void XMLDocument::addPhysicalOffsetFrame(SimTK::Xml::Element& element,
const std::string& frameName,
const std::string& parentFrameName,
const SimTK::Vec3& location, const SimTK::Vec3& orientation)
{
SimTK::Xml::element_iterator frames_node = element.element_begin("frames");
//SimTK::String debug; //Only used for debugging
if (frames_node == element.element_end()) {
SimTK::Xml::Element framesElement("frames");
element.insertNodeBefore(element.element_begin(), framesElement);
frames_node = element.element_begin("frames");
}
// Here we're guaranteed frames node exists, add individual frame
SimTK::Xml::Element newFrameElement("PhysicalOffsetFrame");
newFrameElement.setAttributeValue("name", frameName);
//newFrameElement.writeToString(debug);
XMLDocument::addConnector(newFrameElement, "Connector_PhysicalFrame_", "parent", parentFrameName);
std::ostringstream transValue;
transValue << location[0] << " " << location[1] << " " << location[2];
SimTK::Xml::Element translationElement("translation", transValue.str());
newFrameElement.insertNodeAfter(newFrameElement.element_end(), translationElement);
std::ostringstream orientValue;
orientValue << orientation[0] << " " << orientation[1] << " " << orientation[2];
SimTK::Xml::Element orientationElement("orientation", orientValue.str());
newFrameElement.insertNodeAfter(newFrameElement.element_end(), orientationElement);
frames_node->insertNodeAfter(frames_node->element_end(), newFrameElement);
//frames_node->writeToString(debug);
}
void ModelComponent::updateFromXMLNode(SimTK::Xml::Element& aNode,
int versionNumber) {
if (versionNumber < XMLDocument::getLatestVersion()) {
if (versionNumber < 30506) {
// geometry list property removed. Everything that was in this list
// should be moved to the components list property.
SimTK::Xml::element_iterator geometry = aNode.element_begin("geometry");
if (geometry != aNode.element_end()) {
// We found a list property of geometry.
SimTK::Xml::Element componentsNode;
SimTK::Xml::element_iterator componentsIt = aNode.element_begin("components");
if (componentsIt == aNode.element_end()) {
// This component does not yet have a list property of
// components, so we'll create one.
componentsNode = SimTK::Xml::Element("components");
aNode.insertNodeBefore(aNode.element_begin(), componentsNode);
} else {
componentsNode = *componentsIt;
}
// Copy each node under <geometry> into <components>.
for (auto geomIt = geometry->element_begin();
geomIt != geometry->element_end(); ++geomIt) {
componentsNode.appendNode(geomIt->clone());
}
// Now that we moved over the geometry, we can delete the
// <geometry> element.
aNode.eraseNode(geometry);
}
}
}
Super::updateFromXMLNode(aNode, versionNumber);
}
/*
* Helper function to add connector to the xmlElement passed in
*/
void XMLDocument::addConnector(SimTK::Xml::Element& element, const std::string& connectorTag, const std::string& connectorName, const std::string& connectorValue)
{
SimTK::Xml::element_iterator connectors_node = element.element_begin("connectors");
SimTK::String debug;
if (connectors_node == element.element_end()){
SimTK::Xml::Element connectorsElement("connectors");
element.insertNodeBefore(element.element_begin(), connectorsElement);
connectors_node = element.element_begin("connectors");
}
// Here we're guaranteed connectors node exist, add individual connector
SimTK::Xml::Element newConnectorElement(connectorTag);
newConnectorElement.setAttributeValue("name", connectorName);
newConnectorElement.writeToString(debug);
SimTK::Xml::Element connecteeElement("connectee_name");
connecteeElement.insertNodeAfter(connecteeElement.element_end(), SimTK::Xml::Text(connectorValue));
// Insert text under newConnectorElement
newConnectorElement.insertNodeAfter(newConnectorElement.element_end(), connecteeElement);
connectors_node->insertNodeAfter(connectors_node->element_end(), newConnectorElement);
connectors_node->writeToString(debug);
}