bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, ErrorLogger* logger)
{
if (!config->Attribute("name"))
{
logger->reportError("Material must contain a name attribute");
return false;
}
material.m_name = config->Attribute("name");
// texture
TiXmlElement *t = config->FirstChildElement("texture");
if (t)
{
if (t->Attribute("filename"))
{
material.m_textureFilename = t->Attribute("filename");
}
}
if (material.m_textureFilename.length()==0)
{
//logger->reportWarning("material has no texture file name");
}
// color
TiXmlElement *c = config->FirstChildElement("color");
if (c)
{
if (c->Attribute("rgba"))
{
if (!parseVector4(material.m_rgbaColor,c->Attribute("rgba")))
{
std::string msg = material.m_name+" has no rgba";
logger->reportWarning(msg.c_str());
}
}
}
return true;
}
void GuiWindowDef::constructFromTokens(parser::DefTokeniser& tokeniser)
{
// The windowDef keyword has already been parsed, so expect a name plus an opening brace here
name = tokeniser.nextToken();
tokeniser.assertNextToken("{");
while (tokeniser.hasMoreTokens())
{
std::string token = tokeniser.nextToken();
boost::algorithm::to_lower(token);
if (token == "rect")
{
rect = parseVector4(tokeniser);
}
else if (token == "visible")
{
visible = parseBool(tokeniser);
}
else if (token == "notime")
{
notime = parseBool(tokeniser);
}
else if (token == "forecolor")
{
forecolor = parseVector4(tokeniser);
}
else if (token == "backcolor")
{
backcolor = parseVector4(tokeniser);
}
else if (token == "bordercolor")
{
bordercolor = parseVector4(tokeniser);
}
else if (token == "matcolor")
{
matcolor = parseVector4(tokeniser);
}
else if (token == "rotate")
{
rotate = parseFloat(tokeniser);
}
else if (token == "text")
{
setText(parseString(tokeniser));
}
else if (token == "font")
{
font = parseString(tokeniser);
// Cut off the "fonts/" part
boost::algorithm::replace_first(font, "fonts/", "");
}
else if (token == "textscale")
{
textscale = parseFloat(tokeniser);
}
else if (token == "textalign")
{
textalign = parseInt(tokeniser);
}
else if (token == "textalignx")
{
textalignx = parseFloat(tokeniser);
}
else if (token == "textaligny")
{
textaligny = parseFloat(tokeniser);
}
else if (token == "forceaspectwidth")
{
forceaspectwidth = parseFloat(tokeniser);
}
else if (token == "forceaspectheight")
{
forceaspectheight = parseFloat(tokeniser);
}
else if (token == "background")
{
background = parseString(tokeniser);
}
else if (token == "noevents")
{
noevents = parseBool(tokeniser);
}
else if (token == "nocursor")
{
nocursor = parseBool(tokeniser);
}
else if (token == "noclip")
{
noclip = parseBool(tokeniser);
}
else if (token == "nowrap")
{
nowrap = parseBool(tokeniser);
}
else if (token == "modal")
{
noevents = parseBool(tokeniser);
}
else if (token == "menugui")
{
menugui = parseBool(tokeniser);
}
else if (token == "windowdef")
{
// Child windowdef
GuiWindowDefPtr window(new GuiWindowDef(_owner));
window->constructFromTokens(tokeniser);
addWindow(window);
}
else if (token == "ontime")
{
std::string timeStr = tokeniser.nextToken();
// Check the time for validity
std::size_t time = string::convert<std::size_t>(
timeStr, std::numeric_limits<std::size_t>::max()
);
if (time == std::numeric_limits<std::size_t>::max())
{
rWarning() << "Invalid time encountered in onTime event in "
<< name << ": " << timeStr << std::endl;
}
// Allocate a new GuiScript
GuiScriptPtr script(new GuiScript(*this));
script->constructFromTokens(tokeniser);
_timedEvents.insert(TimedEventMap::value_type(time, script));
}
else if (token == "onnamedevent")
{
std::string eventName = tokeniser.nextToken();
// Parse the script
GuiScriptPtr script(new GuiScript(*this));
script->constructFromTokens(tokeniser);
// TODO: Save event
}
else if (token == "onevent")
{
GuiScriptPtr script(new GuiScript(*this));
script->constructFromTokens(tokeniser);
// TODO
}
else if (token == "onesc")
{
GuiScriptPtr script(new GuiScript(*this));
script->constructFromTokens(tokeniser);
// TODO
}
else if (token == "onmouseenter" || token == "onmouseexit")
{
GuiScriptPtr script(new GuiScript(*this));
script->constructFromTokens(tokeniser);
// TODO
}
else if (token == "onaction")
{
GuiScriptPtr script(new GuiScript(*this));
script->constructFromTokens(tokeniser);
// TODO
}
else if (token == "float" || token == "definefloat")
{
// TODO: Add variable
std::string variableName = tokeniser.nextToken();
}
else if (token == "definevec4")
{
// TODO: Add variable
std::string variableName = tokeniser.nextToken();
parseVector4(tokeniser);
}
else if (token == "}")
{
break;
}
else
{
rWarning() << "Unknown token encountered in GUI: " << token << std::endl;
}
}
}
bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement* config, ErrorLogger* logger)
{
visual.m_linkLocalFrame.setIdentity();
if(m_parseSDF)
{
TiXmlElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(visual.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
TiXmlElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parseTransform(visual.m_linkLocalFrame, o,logger))
return false;
}
// Geometry
TiXmlElement *geom = config->FirstChildElement("geometry");
if (!parseGeometry(visual.m_geometry,geom,logger))
{
return false;
}
const char *name_char = config->Attribute("name");
if (name_char)
visual.m_name = name_char;
visual.m_hasLocalMaterial = false;
// Material
TiXmlElement *mat = config->FirstChildElement("material");
//todo(erwincoumans) skip materials in SDF for now (due to complexity)
if (mat)
{
if (m_parseSDF)
{
UrdfMaterial* matPtr = new UrdfMaterial;
matPtr->m_name = "mat";
if (name_char)
matPtr->m_name = name_char;
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_rgbaColor = rgba;
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_materialName = matPtr->m_name;
visual.m_hasLocalMaterial = true;
}
}
else
{
// get material name
if (!mat->Attribute("name"))
{
logger->reportError("Visual material must contain a name attribute");
return false;
}
visual.m_materialName = mat->Attribute("name");
// try to parse material element in place
TiXmlElement *t = mat->FirstChildElement("texture");
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
{
if (parseMaterial(visual.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial);
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_hasLocalMaterial = true;
}
}
}
}
return true;
}
