bool Gui::SoFCDB::writeToVRML(SoNode* node, const char* filename, bool binary)
{
SoVRMLAction vrml2;
vrml2.setOverrideMode(true);
vrml2.apply(node);
SoToVRML2Action tovrml2;
tovrml2.apply(node);
SoVRMLGroup* vrmlRoot = tovrml2.getVRML2SceneGraph();
vrmlRoot->setInstancePrefix(SbString("o"));
vrmlRoot->ref();
std::string buffer = SoFCDB::writeNodesToString(vrmlRoot);
vrmlRoot->unref(); // release the memory as soon as possible
// restore old settings
vrml2.setOverrideMode(false);
vrml2.apply(node);
Base::FileInfo fi(filename);
if (binary) {
// We want to write compressed VRML but Coin 2.4.3 doesn't do it even though
// SoOutput::getAvailableCompressionMethods() delivers a string list that
// contains 'GZIP'. setCompression() was called directly after opening the file,
// returned TRUE and no error message appeared but anyway it didn't work.
// Strange is that reading GZIPped VRML files works.
// So, we do the compression on our own.
Base::ofstream str(fi, std::ios::out | std::ios::binary);
zipios::GZIPOutputStream gzip(str);
if (gzip) {
gzip << buffer;
gzip.close();
return true;
}
}
else {
Base::ofstream str(fi, std::ios::out);
if (str) {
str << buffer;
str.close();
return true;
}
}
return false;
}
void
Viewer::drawSweptVolume(const rl::plan::VectorList& path)
{
this->sweptGroup->enableNotify(false);
this->sweptGroup->removeAllChildren();
rl::math::Real length = 0;
rl::plan::VectorList::const_iterator i = path.begin();
rl::plan::VectorList::const_iterator j = ++path.begin();
for (; i != path.end() && j != path.end(); ++i, ++j)
{
length += this->model->distance(*i, *j);
}
rl::math::Real delta = length / static_cast<std::size_t>(std::ceil(length / this->deltaSwept));
rl::math::Vector inter(this->model->getDofPosition());
rl::math::Real x0 = 0;
rl::math::Real x1 = x0;
rl::math::Real x = 0;
i = path.begin();
j = ++path.begin();
for (; i != path.end() && j != path.end(); ++i, ++j)
{
x1 += this->model->distance(*i, *j);
for (; x < x1; x += delta)
{
this->model->interpolate(*i, *j, (x - x0) / (x1 - x0), inter);
this->model->setPosition(inter);
this->model->updateFrames();
SoVRMLGroup* model = new SoVRMLGroup();
for (std::size_t k = 0; k < this->model->model->getNumBodies(); ++k)
{
SoVRMLTransform* frame = new SoVRMLTransform();
frame->copyFieldValues(static_cast<rl::sg::so::Body*>(this->model->model->getBody(k))->root);
for (std::size_t l = 0; l < this->model->model->getBody(k)->getNumShapes(); ++l)
{
SoVRMLTransform* transform = new SoVRMLTransform();
transform->copyFieldValues(static_cast<rl::sg::so::Shape*>(this->model->model->getBody(k)->getShape(l))->root);
transform->addChild(static_cast<rl::sg::so::Shape*>(this->model->model->getBody(k)->getShape(l))->shape);
frame->addChild(transform);
}
model->addChild(frame);
}
this->sweptGroup->addChild(model);
}
x0 = x1;
if (j == --path.end())
{
this->model->interpolate(*i, *j, 1, inter);
this->model->setPosition(inter);
this->model->updateFrames();
SoVRMLGroup* model = new SoVRMLGroup();
for (std::size_t k = 0; k < this->model->model->getNumBodies(); ++k)
{
SoVRMLTransform* frame = new SoVRMLTransform();
frame->copyFieldValues(static_cast<rl::sg::so::Body*>(this->model->model->getBody(k))->root);
for (std::size_t l = 0; l < this->model->model->getBody(k)->getNumShapes(); ++l)
{
SoVRMLTransform* transform = new SoVRMLTransform();
transform->copyFieldValues(static_cast<rl::sg::so::Shape*>(this->model->model->getBody(k)->getShape(l))->root);
transform->addChild(static_cast<rl::sg::so::Shape*>(this->model->model->getBody(k)->getShape(l))->shape);
frame->addChild(transform);
}
model->addChild(frame);
}
this->sweptGroup->addChild(model);
}
}
this->sweptGroup->enableNotify(true);
this->sweptGroup->touch();
}
void
Scene::load(const ::std::string& filename, const bool& doBoundingBoxPoints, const bool& doPoints)
{
::rl::xml::DomParser parser;
::rl::xml::Document doc = parser.readFile(filename, "", XML_PARSE_NOENT | XML_PARSE_XINCLUDE);
doc.substitute(XML_PARSE_NOENT | XML_PARSE_XINCLUDE);
::rl::xml::Path path(doc);
::rl::xml::Object scenes = path.eval("//scene");
for (int i = 0; i < ::std::min(1, scenes.getNodeNr()); ++i)
{
SoInput input;
if (!input.openFile(scenes.getNodeTab(i).getLocalPath(scenes.getNodeTab(i).getAttribute("href").getValue()).c_str() ,true))
{
throw Exception("::rl::sg::Scene::load() - failed to open file");
}
SoVRMLGroup* root = SoDB::readAllVRML(&input);
if (NULL == root)
{
throw Exception("::rl::sg::Scene::load() - failed to read file");
}
SbViewportRegion viewportRegion;
root->ref();
// model
::rl::xml::Object models = path.eval("model", scenes.getNodeTab(i));
for (int j = 0; j < models.getNodeNr(); ++j)
{
SoSearchAction modelSearchAction;
modelSearchAction.setName(models.getNodeTab(j).getAttribute("name").getValue().c_str());
modelSearchAction.apply(root);
if (NULL == modelSearchAction.getPath())
{
continue;
}
Model* model = this->create();
model->setName(models.getNodeTab(j).getAttribute("name").getValue());
// body
::rl::xml::Object bodies = path.eval("body", models.getNodeTab(j));
for (int k = 0; k < bodies.getNodeNr(); ++k)
{
SoSearchAction bodySearchAction;
bodySearchAction.setName(bodies.getNodeTab(k).getAttribute("name").getValue().c_str());
bodySearchAction.apply(static_cast< SoFullPath* >(modelSearchAction.getPath())->getTail());
if (NULL == bodySearchAction.getPath())
{
continue;
}
Body* body = model->create();
body->setName(bodies.getNodeTab(k).getAttribute("name").getValue());
SoSearchAction pathSearchAction;
pathSearchAction.setNode(static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail());
pathSearchAction.apply(root);
SoGetMatrixAction bodyGetMatrixAction(viewportRegion);
bodyGetMatrixAction.apply(static_cast< SoFullPath* >(pathSearchAction.getPath()));
SbMatrix bodyMatrix = bodyGetMatrixAction.getMatrix();
if (!this->isScalingSupported)
{
SbVec3f bodyTranslation;
SbRotation bodyRotation;
SbVec3f bodyScaleFactor;
SbRotation bodyScaleOrientation;
SbVec3f bodyCenter;
bodyMatrix.getTransform(bodyTranslation, bodyRotation, bodyScaleFactor, bodyScaleOrientation, bodyCenter);
for (int l = 0; l < 3; ++l)
{
if (::std::abs(bodyScaleFactor[l] - 1.0f) > 1.0e-6f)
{
throw Exception("::rl::sg::Scene::load() - bodyScaleFactor not supported");
}
}
}
::rl::math::Transform frame;
for (int m = 0; m < 4; ++m)
{
for (int n = 0; n < 4; ++n)
{
frame(m, n) = bodyMatrix[n][m];
}
}
body->setFrame(frame);
if (static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail()->isOfType(SoVRMLTransform::getClassTypeId()))
{
SoVRMLTransform* bodyVrmlTransform = static_cast< SoVRMLTransform* >(static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail());
for (int l = 0; l < 3; ++l)
{
body->center(l) = bodyVrmlTransform->center.getValue()[l];
}
}
SoPathList pathList;
// shape
SoSearchAction shapeSearchAction;
shapeSearchAction.setInterest(SoSearchAction::ALL);
shapeSearchAction.setType(SoVRMLShape::getClassTypeId());
shapeSearchAction.apply(static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail());
for (int l = 0; l < shapeSearchAction.getPaths().getLength(); ++l)
{
SoFullPath* path = static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l]);
if (path->getLength() > 1)
{
path = static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l]->copy(1, static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l])->getLength() - 1));
}
pathList.append(path);
SoGetMatrixAction shapeGetMatrixAction(viewportRegion);
shapeGetMatrixAction.apply(path);
SbMatrix shapeMatrix = shapeGetMatrixAction.getMatrix();
if (!this->isScalingSupported)
{
SbVec3f shapeTranslation;
SbRotation shapeRotation;
SbVec3f shapeScaleFactor;
SbRotation shapeScaleOrientation;
SbVec3f shapeCenter;
shapeMatrix.getTransform(shapeTranslation, shapeRotation, shapeScaleFactor, shapeScaleOrientation, shapeCenter);
for (int m = 0; m < 3; ++m)
{
if (::std::abs(shapeScaleFactor[m] - 1.0f) > 1.0e-6f)
{
throw Exception("::rl::sg::Scene::load() - shapeScaleFactor not supported");
}
}
}
SoVRMLShape* shapeVrmlShape = static_cast< SoVRMLShape* >(static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l])->getTail());
Shape* shape = body->create(shapeVrmlShape);
shape->setName(shapeVrmlShape->getName().getString());
::rl::math::Transform transform;
for (int m = 0; m < 4; ++m)
{
for (int n = 0; n < 4; ++n)
{
transform(m, n) = shapeMatrix[n][m];
}
}
shape->setTransform(transform);
}
// bounding box
if (doBoundingBoxPoints)
{
SoGetBoundingBoxAction getBoundingBoxAction(viewportRegion);
getBoundingBoxAction.apply(pathList);
SbBox3f boundingBox = getBoundingBoxAction.getBoundingBox();
for (int l = 0; l < 3; ++l)
{
body->max(l) = boundingBox.getMax()[l];
body->min(l) = boundingBox.getMin()[l];
}
}
// convex hull
if (doPoints)
{
SoCallbackAction callbackAction;
callbackAction.addTriangleCallback(SoVRMLGeometry::getClassTypeId(), Scene::triangleCallback, &body->points);
callbackAction.apply(pathList);
}
}
}
root->unref();
}
}
