void TensegrityModel::addChildren(tgStructure& structure, const std::string& structurePath, tgBuildSpec& spec, const Yam& children) {
if (!children) return;
std::string structureAttributeKeys[] = {"path", "rotation", "translation", "scale", "offset"};
std::vector<std::string> structureAttributeKeysVector(structureAttributeKeys, structureAttributeKeys + sizeof(structureAttributeKeys) / sizeof(std::string));
// add all the children first
for (YAML::const_iterator child = children.begin(); child != children.end(); ++child) {
Yam childAttributes = child->second;
yamlContainsOnly(childAttributes, structurePath, structureAttributeKeysVector);
// multiple children can be defined using the syntax: child1/child2/child3...
// (add a slash so that each child is a string with a its name and a slash at the end)
std::string childCombos = child->first.as<std::string>() + "/";
while (childCombos.find("/") != std::string::npos) {
std::string childName = childCombos.substr(0, childCombos.find("/"));
addChild(structure, structurePath, childName, childAttributes["path"], spec);
childCombos = childCombos.substr(childCombos.find("/") + 1);
}
}
// apply rotation attribute to children
for (YAML::const_iterator child = children.begin(); child != children.end(); ++child) {
Yam childAttributes = child->second;
// multiple children can be defined using the syntax: child1/child2/child3...
// (add a slash so that each child is a string with a its name and a slash at the end)
std::string childCombos = child->first.as<std::string>() + "/";
while (childCombos.find("/") != std::string::npos) {
std::string childName = childCombos.substr(0, childCombos.find("/"));
tgStructure& childStructure = structure.findChild(childName);
addChildRotation(childStructure, childAttributes["rotation"]);
childCombos = childCombos.substr(childCombos.find("/") + 1);
}
}
// apply scale, offset and translation attributes to children
for (YAML::const_iterator child = children.begin(); child != children.end(); ++child) {
Yam childAttributes = child->second;
// multiple children can be defined using the syntax: child1/child2/child3...
// (add a slash so that each child is a string with a its name and a slash at the end)
std::string childCombos = child->first.as<std::string>() + "/";
int childComboIndex = 0;
while (childCombos.find("/") != std::string::npos) {
std::string childName = childCombos.substr(0, childCombos.find("/"));
tgStructure& childStructure = structure.findChild(childName);
addChildScale(childStructure, childAttributes["scale"]);
addChildOffset(childStructure, childComboIndex, childAttributes["offset"]);
addChildTranslation(childStructure, childAttributes["translation"]);
childCombos = childCombos.substr(childCombos.find("/") + 1);
childComboIndex++;
}
}
}
void TensegrityModel::addNodeEdgePairs(tgStructure& structure, const std::string& tags, const Yam& pairs,
const std::string* childStructure1Name, const std::string* childStructure2Name, tgBuildSpec& spec) {
if (pairs.size() < 3) {
throw std::invalid_argument("Error: node_edge bonds must specify at least 3 node_edge pairs");
}
tgStructure& childStructure1 = structure.findChild(*childStructure1Name);
tgStructure& childStructure2 = structure.findChild(*childStructure2Name);
// these are used for transformations
std::vector<btVector3> structure1RefNodes;
std::vector<btVector3> structure2RefNodes;
// these are nodes
std::vector<tgNode*> ligands;
// these are edges
std::vector< std::pair<tgNode*, tgNode*> > receptors;
// populate refNodes arrays, ligands and receptors
parseNodeEdgePairs(childStructure1, childStructure2, structure1RefNodes, structure2RefNodes, ligands, receptors, pairs);
rotateAndTranslate(childStructure2, structure1RefNodes, structure2RefNodes);
std::vector<tgBuildSpec::RigidAgent*> rigidAgents = spec.getRigidAgents();
for (unsigned int i = 0; i < ligands.size(); i++) {
// remove old edge connections
// try removing from both children since we are not sure which child the pair belongs to
// (could add more information to receptors array so we don't have to do this)
removePair(childStructure1, receptors[i].first, receptors[i].second, true, rigidAgents, spec);
removePair(childStructure2, receptors[i].first, receptors[i].second, true, rigidAgents, spec);
for (unsigned int j = 0; j < ligands.size(); j++) {
// remove old string connections between nodes/ligands
// try removing from both children since we are not sure which child the node belongs to
removePair(childStructure1, ligands[i], ligands[j], false, rigidAgents, spec);
removePair(childStructure2, ligands[i], ligands[j], false, rigidAgents, spec);
}
// make new connection from edge -> node -> edge
structure.addPair(*(receptors[i].first), *ligands[i], tags);
structure.addPair(*ligands[i], *(receptors[i].second), tags);
}
}
void TensegrityModel::addNodeNodePairs(tgStructure& structure, const std::string& tags, const Yam& pairs,
const std::string* childStructure1Name, const std::string* childStructure2Name) {
for (YAML::const_iterator pairPtr = pairs.begin(); pairPtr != pairs.end(); ++pairPtr) {
Yam pair = *pairPtr;
std::string node1Path = pair[0].as<std::string>();
std::string node2Path = pair[1].as<std::string>();
tgNode* node1;
tgNode* node2;
if (childStructure1Name && childStructure2Name) {
node1 = &getNode(structure.findChild(*childStructure1Name), node1Path);
node2 = &getNode(structure.findChild(*childStructure2Name), node2Path);
}
else {
node1 = &getNode(structure, node1Path);
node2 = &getNode(structure, node2Path);
}
structure.addPair(*node1, *node2, tags);
}
}
