int QilexDoc::doc_new_kinematic_hand(ct_new_kinematic_chain *data)
{
int error = 0;
int tipus = 0;
void * buffer ; //char *buffer;
char *buftemp = (char*)malloc(1024);
SoOutput out;
size_t sizeModel = 0;
SoSeparator *kinechain = new SoSeparator;
SoSeparator *kinetest = new SoSeparator;
Rchain_hand *kineengine = new Rchain_hand();
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
kinechain = readFile(data->QsModelFile.latin1(), tipus);
if (kinechain == NULL) // no object read
{ return 1; }
else // ok, there's no object with the same name
{
error = kineengine->init_dat(data->QsDatFile.latin1()); //
if (error == 0)
{
kinechain->ref();
kinetest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (kinetest==NULL)
{
//we need to put it in a buffer to write the xml file
// if is Ok
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(kinechain);
out.getBuffer(buffer, sizeModel);
kinechain->insertChild(pos_rot, 0);
}
error = doc_insert_kinematic_hand(kineengine, kinechain);
}
}
if (error==0)
{
writeXML_kineelement((char *)buffer, sizeModel, tipus, data, kineengine);
}
return error;
}
//////////////////////////////////////////////////////////////////////////////
//
// Description:
// Convert the passed path list to a byte stream.
// binaryFormat determines whether to copy the data in binary (TRUE) or
// ascii (FALSE) format.
//
// Use: public
//
void
SoByteStream::convert(SoPathList *pathList, SbBool binaryFormat)
//
//////////////////////////////////////////////////////////////////////////////
{
// clear out any old data
if (data != NULL) {
free(data);
data = NULL;
numBytes = 0;
}
if ((pathList == NULL) || (pathList->getLength() == 0))
return;
// Write all the paths in the path list into an in-memory buffer
SoWriteAction wa;
SoOutput *out = wa.getOutput();
out->setBinary(binaryFormat);
out->setBuffer(malloc(128), 128, realloc);
for (int i = 0; i < pathList->getLength(); i++) {
wa.apply((*pathList)[i]);
}
// Point to the byte stream data
void *buf;
size_t size;
out->getBuffer(buf, size);
data = buf;
numBytes = (uint32_t) size;
isRaw = FALSE;
}
int QilexDoc::doc_new_grasping_object(ct_new_grasping_object *data)
{
int error = 0;
int tipus = 0;
void *buffer; //char *buffer;
char *buftemp = (char*)malloc(1024);
size_t sizeModel = 0;;
SoSeparator *object = new SoSeparator;
SoSeparator *objecttest = new SoSeparator;
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
SbVec3f joingrasp0;
SbVec3f joingrasp1;
SbVec3f joingrasp2;
SbVec3f joingrasp3;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->recenter(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
object = readFile(data->QsModelFile.latin1(), tipus);
if (object == NULL) // no object read
{
error = 1 ;
}
else // ok, there's no object with the same name
{
error = read_grasp_points(data);
SoMaterial *bronze = new SoMaterial;
bronze->ambientColor.setValue(0.33,0.22,0.27);
bronze->diffuseColor.setValue(0.78,0.57,0.11);
bronze->specularColor.setValue(0.99,0.94,0.81);
bronze->shininess=0.28;
SoSphere *grasp_sphere = new SoSphere;
grasp_sphere->radius=7.0;
SoFont *font = new SoFont;
font->size.setValue(28);
font->name.setValue("Times-Roman");
SoSeparator *grasp_sep0 = new SoSeparator;
SoTransform *grasp_transf0 = new SoTransform;
SoSeparator *text0 = new SoSeparator;
SoText2 *label_text0 = new SoText2;
SoSeparator *grasp_sep1 = new SoSeparator;
SoTransform *grasp_transf1 = new SoTransform;
SoSeparator *text1 = new SoSeparator;
SoText2 *label_text1 = new SoText2;
SoSeparator *grasp_sep2 = new SoSeparator;
SoTransform *grasp_transf2 = new SoTransform;
SoSeparator *text2 = new SoSeparator;
SoText2 *label_text2 = new SoText2;
SoSeparator *grasp_sep3 = new SoSeparator;
SoTransform *grasp_transf3 = new SoTransform;
SoSeparator *text3 = new SoSeparator;
SoText2 *label_text3 = new SoText2;
//for (int i=0;i<data->num_point;i++)
//{
joingrasp0.setValue(SbVec3f(data->grasp_points[0].px,data->grasp_points[0].py,data->grasp_points[0].pz));
grasp_transf0->translation.setValue(joingrasp0);
grasp_transf0->recenter(joingrasp0);
label_text0->string=" 1";
text0->addChild(font);
text0->addChild(label_text0);
grasp_sep0->addChild(bronze);
grasp_sep0->addChild(grasp_transf0);
grasp_sep0->addChild(grasp_sphere);
grasp_sep0->addChild(text0);
//grasp_sep0->addChild(line0);
joingrasp1.setValue(SbVec3f(data->grasp_points[1].px,data->grasp_points[1].py,data->grasp_points[1].pz));
grasp_transf1->translation.setValue(joingrasp1);
grasp_transf1->recenter(joingrasp1);
label_text1->string=" 2";
text1->addChild(font);
text1->addChild(label_text1);
grasp_sep1->addChild(bronze);
grasp_sep1->addChild(grasp_transf1);
grasp_sep1->addChild(grasp_sphere);
grasp_sep1->addChild(text1);
joingrasp2.setValue(SbVec3f(data->grasp_points[2].px,data->grasp_points[2].py,data->grasp_points[2].pz));
grasp_transf2->translation.setValue(joingrasp2);
grasp_transf2->recenter(joingrasp2);
label_text2->string=" 3";
text2->addChild(font);
text2->addChild(label_text2);
grasp_sep2->addChild(bronze);
grasp_sep2->addChild(grasp_transf2);
grasp_sep2->addChild(grasp_sphere);
grasp_sep2->addChild(text2);
joingrasp3.setValue(SbVec3f(data->grasp_points[3].px,data->grasp_points[3].py,data->grasp_points[3].pz));
grasp_transf3->translation.setValue(joingrasp3);
grasp_transf3->recenter(joingrasp3);
label_text3->string=" 4";
text3->addChild(font);
text3->addChild(label_text3);
grasp_sep3->addChild(bronze);
grasp_sep3->addChild(grasp_transf3);
grasp_sep3->addChild(grasp_sphere);
grasp_sep3->addChild(text3);
//object->addChild(grasp_sep);
//}
if (error == 0)
{
object->ref();
objecttest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (objecttest==NULL)
{
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(object);
out.getBuffer(buffer, sizeModel);
object->setName(data->QsName.latin1());
//grasp_object->addChild(model_object);
object->addChild(grasp_sep0);
object->addChild(grasp_sep1);
object->addChild(grasp_sep2);
object->addChild(grasp_sep3);
object->insertChild(pos_rot, 0);
view->addObjectCell(object);
error = 0;
//writeXML_geomelement((char *)buffer, sizeModel, tipus, data);
//S'ha de canviar!!!!!
}
else
{
object->unref();
error = 3;
}
}
}
return error;
}
int QilexDoc::doc_new_geometric_object(ct_new_geometric_object *data)
{
int error = 0;
int tipus = 0;
void *buffer; //char *buffer;
char *buftemp = (char*)malloc(1024);
size_t sizeModel = 0;;
SoSeparator *object = new SoSeparator;
SoSeparator *objecttest = new SoSeparator;
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->recenter(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
object = readFile(data->QsModelFile.latin1(), tipus);
if (object == NULL) // no object read
{
error = 1 ;
}
else // ok, there's no object with the same name
{
object->ref();
objecttest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (objecttest==NULL)
{
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(object);
out.getBuffer(buffer, sizeModel);
object->setName(data->QsName.latin1());
object->insertChild(pos_rot, 0);
view->addObjectCell(object);
error = 0;
writeXML_geomelement((char *)buffer, sizeModel, tipus, data);
}
else
{
object->unref();
error = 3;
}
}
return error;
}
