TSceneNode::resize()
{
}

/**
 * This method repositions the node and  moves the up and down nodes
 * @param caller Caller of the position
 */
void TSceneNode::rePosition( TSceneNode * caller )
{
  if( caller != NULL )
  {
    for( unsigned i = 0; i < m_Joints.size(); i++ )
      if( m_Joints[ i ]->getChild() == caller || m_Joints[ i ]->getParrent() == caller )
      {
        if( m_Joints[ i ]->getChild() == caller )
          m_Position = m_Joints[ i ]->getPosRelParrent() + m_Joints[ i ]->getPosRelChild() + caller->getPosition();
        else
          m_Position = caller->getPosition() - m_Joints[ i ]->getPosRelParrent() - m_Joints[ i ]->getPosRelChild();
        
        m_Joints[ i ]->setPosition( ( m_Joints[ i ]->getChild()->getPosition() + m_Joints[ i ]->getParrent()->getPosition() ) / 2.0 );
      }
  }

  for( unsigned i = 0; i < m_Joints.size(); i++ )
    if( m_Joints[ i ]->getChild() != caller && m_Joints[ i ]->getParrent() != caller )
    {
      if( m_Joints[ i ]->getChild() == this )
        m_Joints[ i ]->getParrent()->rePosition( this );
      else
        m_Joints[ i ]->getChild()->rePosition( this );
    }
}

/**
 * This method adds a joint to node
 * @param joint Joint to be added to node
 */
void TSceneNode::addJoint( TSceneJoint * joint )
{
  if( joint == NULL )
    return;

  for( unsigned i = 0; i < m_Joints.size(); i++ )
    if( m_Joints[ i ] == joint )
      return;

  m_Joints.push_back( joint );
}

/**
 * This method removes a joint from node
 * @param joint Joint reference to remove
 * @return Indicating joint was removed
 */
bool TSceneNode::removeJoint( TSceneJoint * joint )
{
  bool bFound = false;
  for( unsigned i = 0; i < m_Joints.size(); i++ )
    if( m_Joints[i] == joint )
    {
      m_Joints.erase( m_Joints.begin() + i );
      bFound = true;
      i--;
    }

  return bFound;
}

/**
 * This checks wheather the node is intialized enough to be added to nodes or not
 * @return Initialization status of node
 */
bool TSceneNode::initialized() const
{
  for( unsigned i = 0; i < m_Children.size(); i++ )
    if( m_Children[i]->initialized() )
      return true;

  if( m_Shape == SHAPE_ILLEGAL || m_Position == UnknownPosition || m_Material == MAT_ILLEGAL )
    return false;
  else
    return true;
}


/**