void Controller::updateFromXMLNode(SimTK::Xml::Element& node,
int versionNumber) {
if(versionNumber < XMLDocument::getLatestVersion()) {
if(versionNumber < 30509) {
// Rename property 'isDisabled' to 'enabled' and
// negate the contained value.
std::string oldName{"isDisabled"};
std::string newName{"enabled"};
if(node.hasElement(oldName)) {
auto elem = node.getRequiredElement(oldName);
bool isDisabled = false;
elem.getValue().tryConvertToBool(isDisabled);
// now update tag name to 'enabled'
elem.setElementTag(newName);
// update its value to be the opposite of 'isDisabled'
elem.setValue(SimTK::String(!isDisabled));
}
}
}
Super::updateFromXMLNode(node, versionNumber);
}
void Joint::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
int documentVersion = versionNumber;
//bool converting = false;
if (documentVersion < XMLDocument::getLatestVersion()){
if (documentVersion<30500){
XMLDocument::renameChildNode(aNode, "location", "location_in_child");
XMLDocument::renameChildNode(aNode, "orientation", "orientation_in_child");
}
// Version 30501 converted Connector_Body_ to Connector_PhysicalFrame_
if (documentVersion < 30501) {
// Handle any models that have the Joint connecting to Bodies instead
// of PhyscialFrames
XMLDocument::renameChildNode(aNode, "Connector_Body_",
"Connector_PhysicalFrame_");
}
// Version 30505 changed "parent_body" connector name to "parent_frame"
// Convert location and orientation into PhysicalOffsetFrames owned by the Joint
if (documentVersion < 30505) {
// Elements for the parent and child names the joint connects
SimTK::Xml::element_iterator parentNameElt;
SimTK::Xml::element_iterator childNameElt;
// The names of the two PhysicalFrames this joint connects
std::string parentFrameName("");
std::string childFrameName("");
SimTK::Xml::element_iterator connectors_node = aNode.element_begin("connectors");
SimTK::Xml::element_iterator connectorElement =
connectors_node->element_begin("Connector_PhysicalFrame_");
while (connectorElement != aNode.element_end()) {
// If connector name is "parent_body" rename it to "parent_frame"
if (connectorElement->getRequiredAttributeValue("name") == "parent_body") {
connectorElement->setAttributeValue("name", "parent_frame");
}
// If connector name is "parent_frame" get the name of the connectee
if (connectorElement->getRequiredAttributeValue("name") == "parent_frame"){
parentNameElt = connectorElement->element_begin("connectee_name");
parentNameElt->getValueAs<std::string>(parentFrameName);
const auto slashLoc = parentFrameName.rfind('/');
if (slashLoc != std::string::npos)
parentFrameName = parentFrameName.substr(slashLoc + 1);
}
if (connectorElement->getRequiredAttributeValue("name") == "child_body") {
connectorElement->setAttributeValue("name", "child_frame");
}
if (connectorElement->getRequiredAttributeValue("name") == "child_frame") {
childNameElt = connectorElement->element_begin("connectee_name");
childNameElt->getValueAs<std::string>(childFrameName);
const auto slashLoc = childFrameName.rfind('/');
if (slashLoc != std::string::npos)
childFrameName = childFrameName.substr(slashLoc + 1);
}
++connectorElement;
}
SimTK::Xml::element_iterator locParentElt =
aNode.element_begin("location_in_parent");
SimTK::Xml::element_iterator orientParentElt =
aNode.element_begin("orientation_in_parent");
SimTK::Xml::element_iterator locChildElt =
aNode.element_begin("location_in_child");
SimTK::Xml::element_iterator orientChildElt =
aNode.element_begin("orientation_in_child");
Vec3 location_in_parent(0);
Vec3 orientation_in_parent(0);
Vec3 location_in_child(0);
Vec3 orientation_in_child(0);
if (locParentElt != aNode.element_end()){
locParentElt->getValueAs<Vec3>(location_in_parent);
}
if (orientParentElt != aNode.element_end()){
orientParentElt->getValueAs<Vec3>(orientation_in_parent);
}
if (locChildElt != aNode.element_end()){
locChildElt->getValueAs<Vec3>(location_in_child);
}
if (orientChildElt != aNode.element_end()){
orientChildElt->getValueAs<Vec3>(orientation_in_child);
}
// now append updated frames to the property list for
// both parent and child
XMLDocument::addPhysicalOffsetFrame30505_30517(aNode, parentFrameName+"_offset",
parentFrameName, location_in_parent, orientation_in_parent);
parentNameElt->setValue(parentFrameName + "_offset");
XMLDocument::addPhysicalOffsetFrame30505_30517(aNode, childFrameName + "_offset",
childFrameName, location_in_child, orientation_in_child);
childNameElt->setValue(childFrameName + "_offset");
}
// Version 30507 replaced Joint's CoordinateSet with a "coordinates"
// list property.
if (documentVersion < 30507) {
if (aNode.hasElement("CoordinateSet")) {
auto coordSetIter = aNode.element_begin("CoordinateSet");
if (coordSetIter->hasElement("objects")) {
auto coordIter = coordSetIter->getRequiredElement("objects")
.element_begin("Coordinate");
if (coordIter != aNode.element_end()) {
// A "CoordinateSet" element exists, it contains an
// "objects" element, and the "objects" element contains
// at least one "Coordinate" element.
// Create an element for the new layout.
Xml::Element coordinatesElement("coordinates");
// Copy all "Coordinate" elements from the old layout.
while (coordIter != aNode.element_end()) {
coordinatesElement.appendNode(coordIter->clone());
++coordIter;
}
// Insert new "coordinates" element.
aNode.insertNodeAfter(coordSetIter, coordinatesElement);
}
}
// Remove old "CoordinateSet" element.
aNode.eraseNode(coordSetIter);
}
}
// Version 30514 removed the user-facing "reverse" property from Joint.
// The parent and child frames are swapped if a "reverse" element is
// found and its value is "true".
if (documentVersion < 30514) {
auto reverseElt = aNode.element_begin("reverse");
if (reverseElt != aNode.element_end()) {
bool swapFrames = false;
reverseElt->getValue().tryConvertToBool(swapFrames);
if (swapFrames) {
std::string oldParentFrameName = "";
std::string oldChildFrameName = "";
// Find names of parent and child frames. If more than one
// "parent_frame" or "child_frame" element exists, keep the
// first one. The "parent_frame" and "child_frame" elements
// may be listed in either order.
SimTK::Xml::element_iterator connectorsNode =
aNode.element_begin("connectors");
SimTK::Xml::element_iterator connectorElt = connectorsNode->
element_begin("Connector_PhysicalFrame_");
SimTK::Xml::element_iterator connecteeNameElt;
while (connectorElt != connectorsNode->element_end())
{
if (connectorElt->getRequiredAttributeValue("name") ==
"parent_frame" && oldParentFrameName.empty())
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->getValueAs<std::string>(
oldParentFrameName);
}
else if (connectorElt->getRequiredAttributeValue("name")
== "child_frame" && oldChildFrameName.empty())
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->getValueAs<std::string>(
oldChildFrameName);
}
++connectorElt;
}
// Swap parent and child frame names. If more than one
// "parent_frame" or "child_frame" element exists, assign
// the same value to all such elements.
connectorsNode = aNode.element_begin("connectors");
connectorElt = connectorsNode->element_begin(
"Connector_PhysicalFrame_");
while (connectorElt != connectorsNode->element_end())
{
if (connectorElt->getRequiredAttributeValue("name") ==
"parent_frame")
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->setValue(oldChildFrameName);
}
else if (connectorElt->getRequiredAttributeValue("name")
== "child_frame")
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->setValue(oldParentFrameName);
}
++connectorElt;
}
}
// Remove "reverse" element regardless of its value (it is no
// longer a property of Joint).
aNode.eraseNode(reverseElt);
}
}
}
Super::updateFromXMLNode(aNode, versionNumber);
}
