C++ (Cpp) CompositeObject::appendPrimitive Examples

Example #1

File: objectsoup.cpp Project: Juxi/iCub

KinematicModel::CompositeObject* ObjectSoup::makeARandomObjectLikeAMothaFucka()
{
	KinematicModel::CompositeObject* obj = new KinematicModel::CompositeObject( theModel.OBSTACLE(), theModel.OBSTACLE() );
	
	// choose a random color for the object
	QColor collidingColor = QColor( qrand()%255, qrand()%255, qrand()%255, 0.5 );
	QColor freeColor = collidingColor;
	freeColor.setAlphaF( 1.0 );
	obj->setCollidingColor(collidingColor);
	obj->setFreeColor(freeColor);
	
	// choose a random number of primitives to append to the object 1 to 5 inclusive
	int numPrimitives =  (qrand() % 6 + 1);
	if (verbose) printf( " Num Primitives: %d\n", numPrimitives);
	KinematicModel::PrimitiveObject* primitive;
	for ( int j=0; j<numPrimitives; ++j )
	{
		// choose a random geometry type for each primitive
		KinematicModel::GeomType geomType =  (KinematicModel::GeomType)( qrand() % ((int)KinematicModel::BOX+1) );
		if (verbose) printf( "  Geometry Type: %d\n", (int)geomType );
		switch (geomType)
		{
			case KinematicModel::SPHERE:	primitive = new KinematicModel::Sphere( (float)qrand()/RAND_MAX/10.0+0.01 );
				break;
			case KinematicModel::CYLINDER:	primitive = new KinematicModel::Cylinder( (float)qrand()/RAND_MAX/10+.01,
																					  (float)2*qrand()/RAND_MAX/10+.01 );
				break;
			case KinematicModel::BOX:		primitive = new KinematicModel::Box( QVector3D((float)qrand()/RAND_MAX/10+.01,
																						   (float)qrand()/RAND_MAX/10+.01,
																						   (float)qrand()/RAND_MAX/10+.01) );
				break;
			default:
				break;
		}
		primitive->setCollidingColor( collidingColor );
		primitive->setFreeColor(freeColor);
		primitive->translate(randomTranslation(0.1));
		primitive->cartesianRotate(randomRotation());
		obj->appendPrimitive(primitive);
	}
	obj->translate(randomTranslation(1.0));
	primitive->cartesianRotate(randomRotation());
	theModel.appendObject(obj);
	return obj;
}

Example #2

File: worldRpcInterface.cpp Project: xufango/contrib_bk

void WorldRpcInterface::make( const yarp::os::Bottle& command, yarp::os::Bottle& reply, int& n )
{
	int geom = command.get(n).asVocab();
	n++;
	 
	try {
		KinematicModel::CompositeObject* composite = new KinematicModel::CompositeObject( model->OBSTACLE(), model->FIELD() );
		KinematicModel::PrimitiveObject* primitive;
		if ( geom == VOCAB_SPH || geom == VOCAB_SSPH ) {
			
			double r = command.get(n).asDouble(); n++; // radius 
			double px = command.get(n).asDouble(); n++; // x position
			double py = command.get(n).asDouble(); n++; // y position  
			double pz = command.get(n).asDouble(); n++; // z position
			
			primitive = new KinematicModel::Sphere( r );
			composite->appendPrimitive( primitive );
			composite->setPosition( QVector3D(px,py,pz) );
            
            QString name;
			if ( geom == VOCAB_SPH ) { name = "sph" + QString::number(++s); }
			else if ( geom == VOCAB_SSPH ) { name = "ssph" + QString::number(++ss); }
            composite->setName(name);
            //printf("%s\n",name.toLocal8Bit().data());
			reply.addString( name.toLocal8Bit().data() );
			
		} else if ( geom == VOCAB_CYL || geom == VOCAB_SCYL ) {
			
			double r = command.get(n).asDouble(); n++; // radius
			double h = command.get(n).asDouble(); n++; // height 
			double px = command.get(n).asDouble(); n++; // x position
			double py = command.get(n).asDouble(); n++; // y position  
			double pz = command.get(n).asDouble(); n++; // z position
			
			//if ( geom == VOCAB_CYL ) { world->newCylinder( r, h, QVector3D(px,py,pz) ); }
			//else if ( geom == VOCAB_SCYL ) { world->newSCylinder( r, h, QVector3D(px,py,pz) ); }
			
			primitive = new KinematicModel::Cylinder( r, h );
			composite->appendPrimitive( primitive );
			composite->setPosition( QVector3D(px,py,pz) );
			
			QString name;
            if ( geom == VOCAB_CYL ) { name = "cyl" + QString::number(++c); }
			else if ( geom == VOCAB_SCYL ) { name = "scyl" + QString::number(++sc); }
            composite->setName(name);
			reply.addString( name.toLocal8Bit().data() );
			
		} else if ( geom == VOCAB_BOX || geom == VOCAB_SBOX ) {
			
			double x = command.get(n).asDouble(); n++;  // x size
			double y = command.get(n).asDouble(); n++;  // y size  
			double z = command.get(n).asDouble(); n++;  // z size
			double px = command.get(n).asDouble(); n++; // x position
			double py = command.get(n).asDouble(); n++; // y position  
			double pz = command.get(n).asDouble(); n++; // z position

			//if ( geom == VOCAB_BOX ) { world->newBox( QVector3D(x,y,z), QVector3D(px,py,pz) ); }
			//else if ( geom == VOCAB_SBOX ) { world->newSBox( QVector3D(x,y,z), QVector3D(px,py,pz) ); }
			
			primitive = new KinematicModel::Box( QVector3D(x,y,z) );
			composite->appendPrimitive( primitive );
			composite->setPosition( QVector3D(px,py,pz) );
            
            QString name;
            if ( geom == VOCAB_BOX ) { name = "box" + QString::number(++b); }
			else if ( geom == VOCAB_SBOX ) { name = "sbox" + QString::number(++sb); }
            composite->setName(name);
			reply.addString( name.toLocal8Bit().data() );
		}
		else { reply.addString("MK ERROR: Unknown geometry... use '(s)sph', '(s)cyl', or '(s)box'"); }
		
		model->appendObject( composite );
	}
	catch (std::exception& e)
	{
		reply.clear();
		reply.addString(e.what());
	}
}