//---------------------------------------------------------------------------- void getGraphicsModel40(ifstream &cfg_ptr, dmLink *link) { if (getStringParameter40(cfg_ptr, "Graphics_Model", object_name40)) { GLuint *dlist = new GLuint; *dlist = glLoadModel(object_name40); link->setUserData((void *) dlist); } }
//---------------------------------------------------------------------------- void getGraphicsModel40(ifstream &cfg_ptr, dmLink *link) { if (getStringParameter40(cfg_ptr, "Graphics_Model", object_name40)) { // For each link, DM can render AT MOST two graphical models (2 .xan files) // spcified as "model1.xan|model2.xan" char * pch; pch = strtok (object_name40,"|");// note: do not put extra spaces GLuint *dlist = new GLuint; *dlist = glLoadModel(pch); link->setUserData((void *) dlist); //cout<<pch<<endl; pch = strtok (NULL, "|"); if (pch != NULL) { GLuint *dlist2 = new GLuint; *dlist2 = glLoadModel(pch); link->setUserData2((void *) dlist2); } else { GLuint *dlist2 = new GLuint; *dlist2 = 0; link->setUserData2((void *) dlist2); } //GLuint *dlist = new GLuint; //*dlist = glLoadModel(object_name40); //link->setUserData((void *) dlist); } }
dmArticulation *Establish_Dummy_Dm_Model(char * xanname ) { dmArticulation *robot = new dmArticulation(); robot->setName("object"); GLuint *dlist = new GLuint; *dlist = glLoadModel(xanname); robot->setUserData((void *) dlist); CartesianVector pos; Quaternion quat; pos[0]=0; pos[1]=0; pos[2]=0; quat[0]=0; quat[1]=0; quat[2]=0; quat[3]=1.0; robot->setRefSystem(quat, pos); return robot; }