scenecomponents.h

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.h : 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.h
<pre>
<b>File:</b>          SceneComponents.h
<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>
*/

#ifndef _SCENE_COMPONENTS_
#define _SCENE_COMPONENTS_


#include <iostream>
#include <string>
#include <deque>

using namespace std;

#include "GraphicEngine.h"
#include "SharedData.h"


const string NODE_TRANSFORM   = "Transform";
const string NODE_CCYLINDER   = "CCylinder";
const string NODE_BOX         = "Box";
const string NODE_AGENTASPECT = "AgentAspect";
const string NODE_SPACE       = "Space";
const string NODE_TOUCH       = "TouchPerceptor";
const string NODE_BOXCOLLIDER = "BoxCollider";
const string NODE_FIXED       = "FixedJoint";
const string NODE_HINGE       = "HingeJoint";
const string NODE_UNIVERSAL   = "UniversalJoint";
const string NODE_HINGE2      = "Hinge2Joint";

const string CMD_ROTATATION = "(setLocalRotation";
const string CMD_POSITION   = "(setLocalPos";
const string CMD_SCENE      = "(importScene";
const string CMD_PARAM      = "(setParams";
const string CMD_EXTENT     = "(setExtents";
const string CMD_MATERIAL   = "(setMaterial";

const string CMD_ATTACH = "(attach";
const string CMD_ANCHOR = "(setAnchor";
const string CMD_MOTOR = "(setMaxMotorForce";
const string CMD_NAME = "(setName";




const string PERCEPT_HINGE     = "HingePerceptor";
const string PERCEPT_HINGE2    = "Hinge2Perceptor";
const string PERCEPT_UNIVERSAL = "UniversalJointPerceptor";

const string EFFECTOR_HINGE     = "HingeEffector";
const string EFFECTOR_HINGE2    = "Hinge2Effector";
const string EFFECTOR_UNIVERSAL = "UniversalJointEffector";


/*******************************************************************************/
/***************************  Forward declerations  ****************************/
/*******************************************************************************/

class TGenericData;                       /*!, Forward decleration of TGenericData */
typedef TGenericData * PGenericData;      /*!< Introducing PGenericData :) */

class TSceneNode;                         /*!< Forward decleration of TSceneNode to be used in TNodeList */
typedef deque<TSceneNode*> TNodeList;     /*!< A deque of TSceneNodes as a list */

class TSceneJoint;                        /*!< Forward decleration of TSceneNode to be used in TJointList */
typedef deque<TSceneJoint*> TJointList;   /*!< A deque of TSceneJoints as a list */




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

/*! TGenericData is a class that enables to have a data with a
    variable data type, so that a data which is saved, can be
    accessed as different types */
class TGenericData
{
  protected:
    int       m_DataType;   /*!< Current type of the data stored in storage */
    string    m_DataName;   /*!< Name of the data stored */
    string    m_DataValue;  /*!< Value of the data */

  public:
              TGenericData                   (                                              );
              TGenericData                   ( const double & value                         );
              TGenericData                   ( const string & string                        );
              TGenericData                   ( const char * string                          );
    virtual ~ TGenericData                   (                                              );

              int             getDataType    (                                              ) const;
              string          getName        (                                              ) const;
              void            setName        ( const string & name                          );

              string          getAsString    (                                              ) const;
              double          getAsDouble    (                                              ) const;
              string          getValue       (                                              ) const;
              void            setValue       ( const string & value                         );
              void            setValue       ( const double & value                         );

              TGenericData &  operator =     ( const TGenericData & data                    );

              TGenericData    operator +     ( const TGenericData & data                    );
              TGenericData &  operator +=    ( const TGenericData & data                    );

              TGenericData    operator -     ( const TGenericData & data                    );
              TGenericData &  operator -=    ( const TGenericData & data                    );

              TGenericData    operator *     ( const TGenericData & data                    );
              TGenericData &  operator *=    ( const TGenericData & data                    );

              TGenericData    operator /     ( const TGenericData & data                    );
              TGenericData &  operator /=    ( const TGenericData & data                    );

    friend    ostream&        operator <<    ( ostream &os, const TGenericData & data       );
    friend    ostream&        operator <<    ( ostream &os, const TGenericData * data       );

              static double   getNumberFromString( const string & str                       );
};





/*******************************************************************************/
/*********************************  TSceneNode  ********************************/
/*******************************************************************************/

/*! Class TSceneNode is a component node of the robot model which holds its information, like
    for the thigh a box with proper length, height, width, material, etc. */
class TSceneNode : public TOpenGLObject
{
  protected:
                string      m_Name;           /*!< Name of the node        */
                string      m_NodeName;       /*!< Name of the node itself */
                TShape      m_Shape;          /*!< Shape of the node       */
                double      m_Length;         /*!< Length of the node      */
                double      m_Width;          /*!< Width of the node       */
                double      m_Height;         /*!< Height of the node      */
                double      m_Radius;         /*!< Radius of the node      */
                double      m_Mass;           /*!< Mass of the node        */
                TMaterial   m_Material;       /*!< Material of the node    */
                TNodeList   m_Children;       /*!< Children of this node   */
                TJointList  m_Joints;         /*!< Joints of the nodes     */
                TSceneNode* m_Parrent;        /*!< Parrent of this node    */
                unsigned    m_ID;             /*!< ID of this node         */
    static      unsigned    m_GlobalReference;/*!< Reference count of nodes*/
    mutable     bool        m_Saved;          /*!< Is node saved           */


                /// Parsing methods
                string      parseName               ( string & str                                  );
                VecPosition parseLocalRotation      ( string & str                                  );
                VecPosition parseNodePosition       ( string & str                                  );
                TMaterial   parseMaterial           ( string & str, unsigned & index                );
                bool        parseScene              ( string & str                                  );
                bool        parseBoxExtents         ( string & str                                  );
                bool        parseCylinderParams     ( string & str                                  );
                bool        parseBoxColliderNode    ( string & str                                  );
                bool        parseTouchPerceptor     ( string & str                                  );
                bool        parseInformation        ( string & str,
                                                      unsigned & index,
                                                      int & pran,
                                                      TNodeList & nodes,
                                                      TJointList & joints                           );

                bool         parseAgentAspectNode   ( string str, TSceneNode * parrent,
                                                      TNodeList & nodes,
                                                      TJointList & joints                           );
                bool         parseSpaceNode         ( string str, TSceneNode * parrent,
                                                      TNodeList & nodes,