void LightManip(SoSeparator * root) { SoInput in; in.setBuffer((void *)scenegraph, std::strlen(scenegraph)); SoSeparator * _root = SoDB::readAll( &in ); if ( _root == NULL ) return; // Shouldn't happen. root->addChild(_root); root->ref(); const char * pointlightnames[3] = { "RedLight", "GreenLight", "BlueLight" }; SoSearchAction sa; for (int i = 0; i < 3; i++) { sa.setName( pointlightnames[i] ); sa.setInterest( SoSearchAction::FIRST ); sa.setSearchingAll( false ); sa.apply( root ); SoPath * path = sa.getPath(); if ( path == NULL) return; // Shouldn't happen. SoPointLightManip * manip = new SoPointLightManip; manip->replaceNode( path ); } }
SoNodeList Renderer::getChildByName(SoSeparator * ivRoot, SbName & childName, SoType targetType, int maxResultsExpected) { assert(ivRoot); SoNodeList resultList; SoSearchAction sa; sa.setSearchingAll(true); sa.setType(targetType, true); sa.setInterest( SoSearchAction::ALL); sa.setName(childName); sa.setFind(SoSearchAction::NAME); sa.apply(ivRoot); SoPathList &pathList = sa.getPaths(); int numPaths = pathList.getLength(); if (numPaths > maxResultsExpected) { //DBGA(this->className() << "::getChildByName::Found too many children of node: " // << ivRoot->getName().getString() << " with name: " // <<childName.getString() << " " ); //DBGA(this->className() << "::getChildByName:: Expected:" << maxResultsExpected // << " Found:" << numPaths); //resultList.append(static_cast<SoNode *>(NULL)); return resultList; } for(int i = 0; i < numPaths; ++i) { resultList.append(pathList[i]->getTail()); } return resultList; }
int QilexDoc::doc_insert_kinematic_chain(Rchain *kineengine, SoSeparator *kinechain) { int error = 0; int i; SbVec3f joinax; float joinangle; SbName joints[] = {"joint1", "joint2", "joint3", "joint4","joint5", "joint6", "joint7", "joint8", "joint9", "joint10","joint11", "joint12", "joint13", "joint14", "joint15", "joint16","joint17", "joint18", "joint19", "joint20", "joint21", "joint22","joint23", "joint24", }; SoEngineList compR(kineengine->dof); SoNodeList Rots(kineengine->dof); SoSearchAction lookingforjoints; SoTransform *pjoint = new SoTransform; // Identifie the rotations and assing the job i = 0; while (i < kineengine->dof && error == 0) { lookingforjoints.setName(joints[i]); lookingforjoints.setType(SoTransform::getClassTypeId()); lookingforjoints.setInterest(SoSearchAction::FIRST); lookingforjoints.apply(kinechain); // assert(lookingforjoints.getPath() != NULL); SoNode * pnode = lookingforjoints.getPath()->getTail();; pjoint = (SoTransform *) pnode; if(NULL != pjoint) { Rots.append((SoTransform *) pjoint); compR.append(new SoQtComposeRotation); // cal comprobar si l'articulació es de rotació o translació: arreglar... ((SoTransform *) Rots[i])->rotation.getValue(joinax, joinangle); ((SoQtComposeRotation *) compR[i])->axis.setValue(joinax); ((SoTransform *) Rots[i])->rotation.connectFrom(&((SoQtComposeRotation *) compR[i])->rotation); } else { error = 5; // not a valid Model3d file } i++ ; } if (error == 0) { SoSeparator *axisworld = new SoSeparator; axisworld->unrefNoDelete(); SoCoordinateAxis *AxisW = new SoCoordinateAxis(); AxisW->fNDivision = 1; AxisW->fDivisionLength = 200; axisworld->addChild(AxisW); //kinechain->insertChild(AxisW,1); view->addNoColObject(axisworld); /* lookingforjoints.setName("tool"); lookingforjoints.setType(SoSeparator::getClassTypeId()); lookingforjoints.setInterest(SoSearchAction::FIRST); lookingforjoints.apply(kinechain); if(lookingforjoints.getPath() != NULL) { SoNode * pnode = lookingforjoints.getPath()->getTail();; SoCoordinateAxis *AxisT = new SoCoordinateAxis(); AxisT->fNDivision = 1; AxisT->fDivisionLength = 200; SoSeparator *axistool = new SoSeparator; axistool->ref(); axistool = (SoSeparator *) pnode; axistool->addChild(AxisT); view->addNoColObject(axistool); } */ panel_control *panel = new panel_control(0, "Panel", kineengine); for (int i = 0; i < kineengine->dof; i++) { // connect(panel->ldial[i], SIGNAL(valueChange(double)),((SoQtComposeRotation *) compR[i]), SLOT(setValue_angle(double))); connect(panel->ldial[i], SIGNAL(valueChange(double)),&panel->kinechain->list_plug[i], SLOT(setValue(double))); connect(&panel->kinechain->list_plug[i], SIGNAL(valueChanged(double)),((SoQtComposeRotation *) compR[i]), SLOT(setValue_angle(double))); connect(&panel->kinechain->list_plug[i], SIGNAL(valueChanged(double)),panel->ldial[i], SLOT(setValue(double))); } view->addRobotCell(kinechain); panel->show(); panel->update_limits(); //panel->kinechain->setconsole_mode(true); Ja estava comentada panel->kinechain->setconsole_mode(false); panel->kinechain->do_ready(); connect(view, SIGNAL(pick_point(Rhmatrix)),panel, SLOT(move_pickpoint(Rhmatrix ))); //panel->kinechain->setconsole_mode(false); Ja estava comentada }
void ViewProviderRobotObject::updateData(const App::Property* prop) { Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject); if (prop == &robObj->RobotVrmlFile) { // read also from file const char* filename = robObj->RobotVrmlFile.getValue(); QString fn = QString::fromUtf8(filename); QFile file(fn); SoInput in; pcRobotRoot->removeAllChildren(); if (!fn.isEmpty() && file.open(QFile::ReadOnly)) { QByteArray buffer = file.readAll(); in.setBuffer((void *)buffer.constData(), buffer.length()); SoSeparator * node = SoDB::readAll(&in); if (node) pcRobotRoot->addChild(node); pcRobotRoot->addChild(pcTcpRoot); } // search for the conection points +++++++++++++++++++++++++++++++++++++++++++++++++ Axis1Node = Axis2Node = Axis3Node = Axis4Node = Axis5Node = Axis6Node = 0; SoSearchAction searchAction; SoPath * path; // Axis 1 searchAction.setName("FREECAD_AXIS1"); searchAction.setInterest(SoSearchAction::FIRST); searchAction.setSearchingAll(FALSE); searchAction.apply(pcRobotRoot); path = searchAction.getPath(); if(path){ SoNode* node = path->getTail(); std::string typeName = (const char*)node->getTypeId().getName(); if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId()) throw; // should not happen Axis1Node = static_cast<SoVRMLTransform *>(node); } // Axis 2 searchAction.setName("FREECAD_AXIS2"); searchAction.setInterest(SoSearchAction::FIRST); searchAction.setSearchingAll(FALSE); searchAction.apply(pcRobotRoot); path = searchAction.getPath(); if(path){ SoNode* node = path->getTail(); std::string typeName = (const char*)node->getTypeId().getName(); if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId()) throw; // should not happen Axis2Node = static_cast<SoVRMLTransform *>(node); } // Axis 3 searchAction.setName("FREECAD_AXIS3"); searchAction.setInterest(SoSearchAction::FIRST); searchAction.setSearchingAll(FALSE); searchAction.apply(pcRobotRoot); path = searchAction.getPath(); if(path){ SoNode* node = path->getTail(); std::string typeName = (const char*)node->getTypeId().getName(); if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId()) throw; // should not happen Axis3Node = static_cast<SoVRMLTransform *>(node); } // Axis 4 searchAction.setName("FREECAD_AXIS4"); searchAction.setInterest(SoSearchAction::FIRST); searchAction.setSearchingAll(FALSE); searchAction.apply(pcRobotRoot); path = searchAction.getPath(); if(path){ SoNode* node = path->getTail(); std::string typeName = (const char*)node->getTypeId().getName(); if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId()) throw; // should not happen Axis4Node = static_cast<SoVRMLTransform *>(node); } // Axis 5 searchAction.setName("FREECAD_AXIS5"); searchAction.setInterest(SoSearchAction::FIRST); searchAction.setSearchingAll(FALSE); searchAction.apply(pcRobotRoot); path = searchAction.getPath(); if(path){ SoNode* node = path->getTail(); std::string typeName = (const char*)node->getTypeId().getName(); if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId()) throw; // should not happen Axis5Node = static_cast<SoVRMLTransform *>(node); } // Axis 6 searchAction.setName("FREECAD_AXIS6"); searchAction.setInterest(SoSearchAction::FIRST); searchAction.setSearchingAll(FALSE); searchAction.apply(pcRobotRoot); path = searchAction.getPath(); if(path){ SoNode* node = path->getTail(); std::string typeName = (const char*)node->getTypeId().getName(); if (!node || node->getTypeId() != SoVRMLTransform::getClassTypeId()) throw; // should not happen Axis6Node = static_cast<SoVRMLTransform *>(node); } if(Axis1Node) Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis1.getValue()*(M_PI/180)); if(Axis2Node) Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis2.getValue()*(M_PI/180)); if(Axis3Node) Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis3.getValue()*(M_PI/180)); if(Axis4Node) Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis4.getValue()*(M_PI/180)); if(Axis5Node) Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis5.getValue()*(M_PI/180)); if(Axis6Node) Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis6.getValue()*(M_PI/180)); }else if (prop == &robObj->Axis1) { if(Axis1Node){ Axis1Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis1.getValue()*(M_PI/180)); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); } }else if (prop == &robObj->Axis2) { if(Axis2Node){ Axis2Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis2.getValue()*(M_PI/180)); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); } }else if (prop == &robObj->Axis3) { if(Axis3Node){ Axis3Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis3.getValue()*(M_PI/180)); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); } }else if (prop == &robObj->Axis4) { if(Axis4Node){ Axis4Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis4.getValue()*(M_PI/180)); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); } }else if (prop == &robObj->Axis5) { if(Axis5Node){ Axis5Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis5.getValue()*(M_PI/180)); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); } }else if (prop == &robObj->Axis6) { if(Axis6Node){ Axis6Node->rotation.setValue(SbVec3f(0.0,1.0,0.0),robObj->Axis6.getValue()*(M_PI/180)); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); } }else if (prop == &robObj->Tcp) { Base::Placement loc = robObj->Tcp.getValue(); SbMatrix M; M.setTransform(SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z), SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]), SbVec3f(150,150,150) ); if(pcDragger) pcDragger->setMotionMatrix(M); if(toolShape) toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); //pcTcpTransform->translation = SbVec3f(loc.getPosition().x,loc.getPosition().y,loc.getPosition().z); //pcTcpTransform->rotation = SbRotation(loc.getRotation()[0],loc.getRotation()[1],loc.getRotation()[2],loc.getRotation()[3]); }else if (prop == &robObj->ToolShape) { App::DocumentObject* o = robObj->ToolShape.getValue<App::DocumentObject*>(); if(o && (o->isDerivedFrom(Part::Feature::getClassTypeId()) || o->isDerivedFrom(App::VRMLObject::getClassTypeId())) ){ //Part::Feature *p = dynamic_cast<Part::Feature *>(o); toolShape = Gui::Application::Instance->getViewProvider(o); toolShape->setTransformation((robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix()); }else toolShape = 0; } }
void Scene::load(const ::std::string& filename, const bool& doBoundingBoxPoints, const bool& doPoints) { ::rl::xml::DomParser parser; ::rl::xml::Document doc = parser.readFile(filename, "", XML_PARSE_NOENT | XML_PARSE_XINCLUDE); doc.substitute(XML_PARSE_NOENT | XML_PARSE_XINCLUDE); ::rl::xml::Path path(doc); ::rl::xml::Object scenes = path.eval("//scene"); for (int i = 0; i < ::std::min(1, scenes.getNodeNr()); ++i) { SoInput input; if (!input.openFile(scenes.getNodeTab(i).getLocalPath(scenes.getNodeTab(i).getAttribute("href").getValue()).c_str() ,true)) { throw Exception("::rl::sg::Scene::load() - failed to open file"); } SoVRMLGroup* root = SoDB::readAllVRML(&input); if (NULL == root) { throw Exception("::rl::sg::Scene::load() - failed to read file"); } SbViewportRegion viewportRegion; root->ref(); // model ::rl::xml::Object models = path.eval("model", scenes.getNodeTab(i)); for (int j = 0; j < models.getNodeNr(); ++j) { SoSearchAction modelSearchAction; modelSearchAction.setName(models.getNodeTab(j).getAttribute("name").getValue().c_str()); modelSearchAction.apply(root); if (NULL == modelSearchAction.getPath()) { continue; } Model* model = this->create(); model->setName(models.getNodeTab(j).getAttribute("name").getValue()); // body ::rl::xml::Object bodies = path.eval("body", models.getNodeTab(j)); for (int k = 0; k < bodies.getNodeNr(); ++k) { SoSearchAction bodySearchAction; bodySearchAction.setName(bodies.getNodeTab(k).getAttribute("name").getValue().c_str()); bodySearchAction.apply(static_cast< SoFullPath* >(modelSearchAction.getPath())->getTail()); if (NULL == bodySearchAction.getPath()) { continue; } Body* body = model->create(); body->setName(bodies.getNodeTab(k).getAttribute("name").getValue()); SoSearchAction pathSearchAction; pathSearchAction.setNode(static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail()); pathSearchAction.apply(root); SoGetMatrixAction bodyGetMatrixAction(viewportRegion); bodyGetMatrixAction.apply(static_cast< SoFullPath* >(pathSearchAction.getPath())); SbMatrix bodyMatrix = bodyGetMatrixAction.getMatrix(); if (!this->isScalingSupported) { SbVec3f bodyTranslation; SbRotation bodyRotation; SbVec3f bodyScaleFactor; SbRotation bodyScaleOrientation; SbVec3f bodyCenter; bodyMatrix.getTransform(bodyTranslation, bodyRotation, bodyScaleFactor, bodyScaleOrientation, bodyCenter); for (int l = 0; l < 3; ++l) { if (::std::abs(bodyScaleFactor[l] - 1.0f) > 1.0e-6f) { throw Exception("::rl::sg::Scene::load() - bodyScaleFactor not supported"); } } } ::rl::math::Transform frame; for (int m = 0; m < 4; ++m) { for (int n = 0; n < 4; ++n) { frame(m, n) = bodyMatrix[n][m]; } } body->setFrame(frame); if (static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail()->isOfType(SoVRMLTransform::getClassTypeId())) { SoVRMLTransform* bodyVrmlTransform = static_cast< SoVRMLTransform* >(static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail()); for (int l = 0; l < 3; ++l) { body->center(l) = bodyVrmlTransform->center.getValue()[l]; } } SoPathList pathList; // shape SoSearchAction shapeSearchAction; shapeSearchAction.setInterest(SoSearchAction::ALL); shapeSearchAction.setType(SoVRMLShape::getClassTypeId()); shapeSearchAction.apply(static_cast< SoFullPath* >(bodySearchAction.getPath())->getTail()); for (int l = 0; l < shapeSearchAction.getPaths().getLength(); ++l) { SoFullPath* path = static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l]); if (path->getLength() > 1) { path = static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l]->copy(1, static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l])->getLength() - 1)); } pathList.append(path); SoGetMatrixAction shapeGetMatrixAction(viewportRegion); shapeGetMatrixAction.apply(path); SbMatrix shapeMatrix = shapeGetMatrixAction.getMatrix(); if (!this->isScalingSupported) { SbVec3f shapeTranslation; SbRotation shapeRotation; SbVec3f shapeScaleFactor; SbRotation shapeScaleOrientation; SbVec3f shapeCenter; shapeMatrix.getTransform(shapeTranslation, shapeRotation, shapeScaleFactor, shapeScaleOrientation, shapeCenter); for (int m = 0; m < 3; ++m) { if (::std::abs(shapeScaleFactor[m] - 1.0f) > 1.0e-6f) { throw Exception("::rl::sg::Scene::load() - shapeScaleFactor not supported"); } } } SoVRMLShape* shapeVrmlShape = static_cast< SoVRMLShape* >(static_cast< SoFullPath* >(shapeSearchAction.getPaths()[l])->getTail()); Shape* shape = body->create(shapeVrmlShape); shape->setName(shapeVrmlShape->getName().getString()); ::rl::math::Transform transform; for (int m = 0; m < 4; ++m) { for (int n = 0; n < 4; ++n) { transform(m, n) = shapeMatrix[n][m]; } } shape->setTransform(transform); } // bounding box if (doBoundingBoxPoints) { SoGetBoundingBoxAction getBoundingBoxAction(viewportRegion); getBoundingBoxAction.apply(pathList); SbBox3f boundingBox = getBoundingBoxAction.getBoundingBox(); for (int l = 0; l < 3; ++l) { body->max(l) = boundingBox.getMax()[l]; body->min(l) = boundingBox.getMin()[l]; } } // convex hull if (doPoints) { SoCallbackAction callbackAction; callbackAction.addTriangleCallback(SoVRMLGeometry::getClassTypeId(), Scene::triangleCallback, &body->points); callbackAction.apply(pathList); } } } root->unref(); } }