int TriangleLineRender::Iterate(IterateMode inMode,const Matrix &m)
{
ItLine = inMode==itGetExtent ? &LineRender::BuildExtent :
inMode==itCreateRenderer ? &LineRender::BuildSolid :
&LineRender::BuildHitTest;
double perp_len = GetPerpLen(m);
UserPoint *point = 0;
if (inMode==itHitTest)
point = &mTriangles->mVertices[0];
else
point = &mTransformed[0];
int tris = mTriangles->mTriangleCount;
for(int i=0;i<tris;i++)
{
UserPoint v0 = *point++;
UserPoint v1 = *point++;
UserPoint v2 = *point++;
UserPoint perp0 = (v1-v0).Perp(perp_len);
UserPoint perp1 = (v2-v1).Perp(perp_len);
UserPoint perp2 = (v0-v2).Perp(perp_len);
AddJoint(v0,perp2,perp0);
AddLinePart(v0+perp0,v1+perp0,v1-perp0,v0-perp0);
AddJoint(v1,perp0,perp1);
AddLinePart(v1+perp1,v2+perp1,v2-perp1,v1-perp1);
AddJoint(v2,perp1,perp2);
AddLinePart(v2+perp2,v0+perp2,v0-perp2,v2-perp2);
}
return 256;
}
//== Конструктор.
SH3DBind::SH3DBind(Log* p_Log, UI uiWidth, UI uiHeight, Iterator<Parser::PNode*>* p_PNode, PhysXBind* p_PhysXBindI, UCH *p_uchResult)
{
// ПЕРЕМЕННЫЕ.
Iterator<Parser::PNode*>* p_I_NActors = NULL;
Iterator<Parser::PNode*>* p_I_NJoints = NULL;
Iterator<Parser::PNode*>* p_I_NActorDetails = NULL;
Iterator<Parser::PNode*>* p_I_NJointDetails = NULL;
Iterator<Parser::PNode*>* p_I_N0 = NULL;
Iterator<Parser::PNode*>* p_I_N1 = NULL;
Iterator<Parser::PNode*>* p_I_NCameraDetails = NULL;
//
PhysXBind::sActor oActor;
PhysXBind::sJoint oJoint;
Iterator<Parser::PNode*>* p_I_Categories = NULL;
PhysXBind::sAssembly* p_oAssembly = NULL;
Iterator<Parser::PNode*>* p_I_Assemblies = NULL;
Iterator<PhysXBind::sActor>* p_I_Actors = NULL;
//
H3DNode gniLight;
//
PxVec3 vPosition;
PxVec3 vRotation;
PxVec3 vLinear;
PxVec3 vAngular;
PxReal fSqrtScale;
//
PxVec3 vScale;
////////////////
this->p_Log = p_Log;
if (!h3dInit())
{
LOG_HORDE3D_E("Невозможно инициаизировать Horde3D");
if (p_uchResult) *p_uchResult = U_H3D_INIT_ERROR;
return;
}
else
{
LOG_HORDE3D_I("Horde3D инициализирован");
if (p_uchResult) *p_uchResult = U_OK;
}
p_PhysXBind = p_PhysXBindI;
griPipe = h3dAddResource(H3DResTypes::Pipeline, "pipelines/forward.pipeline.xml", 0);
// Инициализация всех ресурсов из итератора.
ui00 = p_PNode->FindElementByName("Assemblies", 0, &uchResult); // Ищем сборки.
if (uchResult == U_OK)
{
p_PNodeH00 = *p_PNode->GetValuePtr(ui00); // Разъём сборок.
p_I_Assemblies = p_PNodeH00->p_ChildIterator; // Итератор сборок.
THRU_ITERATOR(p_I_Assemblies)
{
p_PNodeH00 = *p_I_Assemblies->GetValuePtr(i); // Разъём конкретной сборки (имя из p_PNodeH00 в сборки).
p_oAssembly = p_PhysXBind->p_I_Assemblies->GetValuePtr(AddAssembly(p_PNodeH00->p_NodeName));
p_I_Categories = p_PNodeH00->p_ChildIterator; // Итератор категорий.
ui01 = p_I_Categories->FindElementByName("Actors", 0, &uchResult); // Ищем актёров.
if (uchResult == U_OK)
{
p_PNodeH01 = *p_I_Categories->GetValuePtr(ui01); // Разъём актёров.
p_I_NActors = p_PNodeH01->p_ChildIterator; // Итератор актёров.
THRU_ITERATOR(p_I_NActors)
{
ZeroMemory(&oActor, sizeof(PhysXBind::sActor)); // Начало заполнения объекта актёра.
p_PNodeH01 = *p_I_NActors->GetValuePtr(i); // Разъём конкретного актёра (имя из p_PNodeH01 в актёры).
p_I_NActorDetails = p_PNodeH01->p_ChildIterator; // Текущий итератор описания актёра.
if (p_I_NActorDetails)
{
ui02 = p_I_NActorDetails->FindElementByName("Model", 0, &uchResult); // Поиск элемента модели.
if (uchResult == U_OK)
{ // Нашли модель для тела.
p_PNodeH02 = *p_I_NActorDetails->GetValuePtr(ui02); // Взяли разъём описания модели.
CopyString(p_PNodeH02->p_chData, oActor.mchModelName); // Имя модели из p_PNodeH02 в объект актёра.
}
ui02 = p_I_NActorDetails->FindElementByName("Position", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.vPos = AToPxVec3((*p_I_NActorDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.vPos = cvIdent;
ui02 = p_I_NActorDetails->FindElementByName("Rotation", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.vRot = AToPxVec3((*p_I_NActorDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.vRot = cvIdent;
ui02 = p_I_NActorDetails->FindElementByName("Scale", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.fScale = AToPxReal((*p_I_NActorDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.fScale = 1.0f;
fSqrtScale = PxSqrt(oActor.fScale);
oActor.uchActorType = PX_ACTOR_DYNAMIC;
ui02 = p_I_NActorDetails->FindElementByName("Static", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.uchActorType = PX_ACTOR_STATIC;
}
else
{
ui02 = p_I_NActorDetails->FindElementByName("L_Velocity", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.vLVel = AToPxVec3((*p_I_NActorDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.vLVel = cvScIdent;
ui02 = p_I_NActorDetails->FindElementByName("A_Velocity", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.vAVel = AToPxVec3((*p_I_NActorDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.vAVel = cvScIdent;
ui02 = p_I_NActorDetails->FindElementByName("Density_Mult", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.fDensMult = AToPxReal((*p_I_NActorDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.fDensMult = 1.0f;
}
ui02 = p_I_NActorDetails->FindElementByName("Camera", 0, &uchResult);
if (uchResult == U_OK)
{
p_PNodeH00 = *p_I_NActorDetails->GetValuePtr(ui02);
p_I_NCameraDetails = p_PNodeH00->p_ChildIterator;
ui02 = p_I_NCameraDetails->FindElementByName("Position", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.oCamera.vPos = AToPxVec3((*p_I_NCameraDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.oCamera.vPos = cvIdent;
ui02 = p_I_NCameraDetails->FindElementByName("Rotation", 0, &uchResult);
if (uchResult == U_OK)
{
oActor.oCamera.vRot = AToPxVec3((*p_I_NCameraDetails->GetValuePtr(ui02))->p_chData);
}
else oActor.oCamera.vRot = cvIdent;
}
}
// Актёр в итератор, создание актёра.
AddActor(p_oAssembly, &oActor, p_PNodeH01->p_NodeName);
}
THRU_ITERATOR_END;
}
ui01 = p_I_Categories->FindElementByName("Joints", 0, &uchResult); // Ищем актёров.
if (uchResult == U_OK)
{
p_PNodeH01 = *p_I_Categories->GetValuePtr(ui01); // Разъём суставов.
p_I_NJoints = p_PNodeH01->p_ChildIterator; // Итератор суставов.
THRU_ITERATOR(p_I_NJoints)
{
ZeroMemory(&oJoint, sizeof(PhysXBind::sJoint)); // Начало заполнения объекта актёра.
p_PNodeH01 = *p_I_NJoints->GetValuePtr(i); // Разъём конкретного актёра (имя из p_PNodeH01 в актёры).
p_ch00 = CopyString(p_PNodeH01->p_NodeName, mch0, '/');
CopyString(p_ch00, mch1);
oJoint.p_Actor0 = p_oAssembly->p_I_Actors->GetValuePtr(p_oAssembly->p_I_Actors->FindElementByName(mch0));
oJoint.p_Actor1 = p_oAssembly->p_I_Actors->GetValuePtr(p_oAssembly->p_I_Actors->FindElementByName(mch1));
if (oJoint.p_Actor0 && oJoint.p_Actor1)
{
p_I_NJointDetails = p_PNodeH01->p_ChildIterator; // Текущий итератор описания актёра.
if (p_I_NJointDetails)
{
ui02 = p_I_NJointDetails->FindElementByName("Actor0Initials", 0, &uchResult);
if (uchResult == U_OK)
{
p_I_N0 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N0->FindElementByName("Position", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.vIPos0 = AToPxVec3((*p_I_N0->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N0->FindElementByName("Rotation", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.vIRot0 = AToPxVec3((*p_I_N0->GetValuePtr(ui02))->p_chData);
}
}
ui02 = p_I_NJointDetails->FindElementByName("Actor1Initials", 0, &uchResult);
if (uchResult == U_OK)
{
p_I_N0 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N0->FindElementByName("Position", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.vIPos1 = AToPxVec3((*p_I_N0->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N0->FindElementByName("Rotation", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.vIRot1 = AToPxVec3((*p_I_N0->GetValuePtr(ui02))->p_chData);
}
}
ui02 = p_I_NJointDetails->FindElementByName("Motions", 0, &uchResult);
if (uchResult == U_OK)
{
p_I_N0 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N0->FindElementByName("AxisX", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[0] = PxD6Motion::Enum::eFREE;
}
ui02 = p_I_N0->FindElementByName("AxisY", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[1] = PxD6Motion::Enum::eFREE;
}
ui02 = p_I_N0->FindElementByName("AxisZ", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[2] = PxD6Motion::Enum::eFREE;
}
ui02 = p_I_N0->FindElementByName("Twist", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[3] = PxD6Motion::Enum::eFREE;
}
ui02 = p_I_N0->FindElementByName("Swing0", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[4] = PxD6Motion::Enum::eFREE;
}
ui02 = p_I_N0->FindElementByName("Swing1", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[5] = PxD6Motion::Enum::eFREE;
}
}
ui02 = p_I_NJointDetails->FindElementByName("LinearLimit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.oLinearLimit.bIsOn = true;
if (oJoint.mMotions[0] == PxD6Motion::Enum::eFREE)
oJoint.mMotions[0] = PxD6Motion::Enum::eLIMITED;
if (oJoint.mMotions[1] == PxD6Motion::Enum::eFREE)
oJoint.mMotions[1] = PxD6Motion::Enum::eLIMITED;
if (oJoint.mMotions[2] == PxD6Motion::Enum::eFREE)
oJoint.mMotions[2] = PxD6Motion::Enum::eLIMITED;
p_I_N1 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N1->FindElementByName("Extend", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.oLinearLimit.fExtend = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Spring", 0, &uchResult);
if (uchResult == U_OK)
{
vt00 = AToPxVec2((*p_I_N1->GetValuePtr(ui02))->p_chData);
oJoint.oLinearLimit.oSpring.bIsOn = true;
oJoint.oLinearLimit.oSpring.fStiffness = vt00.x;
oJoint.oLinearLimit.oSpring.fDamping = vt00.y;
}
}
ui02 = p_I_NJointDetails->FindElementByName("TwistLimit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.oAngularLimitPair.bIsOn = true;
oJoint.mMotions[3] = PxD6Motion::Enum::eLIMITED;
p_I_N0 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N0->FindElementByName("Bounds", 0, &uchResult);
if (uchResult == U_OK)
{
vt00 = AToPxVec2((*p_I_N0->GetValuePtr(ui02))->p_chData);
oJoint.oAngularLimitPair.fLowerLimit = vt00.x;
oJoint.oAngularLimitPair.fLowerLimit = vt00.y;
}
ui02 = p_I_N0->FindElementByName("Spring", 0, &uchResult);
if (uchResult == U_OK)
{
vt00 = AToPxVec2((*p_I_N0->GetValuePtr(ui02))->p_chData);
oJoint.oAngularLimitPair.oSpring.bIsOn = true;
oJoint.oAngularLimitPair.oSpring.fStiffness = vt00.x;
oJoint.oAngularLimitPair.oSpring.fDamping = vt00.y;
}
}
ui02 = p_I_NJointDetails->FindElementByName("SwingLimit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.oLimitCone.bIsOn = true;
p_I_N0 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N0->FindElementByName("ZLimit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[4] = PxD6Motion::Enum::eLIMITED;
oJoint.oLimitCone.fYLimitAngle = AToPxReal((*p_I_N0->GetValuePtr(ui02))->p_chData) /
p_PhysXBind->cfQuaterCircle;
}
ui02 = p_I_N0->FindElementByName("YLimit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mMotions[5] = PxD6Motion::Enum::eLIMITED;
oJoint.oLimitCone.fZLimitAngle = AToPxReal((*p_I_N0->GetValuePtr(ui02))->p_chData) /
p_PhysXBind->cfQuaterCircle;
}
ui02 = p_I_N0->FindElementByName("Spring", 0, &uchResult);
if (uchResult == U_OK)
{
vt00 = AToPxVec2((*p_I_N0->GetValuePtr(ui02))->p_chData);
oJoint.oLimitCone.oSpring.bIsOn = true;
oJoint.oLimitCone.oSpring.fStiffness = vt00.x;
oJoint.oLimitCone.oSpring.fDamping = vt00.y;
}
}
ui02 = p_I_NJointDetails->FindElementByName("LinearDriveGoal", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.vLinearDriveGoal = AToPxVec3((*p_I_NJointDetails->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_NJointDetails->FindElementByName("AngularDriveGoal", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.vAngularDriveGoal = AToPxVec3((*p_I_NJointDetails->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_NJointDetails->FindElementByName("Drives", 0, &uchResult);
if (uchResult == U_OK)
{
p_I_N0 = (*p_I_NJointDetails->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N0->FindElementByName("AxisX", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[0].bIsOn = true;
p_I_N1 = (*p_I_N0->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N1->FindElementByName("Stiffness", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[0].fDriveStiffness = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Сlutch", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[0].fDriveDamping = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Limit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[0].fForceLimit = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
}
ui02 = p_I_N0->FindElementByName("AxisY", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[1].bIsOn = true;
p_I_N1 = (*p_I_N0->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N1->FindElementByName("Stiffness", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[1].fDriveStiffness = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Сlutch", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[1].fDriveDamping = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Limit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[1].fForceLimit = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
}
ui02 = p_I_N0->FindElementByName("AxisZ", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[2].bIsOn = true;
p_I_N1 = (*p_I_N0->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N1->FindElementByName("Stiffness", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[2].fDriveStiffness = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Сlutch", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[2].fDriveDamping = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Limit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[2].fForceLimit = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
}
ui02 = p_I_N0->FindElementByName("Swing", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[3].bIsOn = true;
p_I_N1 = (*p_I_N0->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N1->FindElementByName("Stiffness", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[3].fDriveStiffness = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Сlutch", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[3].fDriveDamping = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Limit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[3].fForceLimit = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
}
ui02 = p_I_N0->FindElementByName("Twist", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[4].bIsOn = true;
p_I_N1 = (*p_I_N0->GetValuePtr(ui02))->p_ChildIterator;
ui02 = p_I_N1->FindElementByName("Stiffness", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[4].fDriveStiffness = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Сlutch", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[4].fDriveDamping = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
ui02 = p_I_N1->FindElementByName("Limit", 0, &uchResult);
if (uchResult == U_OK)
{
oJoint.mDriveInfos[4].fForceLimit = AToPxReal((*p_I_N1->GetValuePtr(ui02))->p_chData);
}
}
}
}
AddJoint(p_oAssembly, oJoint);
}
}
THRU_ITERATOR_END;
}
void SimulatedWorld::AddObject(wxWindowID id)
{
InitialProperties *ini;
PositionableEntity *obj=NULL;
NodeTree *newNode=NULL;
NodeTree *itemData = tree->GetSelection().IsOk() ? (NodeTree *) tree->GetItemData(tree->GetSelection()):NULL;
// Object Selected////
if(id==ID_ADDSPHERE)
obj=new SpherePart;
else if(id==ID_ADDCYL)
obj=new CylindricalPart;
else if(id==ID_ADDPRI)
obj=new PrismaticPart;
else if(id==ID_ADDIRRPRI)
obj=new PrismaticPart;
else if(id==ID_ADDFACESET)
obj=new FaceSetPart;
else if(id==ID_ADDNEO)
obj=new Pioneer3ATSim;
else if(id==ID_ADDSCARA)
obj=new AdeptOneSim;
else if(id==ID_ADDPUMA)
obj=new Puma560Sim;
else if(id==ID_ADDASEA)
obj=new AseaIRB2000Sim;
else if(id==ID_ADDCUSTOM)
obj=new ComposedEntity;
else if(id==ID_WHEEL)
obj=new WheeledBaseSim;
else if(id==ID_LMS200)
obj=new LMS200Sim;
else if(id==ID_PATROL)
obj=new PatrolbotSim;
else if(id==ID_LMS100)
obj=new LMS100Sim;
else if(id==ID_POWERCUBE)
obj=new PowerCube70Sim;
else if(id==ID_CAMERA)
obj=new CameraSim;
else if(id==ID_KINECT)
obj=new KinectSim;
else if(id==ID_MOBILEROBOT)
obj=new MobileRobot("");
else if(id==ID_QUADROTOR)
obj=new QuadrotorSim;
else if(id==ID_PERSON)
obj=new PersonSim;
else if(id==ID_LASER)
obj=new LaserSensorSim;
else if(id==ID_LASER3D)
obj=new LaserSensor3DSim;
else if(id==ID_NEMOLASER)
obj=new NemoLaserSensor3DSim;
else if(id==ID_EUITIBOT)
obj=new EUITIbotSim;
else if(id==ID_ADDJOINT)
{
obj=AddJoint();
}
else
obj=new PositionableEntity;
// Object addition or world addition//
if(tree->GetSelection()!=mainNode)
{
newNode=tree->AddNode(obj,tree->GetSelection(),this);
itemData->pointer.composedentity->addObject(obj);
}
else
{
(*m_world)+=obj;
newNode=tree->AddNode(obj,tree->GetSelection(),this);
}
tree->Expand(tree->GetSelection());
if(id==ID_ADDIRRPRI)
{
newNode->setTipo(N_IrregularPrismaticPart);
newNode->setName(wxT("Irregular Prism"));
tree->SetItemText(tree->GetLastChild(tree->GetSelection()),wxT("Irregular Prism"));
}
// Initial Properties //
if(id==ID_ADDCUSTOM)
{
CompOption=new wxMessageDialog(NULL, wxT("Use the interface to build it?"),wxT("Composed Design"),wxYES_NO,wxDefaultPosition);
if(CompOption->ShowModal()==wxID_YES)
{
ini= new InitialProperties(mainWin,newNode,wxT("Properties"),id);
ini->ShowModal();
}
else
{
childView->UpdateWorld();
return;
}
}
else if (id==ID_ADDJOINT)
{
return;
}
else
{
ini= new InitialProperties(mainWin,newNode,wxT("Properties"),id);
ini->ShowModal();
}
if(ini->GetButtom()==false)
{
delete obj;
tree->Delete(tree->GetLastChild(tree->GetSelection()));
}
childView->UpdateWorld();
delete ini;
}
