void CEntity::Init(TConfigurationNode& t_tree) {
try {
/*
* Set the id of the entity from XML or type description
*/
/* Was an id specified explicitly? */
if(NodeAttributeExists(t_tree, "id")) {
/* Yes, use that */
GetNodeAttribute(t_tree, "id", m_strId);
}
else {
/* No, derive it from the parent */
if(m_pcParent != NULL) {
UInt32 unIdCount = 0;
while(GetParent().HasComponent(GetTypeDescription() +
"[" + GetTypeDescription() +
"_" + ToString(unIdCount) +
"]")) {
++unIdCount;
}
m_strId = GetTypeDescription() + "_" + ToString(unIdCount);
}
else {
THROW_ARGOSEXCEPTION("Root entities must provide the identifier tag");
}
}
}
catch(CARGoSException& ex) {
THROW_ARGOSEXCEPTION_NESTED("Failed to initialize an entity.", ex);
}
}
void CRABMedium::Init(TConfigurationNode& t_tree) {
try {
CMedium::Init(t_tree);
/* Check occlusions? */
GetNodeAttributeOrDefault(t_tree, "check_occlusions", m_bCheckOcclusions, m_bCheckOcclusions);
/* Get the positional index method */
std::string strPosIndexMethod("grid");
GetNodeAttributeOrDefault(t_tree, "index", strPosIndexMethod, strPosIndexMethod);
/* Get the arena center and size */
CVector3 cArenaCenter;
CVector3 cArenaSize;
TConfigurationNode& tArena = GetNode(CSimulator::GetInstance().GetConfigurationRoot(), "arena");
GetNodeAttribute(tArena, "size", cArenaSize);
GetNodeAttributeOrDefault(tArena, "center", cArenaCenter, cArenaCenter);
/* Create the positional index for embodied entities */
if(strPosIndexMethod == "grid") {
size_t punGridSize[3];
if(!NodeAttributeExists(t_tree, "grid_size")) {
punGridSize[0] = cArenaSize.GetX();
punGridSize[1] = cArenaSize.GetY();
punGridSize[2] = cArenaSize.GetZ();
}
else {
std::string strPosGridSize;
GetNodeAttribute(t_tree, "grid_size", strPosGridSize);
ParseValues<size_t>(strPosGridSize, 3, punGridSize, ',');
}
CGrid<CRABEquippedEntity>* pcGrid = new CGrid<CRABEquippedEntity>(
cArenaCenter - cArenaSize * 0.5f, cArenaCenter + cArenaSize * 0.5f,
punGridSize[0], punGridSize[1], punGridSize[2]);
m_pcRABEquippedEntityGridUpdateOperation = new CRABEquippedEntityGridEntityUpdater(*pcGrid);
pcGrid->SetUpdateEntityOperation(m_pcRABEquippedEntityGridUpdateOperation);
m_pcRABEquippedEntityIndex = pcGrid;
}
else {
THROW_ARGOSEXCEPTION("Unknown method \"" << strPosIndexMethod << "\" for the positional index.");
}
}
catch(CARGoSException& ex) {
THROW_ARGOSEXCEPTION_NESTED("Error in initialization of the range-and-bearing medium", ex);
}
}
void CSimulator::InitControllers(TConfigurationNode& t_tree) {
/*
* Go through controllers, loading the library of each of them
* and storing type, id and XML tree of each of them for later use
*/
if(! t_tree.NoChildren()) {
try {
std::string strLibrary;
std::string strId;
TConfigurationNodeIterator it;
for(it = it.begin(&t_tree);
it != it.end(); ++it) {
/* Get controller id */
try {
GetNodeAttribute(*it, "id", strId);
}
catch(CARGoSException& ex) {
std::string strValue;
it->GetValue(&strValue);
THROW_ARGOSEXCEPTION_NESTED("Controller type \"" << strValue << "\" has no assigned id.", ex);
}
/* Bomb out if id is already in map */
if(m_mapControllerConfig.find(strId) != m_mapControllerConfig.end()) {
THROW_ARGOSEXCEPTION("Controller id \"" << strId << "\" duplicated");
}
/* Optionally, process "library" attribute if present */
if(NodeAttributeExists(*it, "library")) {
/* Get library name */
GetNodeAttribute(*it, "library", strLibrary);
/* Load library */
CDynamicLoading::LoadLibrary(strLibrary);
}
/* Store XML info in map by id */
m_mapControllerConfig.insert(std::pair<std::string, TConfigurationNode*>(strId, &(*it)));
}
}
catch(CARGoSException& ex) {
THROW_ARGOSEXCEPTION_NESTED("Error initializing controllers", ex);
}
}
}