void CartWheel3D::addHuman(const string& name, const std::string& characterFile, const std::string& controllerFile, const std::string& actionFile,
const Math::Point3d& pos, double heading) {
bool foundMatch = (_humans.find(name) != _humans.end());
if (foundMatch) {
ostringstream osError;
osError << name << " already exists!";
throwError(osError.str().c_str());
}
string sFile = _path + characterFile;
_world->loadRBsFromFile(sFile.c_str(), _path.c_str(), name.c_str());
Character* ch = new Character(_world->getAF(_world->getAFCount() - 1));
// printf("AF: %s\n", _world->getAF(_world->getAFCount() - 1)->getName());
ArticulatedRigidBody* body = ch->getArticulatedRigidBody(4);
printf("Trying to get a Body\n");
if (body==NULL)
printf("Body not found\n");
else {
printf("Body found!!!\n");
//// body->addMeshObj("data/models/bipv3/head.obj", Vector3d(0,0,0), Vector3d(0.5,2,0.5));
// body->replaceMeshObj("data/models/box3.obj");
// body->getMesh(0)->scale(Vector3d(0.06,0.06,0.06));
// body->getMesh(0)->computeNormals();
// body->setColour(1,0,0,1);
// body->setMass(-10);
}
CompositeController* con = new CompositeController(ch, _oracle, controllerFile.c_str());
ActionCollectionPolicy* policy = new ActionCollectionPolicy(con);
policy->loadActionsFromFile(actionFile.c_str());
// Create a new human
Human* human = new Human(name, ch, con, policy);
// Initialize
human->init();
human->setHeading(heading);
human->setPosition(pos);
ch->setHeading(heading);
_humans[name] = human;
ch->getState(&_hStates[name]);
// doBehavior("Standing", name, NULL);
setController(name, 0);
// printf("\n\nJoints:\n");
// for(int i=0; i<ch->getJointCount(); i++) {
// Point3d p1 = ch->getJoint(i)->getChildJointPosition();
// Point3d p2 = ch->getJoint(i)->getParentJointPosition();
// printf("Joint: %s, Parent-Joint: %s, Pos: (%f, %f, %f)\n", ch->getJoint(i)->getName(), ch->getJoint(i)->getParent()->getName(), p2.x, p2.y, p2.z);
// printf("Joint: %s, Child-Joint: %s, Pos: (%f, %f, %f)\n\n", ch->getJoint(i)->getName(), ch->getJoint(i)->getChild()->getName(), p1.x, p1.y, p1.z);
// }
printf("\n\n\nArticulated Rigid Bodies:\n");
for(int i=0; i<ch->getArticulatedRigidBodyCount(); i++) {
Vector3d p = ch->getArticulatedRigidBody(i)->getCMPosition();
printf("ARB: %s, Pos: (%f, %f, %f)\n", ch->getArticulatedRigidBody(i)->getName(), p.x, p.y, p.z);
}
}
void CartWheel3D::addHuman(const string& name, const string& characterFile, const string& controllerFile, const Point3d& pos, double heading) {
bool foundMatch = (_humans.find(name) != _humans.end());
if (foundMatch) {
ostringstream osError;
osError << name << " already exists!";
throwError(osError.str().c_str());
}
string sFile = _path + characterFile;
_world->loadRBsFromFile(sFile.c_str(), _path.c_str(), name.c_str());
Character* ch = new Character(_world->getAF(_world->getAFCount() - 1));
IKVMCController* c = new IKVMCController(ch);
sFile = _path + controllerFile;
c->loadFromFile(sFile.c_str());
BehaviourController* behaviour = new TurnController(ch, c, _oracle);
Human* human = new Human(name, ch, c, behaviour);
// Initialize
human->init();
human->setHeading(heading);
human->setPosition(pos);
ch->setHeading(heading);
_humans[name] = human;
ch->getState(&_hStates[name]);
setController(name, 0);
// doBehavior("Standing", name, NULL);
}
