rubyscenegraph.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                            *
*                                                                               *
*    RubySceneGraph.h : Robocup Soccer Simulator Developement Team: Zigorat     *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Research Coordinator: Amin Mohammadi                                         *
*  Comments: Ruby scene Loader and initializer                                  *
*                                                                               *
*********************************************************************************
*/

/*! \file RubySceneGraph.h
<pre>
<b>File:</b>          RubySceneGraph.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>      Ruby scene Loader and initializer
<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 _RUBY_SCENE_GRAPH_
#define _RUBY_SCENE_GRAPH_

#include <string>
#include <deque>

using namespace std;

#include "SharedData.h"
#include "GraphicEngine.h"
#include "SceneComponents.h"
#include "Geometry.h"



/*********************************************************************************************/
/***********************************  Class TRubySceneGraph  *********************************/
/*********************************************************************************************/

/*! Class TRubySceneGraph is the main class to parse, create and show the robot body components */
class TRubySceneGraph
{
  protected:
            bool                 m_Loaded;                  /*!< Wheather the information is loaded */
            deque<TSceneNode*>   m_Nodes;                  /*!< The components of the robot body   */
            deque<TSceneJoint*>  m_Joints;                 /*!< The joints of the body             */
            deque<TGenericData*> m_Data;                   /*!< The definitions in the file        */
            bool                 m_Changed;                 /*!< Shows wheather data has changed    */
            string               m_FileName;                /*!< Scene file name                    */

            
            // Data handling routines
            void         clearDatas              (                                               );
            PGenericData getParam                ( string param_name                             ) const;
            TGenericData readEvaluationData      ( string &str, unsigned & index                 );
            TGenericData evaluate                ( string &str, unsigned & index                 );
            bool         parseDefinition         ( string str                                    );


            bool         loadSceneBasicInfo      ( string &str, unsigned & index                 );
            bool         ParseMain               ( const char * strFileName = ""                 );


            /// Message handling routines and command handlers
            void         removeJointsFromList    ( TJointList & joints                           );
            
            bool         cmdRemoveNode           ( unsigned index                                );
            bool         cmdAddNode              ( TMessage msg                                  );
            bool         cmdEditNode             ( TMessage msg, unsigned index                  );

            bool         cmdRemoveJoint          ( unsigned number                               );
            bool         cmdAddJoint             ( TMessage msg                                  );
            bool         cmdEditJoint            ( TMessage msg                                  );

  public:
                        TRubySceneGraph          ( const char * strFileName = ""                 );
                      ~ TRubySceneGraph          (                                               );

            void        clearScene               (                                               );
            bool        LoadScene                ( const char * strFileName                      );
            void        SaveScene                ( const char * strFileName                      );

            bool        initializeRendering      (                                               );
            bool        respondToCommand         ( TMessage msg                                  );

            int         getNodeIndex             ( string name                                   ) const;
            bool        nodeExists               ( string name                                   ) const;
            int         getNodesCount            (                                               ) const;
            TSceneNode* getNode                  ( unsigned i                                    ) const;
    const   TSceneNode* getNodeWithID            ( unsigned i, unsigned *index = NULL            ) const;

            bool        jointExists              ( int number                                    ) const;
            int         getJointCount            (                                               ) const;
    const   TSceneJoint*getJoint                 ( unsigned i                                    ) const;

            bool        changed                  (                                               ) const;
            string      getSceneName             (                                               ) const;
};

void InitializeScene();
void FinalizeScene();

#endif // _RUBY_SCENE_GRAPH_