TiXmlDocument* exportURDF(const ModelInterface &model)
{
TiXmlDocument *doc = new TiXmlDocument();
TiXmlElement *robot = new TiXmlElement("robot");
robot->SetAttribute("name", model.name_);
doc->LinkEndChild(robot);
for (std::map<std::string, MaterialSharedPtr>::const_iterator m=model.materials_.begin(); m!=model.materials_.end(); m++)
{
CONSOLE_BRIDGE_logDebug("urdfdom: exporting material [%s]\n",m->second->name.c_str());
exportMaterial(*(m->second), robot);
}
for (std::map<std::string, LinkSharedPtr>::const_iterator l=model.links_.begin(); l!=model.links_.end(); l++)
{
CONSOLE_BRIDGE_logDebug("urdfdom: exporting link [%s]\n",l->second->name.c_str());
exportLink(*(l->second), robot);
}
for (std::map<std::string, JointSharedPtr>::const_iterator j=model.joints_.begin(); j!=model.joints_.end(); j++)
{
CONSOLE_BRIDGE_logDebug("urdfdom: exporting joint [%s]\n",j->second->name.c_str());
exportJoint(*(j->second), robot);
}
return doc;
}
//------------------------------
void MaterialExporter::exportConnectedMaterials ( SceneElement* sceneElement )
{
// If we have a external reference, we don't need to export the data here.
if ( !sceneElement->getIsLocal() ) return;
if ( !sceneElement->getIsExportNode () ) return;
// Check if it is a mesh object and an export node
if ( sceneElement->getType() == SceneElement::MESH )
{
MDagPath dagPath = sceneElement->getPath();
// Attach a function set
MStatus status;
MFnMesh fnMesh ( dagPath.node(), &status );
if ( status != MStatus::kSuccess ) return;
// Find how many shaders are used by this instance of the mesh
MObjectArray shaders;
MIntArray shaderIndices;
unsigned instanceNumber = dagPath.instanceNumber();
fnMesh.getConnectedShaders ( instanceNumber, shaders, shaderIndices );
// Find the polygons that correspond to each materials and export them
uint realShaderCount = ( uint ) shaders.length();
uint numShaders = ( uint ) std::max ( ( size_t ) 1, ( size_t ) shaders.length() );
for ( uint shaderPosition = 0; shaderPosition < numShaders; ++shaderPosition )
{
if ( shaderPosition < realShaderCount )
{
// Add shader-specific parameters (TexCoords sets).
// Add symbolic name for the material used on this polygon set.
MObject shadingEngine = shaders[shaderPosition];
exportMaterial ( shadingEngine );
}
}
}
// recursive call for all the child elements
for ( uint i=0; i<sceneElement->getChildCount(); ++i )
{
SceneElement* childElement = sceneElement->getChild ( i );
exportConnectedMaterials ( childElement );
}
}
bool exportVisual(Visual &vis, TiXmlElement *xml)
{
// <visual group="default">
// <origin rpy="0 0 0" xyz="0 0 0"/>
// <geometry>
// <mesh filename="mesh.dae"/>
// </geometry>
// <material name="Grey"/>
// </visual>
TiXmlElement * visual_xml = new TiXmlElement("visual");
exportPose(vis.origin, visual_xml);
exportGeometry(vis.geometry, visual_xml);
if (vis.material)
exportMaterial(*vis.material, visual_xml);
xml->LinkEndChild(visual_xml);
return true;
}
//------------------------------------------------------
void MaterialExporter::exportMaterialsByShaderPlug()
{
// Get all shaders, which are in the default shader list.
MObject defaultShaderList = DagHelper::getNode ( ATTR_DEFAULT_SHADER_LIST1 );
MPlug defaultShadersPlug = MFnDependencyNode ( defaultShaderList ).findPlug ( ATTR_SHADERS );
uint shaderCount = defaultShadersPlug.evaluateNumElements();
for ( uint i = 0; i < shaderCount; ++i )
{
MObject shader = DagHelper::getNodeConnectedTo ( defaultShadersPlug.elementByPhysicalIndex ( i ) );
MFnDependencyNode shadingEngineFn ( shader );
// Get the name of the current material (this is the maya material id)
String mayaMaterialId = DocumentExporter::mayaNameToColladaName ( shadingEngineFn.name(), true );
bool doExportMaterial = true;
bool isFromReferencedFile = shadingEngineFn.isFromReferencedFile();
// bool isDefaulNode = shadingEngineFn.isDefaultNode();
// if ( isDefaulNode )
// {
// doExportMaterial = false;
// }
// else if ( isFromReferencedFile )
if ( isFromReferencedFile )
{
if ( ExportOptions::exportXRefs() && ExportOptions::dereferenceXRefs() ) doExportMaterial = true;
else doExportMaterial = false;
}
if ( doExportMaterial )
{
MObject shadingEngine = ShaderHelper::getShadingEngine ( shader );
exportMaterial ( shadingEngine );
}
}
}
