void CVRMLFieldData::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
CX3DParser::printIndent(indent);
fprintf(fp, "[%s]", CVRMLFieldData::getFieldTypeName(getFieldType()));
switch (getFieldType())
{
case BOOLEAN_DATA:
{
CVRMLBooleanData *boolData = (CVRMLBooleanData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%s\n", boolData->getValue() ? "TRUE" : "FALSE");
}
break;
case INT_DATA:
{
CVRMLIntData *intData = (CVRMLIntData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%d\n", intData->getValue());
}
break;
case FLOAT_DATA:
{
CVRMLFloatData *floatData = (CVRMLFloatData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%f\n", floatData->getValue());
}
break;
case DOUBLE_DATA:
{
CVRMLDoubleData *doubleData = (CVRMLDoubleData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%f\n", doubleData->getValue());
}
break;
case STRING_DATA:
{
CVRMLStringData *stringData = (CVRMLStringData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%s\n", stringData->getValue());
}
break;
case NODE_DATA:
{
CVRMLNodeData *nodeData = (CVRMLNodeData *)this;
fprintf(fp, "\n");
jobject vrmlNode = ((CVRMLNodeData *)nodeData)->getValue();
CX3DNode *node = CX3DNodeFactory::createNode(vrmlNode);
if (node)
{
node->print(indent+1);
delete node;
}
else
{
CX3DParser::printIndent(indent);
fprintf(fp, "NULL\n");
}
}
break;
case BOOLEAN_ARRAY_DATA:
{
CVRMLBooleanArrayData *boolArrayData = (CVRMLBooleanArrayData *)this;
int n = boolArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %s\n", i, boolArrayData->getValue(i) ? "TRUE" : "FALSE");
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case INT_ARRAY_DATA:
{
CVRMLIntArrayData *intArrayData = (CVRMLIntArrayData *)this;
int n = intArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %d\n", i, intArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case FLOAT_ARRAY_DATA:
{
CVRMLFloatArrayData *floatArrayData = (CVRMLFloatArrayData *)this;
int n = floatArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %f\n", i, floatArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case DOUBLE_ARRAY_DATA:
{
CVRMLDoubleArrayData *doubleArrayData = (CVRMLDoubleArrayData *)this;
int n = doubleArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %f\n", i, doubleArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case STRING_ARRAY_DATA:
{
CVRMLStringArrayData *stringArrayData = (CVRMLStringArrayData *)this;
int n = stringArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %s\n", i, stringArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case NODE_ARRAY_DATA:
{
CVRMLNodeArrayData *nodeArrayData = (CVRMLNodeArrayData *)this;
int n = nodeArrayData->count();
fprintf(fp, " (n=%d)\n", n);
for (int i=0; i<nodeArrayData->count(); i++)
{
jobject vrmlNode = nodeArrayData->getValue(i);
CX3DNode *node = CX3DNodeFactory::createNode(vrmlNode);
if (node)
{
node->print(indent+1);
delete node;
}
else
{
CX3DParser::printIndent(indent+1);
fprintf(fp, "NULL\n");
}
}
}
break;
}
}
void CX3DOpenHRPSegmentNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z;
MFNode *nodes;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
fprintf(fp, "children\n");
nodes = getChildren();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
CX3DParser::printIndent(indent+1);
fprintf(fp, "coord\n");
CX3DNode *pCoord = getCoord()->getNode();
if (pCoord) pCoord->print(indent+2);
CX3DParser::printIndent(indent+1);
getCenterOfMass()->getValue(x, y, z);
fprintf(fp, "centerOfMass : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "displacers\n");
nodes = getDisplacers();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "mass (%f)\n", getMass()->getValue());
CX3DParser::printIndent(indent+1);
n = m_momentsOfInertia.count();
fprintf(fp, "momentsOfInertia [%d]\n", n);
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
else { bPartialPrint = false; }
CX3DParser::printIndent(indent+2);
fprintf(fp, "(");
for (i=0; i<n; i++)
{
fprintf(fp, "%f ", m_momentsOfInertia.getValue(i));
}
if (bPartialPrint) fprintf(fp, "...");
fprintf(fp, ")\n");
}
}
void CX3DOpenHRPHumanoidNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z, rot;
MFNode *nodes;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
getCenter()->getValue(x, y, z);
fprintf(fp, "center : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getRotation()->getValue(x, y, z, rot);
fprintf(fp, "rotation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getScale()->getValue(x, y, z);
fprintf(fp, "scale : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getScaleOrientation()->getValue(x, y, z, rot);
fprintf(fp, "scaleOrientation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getTranslation()->getValue(x, y, z);
fprintf(fp, "translation : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
CX3DParser::printIndent(indent+1);
n = m_info.count();
fprintf(fp, "info [%d]\n", n);
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
else { bPartialPrint = false; }
for (i=0; i<n; i++)
{
CX3DParser::printIndent(indent+2);
fprintf(fp, "%s\n", m_info.getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent+2);
fprintf(fp, "...\n");
}
CX3DParser::printIndent(indent+1);
nodes = getJoints();
n = nodes->count();
fprintf(fp, "joints [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getSegments();
n = nodes->count();
fprintf(fp, "segments [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getSites();
n = nodes->count();
fprintf(fp, "sites [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getHumanoidBody();
n = nodes->count();
fprintf(fp, "humanoidBody [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "version (%s)\n", m_version.getValue());
CX3DParser::printIndent(indent+1);
nodes = getViewpoints();
n = nodes->count();
fprintf(fp, "viewpoints [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
}
}