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

                                                      TJointList & joints                           );
                bool         parseCylinderNode      ( string str, TSceneNode * parrent,
                                                      TNodeList & nodes,
                                                      TJointList & joints                           );
                bool         parseBoxNode           ( string & str, TSceneNode * parrent,
                                                      TNodeList & nodes,
                                                      TJointList & joints                           );
                bool         parseTransformNode     ( string str, TSceneNode * parrent,
                                                      TNodeList & nodes,
                                                      TJointList & joints                           );

                /// Methods that deal with saving the node
                void         saveInformation        ( ostream & os, string strGap                   ) const;


  public:
                TSceneNode                          (                                               );
              ~ TSceneNode                          (                                               );

    virtual     bool         update                 (                                               );
    virtual     bool         render                 (                                               );

    virtual     bool         setPosition            ( const VecPosition & pos                       );

                unsigned     getID                  (                                               ) const;

                void         resize                 (                                               );
                void         rePosition             ( TSceneNode * caller_node = NULL               );

                string       getName                (                                               ) const;
                void         setName                ( string name                                   );

                string       getNodeName            (                                               ) const;
                void         setNodeName            ( string name                                   );

                TShape       getShape               (                                               ) const;
                void         setShape               ( TShape shape                                  );

                double       getLength              (                                               ) const;
                void         setLength              ( double length                                 );

                double       getWidth               (                                               ) const;
                void         setWidth               ( double width                                  );

                double       getHeight              (                                               ) const;
                void         setHeight              ( double height                                 );

                double       getRadius              (                                               ) const;
                void         setRadius              ( double radius                                 );

                double       getMass                (                                               ) const;
                void         setMass                ( double mass                                   );

                TMaterial    getMaterial            (                                               ) const;
                void         setMaterial            ( TMaterial material                            );

                bool         isSaved                (                                               ) const;
                void         setNotSaved            (                                               );
            
                void         addJoint               ( TSceneJoint * joint                           );
                bool         removeJoint            ( TSceneJoint * joint                           );

                bool         initialized            (                                               ) const;
     static     VecPosition  parsePositions         ( string & str, unsigned & index                );
                bool         parseAndLoad           ( string str, TSceneNode * parrent,
                                                      TNodeList & nodes,
                                                      TJointList & joints                           );

                void         queryNodes             ( TNodeList & nodes                             );
                void         queryJoints            ( TJointList & joints                           );


                TSceneNode * getParrent             (                                               ) const;
                void         setParrent             ( TSceneNode * parrent                          );

                void         addChild               ( TSceneNode * child                            );
                void         clearChildren          ( TNodeList & nodes                             );
                void         removeChild            ( TNodeList & list, TSceneNode * child          );
                void         eraseChild             ( TSceneNode * child                            );

                void         saveToStream           ( ostream & os, string strGap                   ) const;

    friend      ostream &    operator <<            ( ostream &os, const TSceneNode & data          );
    friend      ostream &    operator <<            ( ostream &os, const TSceneNode * data          );
                ostream &    show                   ( ostream & os = cout                           ) const;
};



/*******************************************************************************/
/********************************  TSceneJoint  ********************************/
/*******************************************************************************/

/*! TJoint is a representation of a joint of a robot */
class TSceneJoint : public TOpenGLSphere
{
  protected:
            TJoint       m_Joint;                 /*!< This is the type of the joint*/
            VecPosition  m_Axis[2];               /*!< This is the axises of the motors */
            VecPosition  m_Anchor;                /*!< This is the anchor the joint */
            double       m_MaxMotorForce[2];      /*!< These are the maximum motor force*/
            string       m_EffectorName;          /*!< This is the effector name of the motor */
            string       m_PercetorName;          /*!< This is the perceptor name of the motor */
            VecPosition  m_PosRelParrent;         /*!< Position relative to the parrent */
            VecPosition  m_PosRelChild;           /*!< Position relative to the child */
            TSceneNode*  m_Parrent;               /*!< Parrent of the joint */
            TSceneNode*  m_Child;                 /*!< Child of the joint */
            int          m_Number;                /*!< Number of the joint */
    mutable bool         m_Saved;                 /*!< Is this joint saved before */
            bool         m_Renderable;            /*!< Can the joint be rendered */



            bool         isEffector              ( string & str                               ) const;
            bool         parseEffector           ( string & str                               );
            bool         isPerceptor             ( string & str                               ) const;
            bool         parsePerceptor          ( string & str                               );
            bool         parseAttach             ( string & str,
                                                   TSceneNode * parrent,
                                                   TNodeList & nodes                          );
            bool         parseAnchor             ( string & str                               );
            bool         parseAxis               ( string & str                               );
            bool         parseMotorForce         ( string & str                               );
            void         assignNumber            ( TJointList & joints                        );
            void         saveInformation         ( ostream & os,
                                                   string strGap,
                                                   TSceneNode* thisNode                       );

  public:
                        TSceneJoint (                                                         );
    virtual           ~ TSceneJoint (                                                         );

    virtual bool        update      (                                                         );
    virtual bool        render      (                                                         );

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

            TJoint      getType     (                                                         ) const;
            void        setType     ( TJoint type                                             );

            VecPosition getAxis     ( int number = 1                                          ) const;
            void        setAxis     ( VecPosition axis, int number = 1                        );

            VecPosition getAnchor   (                                                         ) const;
            void        setAnchor   ( VecPosition anchor                                      );

            double      getMaxMotorForce( int number = 1                                      ) const;
            void        setMaxMotorForce( double max_force, int number = 1                    );

            string      getEffectorName(                                                      ) const;
            void        setEffectorName( string name                                          );

            string      getPerceptorName(                                                     ) const;
            void        setPerceptorName( string name                                         );

            VecPosition getPosRelParrent(                                                     ) const;
            void        setPosRelParrent( VecPosition pos                                     );

            VecPosition getPosRelChild(                                                       ) const;
            void        setPosRelChild( VecPosition pos                                       );

            TSceneNode *getParrent  (                                                         ) const;
            void        setParrent  ( TSceneNode * parrent                                    );

            TSceneNode *getChild    (                                                         ) const;
            void        setChild    ( TSceneNode * child                                      );
            
            bool        isRenderable(                                                         ) const;
            void        setRenderable( bool renderable                                        );

            int         getNumber   (                                                         ) const;
            void        setNumber   ( int num                                                 );

            bool        isSaved     (                                                         ) const;
            void        setNotSaved (                                                         );

            void        calculateRelativePositions(                                           );

            bool        initialized (                                                         ) const;

            void        saveToStream( ostream & os,
                                      string strGap,
                                      const TSceneNode* thisNode                              ) const;

    friend  ostream&    operator << ( ostream &os, const TSceneJoint & joint                  );
    friend  ostream&    operator << ( ostream &os, const TSceneJoint * joint                  );
            ostream &   show        ( ostream & os = cout                                     ) const;
};



#endif // _SCENE_COMPONENTS_