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

  index1 = child.rfind( "/" );
  if( index1 == child.npos || index1 == 0 )
  {
    cerr << "TSceneJoint::parseAttach: Could not get child name (1): index1 = " << index1 << endl;
    return false;
  }

  index2 = child.rfind( "/", index1 - 1 );
  if( index2 == child.npos )
    index2 = 0;

  child = child.substr( index2 + 1, index1 - index2 - 1 );

  /// Get into action
  if( self == ".." && child == ".." )
  {
    cerr << "TSceneJoint::parseAttach: Child is the node itslef; could not continue" << endl;
    return false;
  }

  if( self == ".." )
    setParrent( parrent );
  else
    for( index = 0; index < list.size(); index++ )
      if( list[index]->getName() == self )
      {
        setParrent( list[index] );
        break;
      }

  if( getParrent() == NULL )
  {
    cerr << "TSceneJoint::parseAttach: Could not get any parrent with name: '" << self << "'" << endl;
    return false;
  }

  if( child == ".." )
    setChild( parrent );
  else
    for( index = 0; index < list.size(); index++ )
      if( list[index]->getName() == child )
      {
        setChild( list[index] );
        break;
      }

  if( getChild() == NULL )
  {
    cerr << "TSceneJoint::parseAttach: Could not get any child with name: '" << child << "'" << endl;
    return false;
  }

  return true;
}

/**
 * This method parses an anchor for joints. An anchor is the point that actually two
 * objects stick together in and move around that area
 * @param str String that contains the anchor value
 * @return Indicates that the anchor was parsed successfully
 */
bool TSceneJoint::parseAnchor( string & str )
{
  unsigned index = 0;
  if( str.compare( 0, CMD_ANCHOR.length(), CMD_ANCHOR ) != 0 )
  {
    cerr << "TSceneJoint::parseAnchor: This is not a setAnchor command" << endl;
    return false;
  }

  index = CMD_ANCHOR.length();
  VecPosition pos;
  if( (pos = TSceneNode::parsePositions( str, index ) ) == UnknownPosition )
    return false;

  setAnchor( pos );
  return true;
}

/**
 * This method parses axis information for joints, axis is the line that joint makes
 * the nodes rotate along
 * @param str String that contains axis information
 * @param joint joint instance to copy data to
 * @return Indicates that parse was successfull
 */
bool TSceneJoint::parseAxis( string & str )
{
  if( str.compare( 0, 8, "(setAxis" ) != 0 )
  {
    cerr << "TSceneJoint::parseAxis: This is not a setAxis command" << endl;
    return false;
  }

  unsigned index_start = 9;
  int motor = 1;
  if( str.compare( 0, 9, "(setAxis2" ) == 0 )
    motor = 2;
  else if( str.compare( 0, 9, "(setAxis " ) == 0 )
    index_start = 8;

  if( motor == 2 && getType() != JOINT_UNIVERSAL )
  {
    cerr << "TSceneJoint::parseAxis: Attempted to set second axis for non universal joint" << endl;
    return false;
  }

  if( getType() == JOINT_FIXED )
  {
    cerr << "TSceneJoint::parseAxis: Attempted to set axis for a fixed joint" << endl;
    return false;
  }

  string token;
  unsigned index = index_start;
  VecPosition axis;
  if( !Parse::getToken( str, index, token ) )
    return false;

  if( !Parse::gotoFirstParsableModule( str, index ) )
  {
    index = index_start;
    Parse::getToken( str, index, token );

    if( token == "0" )
      axis = VecPosition( 1, 0, 0 );
    else if( token == "1" )
      axis = VecPosition( 0, 1, 0 );
    else if( token == "2" )
      axis = VecPosition( 0, 0, 1 );
    else
    {
      cerr << "TSceneJoint::parseAxis: Attempted to set axis value more than 2" << endl;
      return false;
    }
  }
  else
  {
    index = index_start;
    axis = TSceneNode::parsePositions( str, index );
    if( axis == UnknownPosition )
      return false;
  }

  setAxis( axis, motor );
  return true;
}

/**
 * This method parses maximum motor force afrom the string given and copies it to the joint specified
 * @param str String that contains the motor force information
 * @param joint Joint to copy the information to
 * @return Indicates that the parse process was successfull
 */
bool TSceneJoint::parseMotorForce( string & str )
{
  unsigned index = 0;
  if( str.compare( 0, CMD_MOTOR.length(), CMD_MOTOR ) != 0 )
  {
    cerr << "TSceneJoint::parseMotorForce: This is not a setMaxMotorForce command" << endl;
    return false;
  }

  index = 17;
  string motor, force;

  if( !Parse::getToken( str, index, motor ) )
    return false;

  if( !Parse::getToken( str, index, force ) )
    return false;

  double m = TGenericData::getNumberFromString( motor );
  double f = TGenericData::getNumberFromString( force );

  if( f < 0 )
  {
    cerr << "TSceneJoint::parseMotorForce: Force is less than zero" << endl;
    return false;
  }

  if( m != 0 && getType() == JOINT_HINGE )
  {
    cerr << "TSceneJoint::parseMotorForce: Joint is hinge but motor # is not 0" << endl;
    return false;
  }
  
  if( m != 0 && m != 1 && getType() == JOINT_UNIVERSAL )
  {
    cerr << "TSceneJoint::parseMotorForce: Joint is universal but motor # is not 0 or 1" << endl;
    return false;
  }
  
  if( getType() == JOINT_FIXED )
  {
    cerr << "TSceneJoint::parseMotorForce: Joint is fixed and want to put a motor for it" << endl;
    return false;
  }

  if( getType() == JOINT_HINGE2 )
    setMaxMotorForce( f, 0 );
  else
    setMaxMotorForce( f, (int)m + 1 );
  return true;
}

/**
 * This method asssign a unique number to joints so that they can be accessed via it
 */
void TSceneJoint::assignNumber( TJointList & joints )
{
  if( joints.size() == 0 )
  {
    setNumber( 1 );
    return;
  }

  bool done = false;
  int number = 0;
  while( !done )
  {
    number++;
    done = true;
    for( unsigned i = 0; i < joints.size(); i++ )
      if( number == joints[i]->getNumber() )
      {
        done = false;
        break;
      }

    if( done )
      setNumber( number );
  }
}

void TSceneJoint::saveInformation( ostream & os, string strGap, TSceneNode* thisNode )
{
  //""
}


/**
 * This method updates joint for a render
 * @return Indicates that joint is updated successfully
 */
bool TSceneJoint::update()
{
  return true;
}

/**
 * This method renders the joint on screen
 * @return Indicates that joint has rendered itself successfully
 */
bool TSceneJoint::render()
{
  if( m_Renderable )
    TOpenGLSphere::render();

  return true;
}

/**
 * This method returns the type of joint
 * @return type of the joint
 */
TJoint TSceneJoint::getType() const
{
  return m_Joint;
}

/**
 * This method sets the type of the joint
 * @param joint type of the joint
 */
void TSceneJoint::setType( TJoint joint )
{
  m_Joint = joint;
}

/**
 * This method returns the axis of joint
 * @param number information of the joint
 * @return Vectors of the joint axises
 */
VecPosition TSceneJoint::getAxis( int number ) const
{
  return m_Axis[ number - 1 ];
}

/**
 * This method sets the axis of the joint
 * @param axis New value of the axis of joint
 * @param number motor number of the joint
 */
void TSceneJoint::setAxis( VecPosition axis, int number )
{
  m_Axis[number - 1] = axis;
}

/**
 * This method returns the anchor of joint
 * @return anchor value of the joint
 */
VecPosition TSceneJoint::getAnchor() const
{
  return m_Anchor;
}

/**
 * This method sets the of the joint
 * @param anchor New anchor value of the joint
 */
void TSceneJoint::setAnchor( VecPosition anchor )
{
  m_Anchor = anchor;
}

/**
 * This method returns the maximum motor of joint
 * @param number The motor number of the joint
 * @return Maximum motor force joint
 */
double TSceneJoint::getMaxMotorForce( int number ) const
{
  return m_MaxMotorForce[ number - 1 ];
}

/**
 * This method sets the maximum motor force of the joint
 * @param max_force Maximum motor force of the joint
 * @param number Motor number to change the value
 */
void TSceneJoint::setMaxMotorForce( double max_force, int number )
{
  m_MaxMotorForce[number - 1] = max_force;
}

/**
 * This method returns the effector of joint
 * @return Effector name of the joint
 */
string TSceneJoint::getEffectorName() const
{
  return m_EffectorName;
}

/**
 * This method sets the effector name of the joint
 * @param name effector name of the joint
 */
void TSceneJoint::setEffectorName( string name )
{
  m_EffectorName = name;
}

/**
 * This method returns the perceptor name of joint
 * @return Perceptor name of the joint
 */
string TSceneJoint::getPerceptorName() const
{
  return m_PercetorName;
}

/**
 * This method sets the of the joint
 * @param name perceptor name of the joint
 */
void TSceneJoint::setPerceptorName( string name )
{
  m_PercetorName = name;
}

/**
 *  This method returns the relative position of the joint to
 *  the parrent of the joint
 * @return VecPosition Relative psoition of the parrent to the joint
 */
VecPosition TSceneJoint::getPosRelParrent() const
{
  return m_PosRelParrent;
}

/**
 * This method sets the position of the joint relative to its parrent
 * @param pos Position of the joint relative to its parrent
 */
void TSceneJoint::setPosRelParrent( VecPosition pos )
{
  m_PosRelParrent = pos;
}

/**
 * This method returns the relative position of the joint to the child of the joint
 * @return Relative psoition of the child to the joint
 */
VecPosition TSceneJoint::getPosRelChild() const
{
  return m_PosRelChild;
}

/**
 * This method sets the position of the joint relative to its child
 * @param pos Position of the joint relative to its child
 */
void TSceneJoint::setPosRelChild( VecPosition pos )
{
  m_PosRelChild = pos;
}

/**
 * This method returns the parrent of the joint
 * @return Parrent of the joint
 */
TSceneNode * TSceneJoint::getParrent() const
{
  return m_Parrent;
}

/**
 * This method sets the parrent of the joint
 * @param parrent Parrent of the joint
 */
void TSceneJoint::setParrent( TSceneNode * parrent )
{
  if( m_Parrent != NULL )
    m_Parrent->removeJoint( this );

  m_Parrent = parrent;

  if( m_Parrent )
    parrent->addJoint( this );
}

/**
 * This method returns the child of the joint
 * @return Child of the joint
 */
TSceneNode * TSceneJoint::getChild() const
{
  return m_Child;
}

/**
 * This method sets the child of the joint
 * @param child Child of the joint
 */
void TSceneJoint::setChild( TSceneNode * child )
{
  if( m_Child != NULL )
    m_Child->removeJoint( this );

  m_Child = child;

  if( m_Child )
    m_Child->addJoint( this );

  calculateRelativePositions();
}

/**
 * This method returns wether the joint can 
 * be rendered at this time or not
 * @return Render status of joint
 */
bool TSceneJoint::isRenderable() const
{
  return m_Renderable;
}

/**
 * This methos sets a joint to be able to render itself or not
 * @param renderable Sets wether joint can render itself or not
 */
void TSceneJoint::setRenderable( bool renderable )
{
  m_Renderable = renderable;
}

/**
 * This method returns the number of joint, the identifier
 * @return int Number of the joint
 */
int TSceneJoint::getNumber() const
{
  return m_Number;
}

/**
 * This method sets the number of the joint (The identifier)
 * @param num Number of the joint
 */
void TSceneJoint::setNumber(int num)
{
  m_Number = num;
}

bool TSceneJoint::isSaved() const
{
  return m_Saved;
}

void TSceneJoint::setNotSaved()
{
  m_Saved = false;
}



/**
 *  This method determines where is the actual joint positio