bool createBody(BodyPtr& body, BodyInfo_impl& bodyInfo)
{
this->body = body;
const char* name = bodyInfo.name();
body->setModelName(name);
body->setName(name);
int n = bodyInfo.links()->length();
linkInfoSeq = bodyInfo.links();
shapeInfoSeq = bodyInfo.shapes();
extraJointInfoSeq = bodyInfo.extraJoints();
int rootIndex = -1;
for(int i=0; i < n; ++i){
if(linkInfoSeq[i].parentIndex < 0){
if(rootIndex < 0){
rootIndex = i;
} else {
// more than one root !
rootIndex = -1;
break;
}
}
}
if(rootIndex >= 0){ // root exists
Matrix33 Rs(Matrix33::Identity());
Link* rootLink = createLink(rootIndex, Rs);
body->setRootLink(rootLink);
body->setDefaultRootPosition(rootLink->b, rootLink->Rs);
body->installCustomizer();
body->initializeConfiguration();
#if 0
setExtraJoints();
#endif
return true;
}
return false;
}
int main(int argc, char *argv[])
{
OnlineViewer_var olv;
olv = hrp::getOnlineViewer(argc, argv);
olv->load("robot", url);
olv->clearLog();
BodyPtr body = BodyPtr(new Body());
loadBodyFromModelLoader(body, url, argc, argv, true);
body->setName("robot");
convertToConvexHull(body);
WorldState wstate;
wstate.time = 0.0;
wstate.characterPositions.length(1);
setupCharacterPosition(wstate.characterPositions[0], body);
wstate.collisions.length(3);
// ワイヤの固定部
std::vector<Anchor> anchors;
anchors.push_back(Anchor(body->link("CHEST_Y"), Vector3(-0.03, 0.1,0.35)));
anchors.push_back(Anchor(body->link("R_HIP_P"), Vector3(-0.08,0,-0.2)));
anchors.push_back(Anchor(body->link("CHEST_Y"), Vector3(-0.03,-0.1,0.35)));
anchors.push_back(Anchor(body->link("L_HIP_P"), Vector3(-0.08,0,-0.2)));
wstate.collisions.length(anchors.size()+1);
for (size_t i=1; i<wstate.collisions.length(); i++){
setupFrame(wstate.collisions[i], 0.05);
}
// ワイヤと接触するリンクセットその1
std::vector<Link *> linkset1;
linkset1.push_back(body->link("CHEST_Y"));
linkset1.push_back(body->link("WAIST"));
linkset1.push_back(body->link("R_HIP_P"));
// ワイヤと接触するリンクセットその2
std::vector<Link *> linkset2;
linkset2.push_back(body->link("CHEST_Y"));
linkset2.push_back(body->link("WAIST"));
linkset2.push_back(body->link("L_HIP_P"));
// ワイヤ（両端点及びリンクセット）の定義
std::vector<String> strings;
strings.push_back(String(&anchors[0], &anchors[1], linkset1));
strings.push_back(String(&anchors[2], &anchors[3], linkset2));
std::ifstream ifs(logfile);
if (!ifs.is_open()){
std::cerr << "failed to open the log file:" << logfile << std::endl;
return 1;
}
char buf[1024];
ifs.getline(buf, 1024); // skip header
double q;
while(1){
for (int i=0; i<body->numJoints(); i++){
ifs >> q;
if (ifs.eof()) return 0;
Link *j = body->joint(i);
if (j) j->q = q;
}
ifs.getline(buf, 1024); // skip rest of the line
body->calcForwardKinematics();
for (size_t i=0; i<strings.size(); i++){
if (!strings[i].update()){
std::cerr << "failed to update string state" << std::endl;
}
}
// update body
updateCharacterPosition(wstate.characterPositions[0], body);
// update anchors
for (size_t i=0; i<anchors.size(); i++){
updateFrame(wstate.collisions[i+1],
anchors[i].position(), Matrix33::Identity());
}
// update strings
size_t n=0, index=0;
for (size_t i=0; i<strings.size(); i++){
n += strings[i].polyLine.lines.size();
}
wstate.collisions[0].points.length(n);
for (size_t i=0; i<strings.size(); i++){
const std::vector<LineSegment>& lines = strings[i].polyLine.lines;
for (size_t i=0; i<lines.size(); i++){
updateLineSegment(wstate.collisions[0].points[index++],
lines[i].first, lines[i].second);
}
}
olv->update(wstate);
wstate.time += 0.005;
std::cout << wstate.time << " ";
for (size_t i=0; i<strings.size(); i++){
std::cout << strings[i].length() << " ";
}
std::cout << std::endl;
}
return 0;
}