void VRML_MODEL_PARSER::Load( const wxString aFilename )
{
char line[1024], * text;
FILE* file;
int LineNum = 0;
file = wxFopen( aFilename, wxT( "rt" ) );
if( file == NULL )
{
return;
}
// Switch the locale to standard C (needed to print floating point numbers like 1.3)
SetLocaleTo_C_standard();
while( GetLine( file, line, &LineNum, 512 ) )
{
text = strtok( line, sep_chars );
if ( text == NULL )
continue;
if( stricmp( text, "DEF" ) == 0 || stricmp( text, "Group" ) == 0 )
{
while( GetLine( file, line, &LineNum, 512 ) )
{
text = strtok( line, sep_chars );
if( text == NULL )
continue;
if( *text == '}' )
break;
if( stricmp( text, "children" ) == 0 )
{
readChildren( file, &LineNum );
}
}
}
}
fclose( file );
SetLocaleTo_Default(); // revert to the current locale
}
void hotspot::updateParentLocation(float *robot,int candidate){
float xx[4],yy[4];
switch(candidate){
case 0: readChildren(xx,yy,5,0,1,2) ;break;
case 1: readChildren(xx,yy,0,1,2,3) ;break;
case 2: readChildren(xx,yy,1,2,3,4) ;break;
case 3: readChildren(xx,yy,2,3,4,5) ;break;
case 4: readChildren(xx,yy,3,4,5,0) ;break;
case 5: readChildren(xx,yy,4,5,1,0) ;break;
}
lineIntesection(robot,xx,yy);
}
bool XmlStateTab::load(const QDomElement& elParent) {
if (!readOrCreateIdentifier(elParent)) {
return false;
}
mPositions = Top;
if (elParent.firstChildElement(QLatin1String("Sky:Bottom")).isElement()) {
mPositions = Bottom;
}
else if (elParent.firstChildElement(QLatin1String("Sky:Left")).isElement()) {
mPositions = Left;
}
else if (elParent.firstChildElement(QLatin1String("Sky:Right")).isElement()) {
mPositions = Right;
}
else if (!elParent.firstChildElement(QLatin1String("Sky:Top")).isElement()) {
return false;
}
return readChildren(elParent, CTContainers|CTViews);
}
bool XmlStateWindow::load(const QDomElement& elParent) {
return readOrCreateIdentifier(elParent)
&& readChildren(elParent, CTContainers);
}
bool XmlStateRoot::load(const QDomElement& elParent) {
return readChildren(elParent, CTWindows);
}
// functions inherited from WRL2NODE
bool WRL2TRANSFORM::Read( WRLPROC& proc, WRL2BASE* aTopNode )
{
/*
* Structure of a Transform node (p.120):
*
* Transform {
* eventIn MFNode addChildren
* eventIn MFNode removeChildren
* exposedField SFVec3f center 0 0 0
* exposedField MFNode children []
* exposedField SFRotation rotation 0 0 1 0
* exposedField SFVec3f scale 1 1 1
* exposedField SFRotation scaleOrientation 0 0 1 0
* exposedField SFVec3f translation 0 0 0
* field SFVec3f bboxCenter 0 0 0
* field SFVec3f bboxSize 0 0 0
* }
*/
if( NULL == aTopNode )
{
#ifdef DEBUG_VRML2
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [BUG] aTopNode is NULL";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
center.x = 0.0;
center.y = 0.0;
center.z = 0.0;
translation = center;
bboxCenter = center;
bboxSize = center;
rotation.x = 0.0;
rotation.y = 0.0;
rotation.z = 1.0;
rotation.w = 0.0;
scaleOrientation = rotation;
scale.x = 1.0;
scale.y = 1.0;
scale.z = 1.0;
size_t line, column;
proc.GetFilePosData( line, column );
char tok = proc.Peek();
if( proc.eof() )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] bad file format; unexpected eof at line ";
ostr << line << ", column " << column;
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
if( '{' != tok )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << proc.GetError() << "\n";
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] bad file format; expecting '{' but got '" << tok;
ostr << "' at line " << line << ", column " << column;
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
proc.Pop();
std::string glob;
while( true )
{
if( proc.Peek() == '}' )
{
proc.Pop();
break;
}
if( !proc.ReadName( glob ) )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << proc.GetError();
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
// expecting one of:
// center
// children
// rotation
// scale
// ScaleOrientation
// translation
proc.GetFilePosData( line, column );
if( !glob.compare( "center" ) )
{
if( !proc.ReadSFVec3f( center ) )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] invalid center at line " << line << ", column ";
ostr << column << "\n";
ostr << " * [INFO] file: '" << proc.GetFileName() << "'\n";
ostr << " * [INFO] message: '" << proc.GetError() << "'";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
// convert from 1 VRML Unit = 0.1 inch to 1 VRML Unit = 1 mm
center.x *= 2.54;
center.y *= 2.54;
center.z *= 2.54;
}
else if( !glob.compare( "rotation" ) )
{
if( !proc.ReadSFRotation( rotation ) )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] invalid rotation at line " << line << ", column ";
ostr << column << "\n";
ostr << " * [INFO] file: '" << proc.GetFileName() << "'\n";
ostr << " * [INFO] message: '" << proc.GetError() << "'";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
}
else if( !glob.compare( "scale" ) )
{
if( !proc.ReadSFVec3f( scale ) )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] invalid scale at line " << line << ", column ";
ostr << column << "\n";
ostr << " * [INFO] file: '" << proc.GetFileName() << "'\n";
ostr << " * [INFO] message: '" << proc.GetError() << "'";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
}
else if( !glob.compare( "scaleOrientation" ) )
{
if( !proc.ReadSFRotation( scaleOrientation ) )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] invalid scaleOrientation at line " << line << ", column ";
ostr << column << "\n";
ostr << " * [INFO] file: '" << proc.GetFileName() << "'\n";
ostr << " * [INFO] message: '" << proc.GetError() << "'";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
}
else if( !glob.compare( "translation" ) )
{
if( !proc.ReadSFVec3f( translation ) )
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] invalid translation at line " << line << ", column ";
ostr << column << "\n";
ostr << " * [INFO] file: '" << proc.GetFileName() << "'\n";
ostr << " * [INFO] message: '" << proc.GetError() << "'";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
// convert from 1 VRML Unit = 0.1 inch to 1 VRML Unit = 1 mm
translation.x *= 2.54;
translation.y *= 2.54;
translation.z *= 2.54;
}
else if( !glob.compare( "children" ) )
{
if( !readChildren( proc, aTopNode ) )
return false;
}
else
{
#if defined( DEBUG_VRML2 ) && ( DEBUG_VRML2 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] bad Transform at line " << line << ", column ";
ostr << column << "\n";
ostr << " * [INFO] file: '" << proc.GetFileName() << "'";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
} // while( true ) -- reading contents of Transform{}
return true;
}
void ZDLInterface::startRead(){
emit readChildren(this);
newConfig();
}
