void ModelLoaderHelper::createColdetModel(Link* link, const LinkInfo& linkInfo)
{
int totalNumVertices = 0;
int totalNumTriangles = 0;
const TransformedShapeIndexSequence& shapeIndices = linkInfo.shapeIndices;
unsigned int nshape = shapeIndices.length();
short shapeIndex;
double R[9], p[3];
for(unsigned int i=0; i < shapeIndices.length(); i++){
shapeIndex = shapeIndices[i].shapeIndex;
const DblArray12 &tform = shapeIndices[i].transformMatrix;
R[0] = tform[0]; R[1] = tform[1]; R[2] = tform[2]; p[0] = tform[3];
R[3] = tform[4]; R[4] = tform[5]; R[5] = tform[6]; p[1] = tform[7];
R[6] = tform[8]; R[7] = tform[9]; R[8] = tform[10]; p[2] = tform[11];
const ShapeInfo& shapeInfo = shapeInfoSeq[shapeIndex];
totalNumVertices += shapeInfo.vertices.length() / 3;
totalNumTriangles += shapeInfo.triangles.length() / 3;
}
const SensorInfoSequence& sensors = linkInfo.sensors;
for (unsigned int i=0; i<sensors.length(); i++){
const SensorInfo &sinfo = sensors[i];
const TransformedShapeIndexSequence tsis = sinfo.shapeIndices;
nshape += tsis.length();
for (unsigned int j=0; j<tsis.length(); j++){
short shapeIndex = tsis[j].shapeIndex;
const ShapeInfo& shapeInfo = shapeInfoSeq[shapeIndex];
totalNumTriangles += shapeInfo.triangles.length() / 3;
totalNumVertices += shapeInfo.vertices.length() / 3 ;
}
}
ColdetModelPtr coldetModel(new ColdetModel());
coldetModel->setName(std::string(linkInfo.name));
if(totalNumTriangles > 0){
coldetModel->setNumVertices(totalNumVertices);
coldetModel->setNumTriangles(totalNumTriangles);
if (nshape == 1){
addLinkPrimitiveInfo(coldetModel, R, p, shapeInfoSeq[shapeIndex]);
}
addLinkVerticesAndTriangles(coldetModel, linkInfo);
coldetModel->build();
}
link->coldetModel = coldetModel;
}
ColdetBody::ColdetBody(BodyInfo_ptr bodyInfo)
{
LinkInfoSequence_var links = bodyInfo->links();
ShapeInfoSequence_var shapes = bodyInfo->shapes();
int numLinks = links->length();
linkColdetModels.resize(numLinks);
for(int linkIndex = 0; linkIndex < numLinks ; ++linkIndex){
LinkInfo& linkInfo = links[linkIndex];
int totalNumTriangles = 0;
int totalNumVertices = 0;
const TransformedShapeIndexSequence& shapeIndices = linkInfo.shapeIndices;
short shapeIndex;
double R[9], p[3];
unsigned int nshape = shapeIndices.length();
for(int i=0; i < shapeIndices.length(); i++){
shapeIndex = shapeIndices[i].shapeIndex;
const DblArray12 &tform = shapeIndices[i].transformMatrix;
R[0] = tform[0]; R[1] = tform[1]; R[2] = tform[2]; p[0] = tform[3];
R[3] = tform[4]; R[4] = tform[5]; R[5] = tform[6]; p[1] = tform[7];
R[6] = tform[8]; R[7] = tform[9]; R[8] = tform[10]; p[2] = tform[11];
const ShapeInfo& shapeInfo = shapes[shapeIndex];
totalNumTriangles += shapeInfo.triangles.length() / 3;
totalNumVertices += shapeInfo.vertices.length() / 3;
}
const SensorInfoSequence& sensors = linkInfo.sensors;
for (unsigned int i=0; i<sensors.length(); i++){
const SensorInfo &sinfo = sensors[i];
const TransformedShapeIndexSequence tsis = sinfo.shapeIndices;
nshape += tsis.length();
for (unsigned int j=0; j<tsis.length(); j++){
shapeIndex = tsis[j].shapeIndex;
const DblArray12 &tform = tsis[j].transformMatrix;
R[0] = tform[0]; R[1] = tform[1]; R[2] = tform[2]; p[0] = tform[3];
R[3] = tform[4]; R[4] = tform[5]; R[5] = tform[6]; p[1] = tform[7];
R[6] = tform[8]; R[7] = tform[9]; R[8] = tform[10]; p[2] = tform[11];
const ShapeInfo& shapeInfo = shapes[shapeIndex];
totalNumTriangles += shapeInfo.triangles.length() / 3;
totalNumVertices += shapeInfo.vertices.length() / 3 ;
}
}
//int totalNumVertices = totalNumTriangles * 3;
ColdetModelPtr coldetModel(new ColdetModel());
coldetModel->setName(std::string(linkInfo.name));
if(totalNumTriangles > 0){
coldetModel->setNumVertices(totalNumVertices);
coldetModel->setNumTriangles(totalNumTriangles);
if (nshape == 1){
addLinkPrimitiveInfo(coldetModel, R, p, shapes[shapeIndex]);
}
addLinkVerticesAndTriangles(coldetModel, linkInfo, shapes);
coldetModel->build();
}
linkColdetModels[linkIndex] = coldetModel;
linkNameToColdetModelMap.insert(make_pair(linkInfo.name, coldetModel));
cout << linkInfo.name << " has "<< totalNumTriangles << " triangles." << endl;
}
}
void ShapeSetInfo_impl::setColdetModel(ColdetModelPtr& coldetModel, TransformedShapeIndexSequence shapeIndices, const Matrix44& Tparent, int& vertexIndex, int& triangleIndex){
for(unsigned int i=0; i < shapeIndices.length(); i++){
setColdetModelTriangles(coldetModel, shapeIndices[i], Tparent, vertexIndex, triangleIndex);
}
}
/*!
@if jp
Shape ノード探索のための再帰関数
node以下のシーングラフをたどり、ShapeInfoを生成していく。
生成したShapeInfoはshapes_に追加する。
shapes_に追加した位置(index)を io_shapeIndicesに追加する。
io_shapeIndices は、BodyInfo構築時は LinkInfoのshapeIndices になり、
SceneInfo 構築時は SceneInfo のshapeIndicesになる。
@endif
*/
void ShapeSetInfo_impl::traverseShapeNodes
(VrmlNode* node, const Matrix44& T, TransformedShapeIndexSequence& io_shapeIndices, DblArray12Sequence& inlinedShapeM, const SFString* url)
{
static int inline_count=0;
SFString url_ = *url;
if(node->isCategoryOf(PROTO_INSTANCE_NODE)){
VrmlProtoInstance* protoInstance = static_cast<VrmlProtoInstance*>(node);
if(protoInstance->actualNode){
traverseShapeNodes(protoInstance->actualNode.get(), T, io_shapeIndices, inlinedShapeM, url);
}
} else if(node->isCategoryOf(GROUPING_NODE)) {
VrmlGroup* groupNode = static_cast<VrmlGroup*>(node);
VrmlTransform* transformNode = dynamic_cast<VrmlTransform*>(groupNode);
VrmlInline* inlineNode = NULL;
inlineNode = dynamic_cast<VrmlInline*>(groupNode);
const Matrix44* pT;
if(inlineNode){
if(!inline_count){
int inlinedShapeMIndex = inlinedShapeM.length();
inlinedShapeM.length(inlinedShapeMIndex+1);
int p = 0;
for(int row=0; row < 3; ++row){
for(int col=0; col < 4; ++col){
inlinedShapeM[inlinedShapeMIndex][p++] = T(row, col);
}
}
url_ = inlineNode->urls[0];
}
inline_count++;
for( MFString::iterator ite = inlineNode->urls.begin(); ite != inlineNode->urls.end(); ++ite ){
string filename(deleteURLScheme(*ite));
struct stat statbuff;
time_t mtime = 0;
if( stat( filename.c_str(), &statbuff ) == 0 ){
mtime = statbuff.st_mtime;
}
fileTimeMap.insert(make_pair(filename, mtime));
}
}
Matrix44 T2;
if( transformNode ){
Matrix44 Tlocal;
calcTransformMatrix(transformNode, Tlocal);
T2 = T * Tlocal;
pT = &T2;
} else {
pT = &T;
}
VrmlSwitch* switchNode = dynamic_cast<VrmlSwitch*>(node);
if(switchNode){
int whichChoice = switchNode->whichChoice;
if( whichChoice >= 0 && whichChoice < switchNode->countChildren() )
traverseShapeNodes(switchNode->getChild(whichChoice), *pT, io_shapeIndices, inlinedShapeM, &url_);
}else{
for(int i=0; i < groupNode->countChildren(); ++i){
traverseShapeNodes(groupNode->getChild(i), *pT, io_shapeIndices, inlinedShapeM, &url_);
}
}
if(inlineNode)
inline_count--;
} else if(node->isCategoryOf(SHAPE_NODE)) {
VrmlShape* shapeNode = static_cast<VrmlShape*>(node);
short shapeInfoIndex;
ShapeNodeToShapeInfoIndexMap::iterator p = shapeInfoIndexMap.find(shapeNode);
if(p != shapeInfoIndexMap.end()){
shapeInfoIndex = p->second;
} else {
shapeInfoIndex = createShapeInfo(shapeNode, url);
}
if(shapeInfoIndex >= 0){
long length = io_shapeIndices.length();
io_shapeIndices.length(length + 1);
TransformedShapeIndex& tsi = io_shapeIndices[length];
tsi.shapeIndex = shapeInfoIndex;
int p = 0;
for(int row=0; row < 3; ++row){
for(int col=0; col < 4; ++col){
tsi.transformMatrix[p++] = T(row, col);
}
}
if(inline_count)
tsi.inlinedShapeTransformMatrixIndex=inlinedShapeM.length()-1;
else
tsi.inlinedShapeTransformMatrixIndex=-1;
}
}
}
