void FBXSceneImporter::read_node(FbxNode* pNode)
{
for (int i = 0; i < pNode->GetNodeAttributeCount(); i++)
{
FbxNodeAttribute* pAttribute = pNode->GetNodeAttributeByIndex(i);
FbxNodeAttribute::EType attribute_type = pAttribute->GetAttributeType();
if (attribute_type == FbxNodeAttribute::eMesh)
{
FbxMesh* pMesh = (FbxMesh*)pAttribute;
read_mesh(pNode, pMesh);
}
else if (attribute_type == FbxNodeAttribute::eLight)
{
FbxLight* pLight = (FbxLight*)pAttribute;
read_light(pNode, pLight);
}
else if (attribute_type == FbxNodeAttribute::eCamera)
{
FbxCamera* pCamera = (FbxCamera*)pAttribute;
read_camera(pNode, pCamera);
}
}
int materialCount = pNode->GetSrcObjectCount<FbxSurfaceMaterial>();
// Recursively print the children.
for (int j = 0; j < pNode->GetChildCount(); j++)
{
read_node(pNode->GetChild(j));
}
}
void epuckPlayer()
{
//e_start_agendas_processing();
//e_init_motors();
//e_init_prox();
//e_init_uart1();
/* Must send anything here or it don't work. Is it a bug? */
e_send_uart1_char("epuckSide_v3.0", 14);
unsigned a,b;
/* Flash the LED's in a singular manner for show that this program is in
* epuck memory */
for(a=0; a<8; a++)
for(b=0; b<20000; b++)
e_set_led(a ,1); /* LED ON */
for(a=0; a<8; a++)
for(b=0; b<20000; b++)
e_set_led(a ,0); /* LED OFF */
char command;
while(1)
{
command = recv_char();
switch(command)
{
case 0x13:
recv_vel();
break;
case 0x14:
send_steps();
break;
case 0x16:
read_ir_sensors();
break;
case 0x15:
stop_motors();
break;
case 0x17:
read_camera();
break;
case 0x18:
set_LEDs();
break;
case 0x01:
sendVersion();
break;
case 0x02:
config_camera();
break;
}
}
}
void RayTracer::read_open_inventor_scene(std::string iv_file){
SoDB::init();
scene = new OSUInventorScene((char *)iv_file.c_str());
read_objects();
read_camera();
read_lights();
calculate_eye_coordinate_system(camera);
calculate_image_dimentions();
return;
}
void SDLReader::read_sdl(Scene &scene, string file_object, string file_camera, string file_light, string file_plane)
{
Camera *camera = read_camera(file_camera);
scene.set_camera(camera);
Material *material;
Light *light = read_light(file_light, &material, scene);
scene.add_light(light);
Mesh *mesh = read_object(file_object, material);
scene.add_mesh(mesh);
if(file_plane.size() == 0)
return;
Plane *plane = read_plane(file_plane);
scene.set_plane(plane);
}
int main(int argc, char **argv) {
int c = -1;
int option_index;
int img_height = DEFAULT_HEIGHT;
int img_width = DEFAULT_WIDTH;
int listen_port = LISTEN_PORT;
for (;;) {
c = getopt_long(argc, argv, short_options, long_options, &option_index);
if (c == -1) {
break;
}
switch(c) {
case 'h': {
if (optarg != NULL) {
img_height = atoi(optarg);
}
break;
};
case 'w': {
if (optarg != NULL) {
img_width = atoi(optarg);
}
break;
};
case 'p': {
if (optarg != NULL) {
listen_port = atoi(optarg);
}
break;
};
};
}
if (open_socket(LISTEN_ADDR, listen_port) != 0) {
printf("ERROR: cannot open socket\n");
return 1;
}
if (open_camera() != 0) {
printf("Camera file error, exiting...\n");
return 1;
}
if (init_camera(img_height, img_width) != 0) {
printf("Camera error, exiting...\n");
return 1;
} else {
printf("INFO: image size is %dx%d;\n\n", img_width, img_height);
}
while (1) {
while (1) {
if (wait_for_connect() == 0) { break; }
}
while (1) {
if (read_current_socket() == 0) {
if (check_get_params("exit") == 1) {
goto APP_EXIT;
} else if (check_get_params("bmp") == 1) {
if (check_get_params(GETPARAM_SEND_HTTP_HEADERS)) {
send(get_current_socket(), http_headers, strlen(http_headers), 0);
send(get_current_socket(), header_ct_bmp, strlen(header_ct_bmp), 0);
}
read_camera(IMAGE_TYPE_BMP, get_current_socket(), check_get_params(GETPARAM_COLOR_IMAGE));
close_current_socket();
break;
} else if (check_get_params("jpg") == 1) {
//print_time(0);
if (check_get_params(GETPARAM_SEND_HTTP_HEADERS)) {
send(get_current_socket(), http_headers, strlen(http_headers), 0);
send(get_current_socket(), header_ct_jpeg, strlen(header_ct_jpeg), 0);
}
read_camera(IMAGE_TYPE_JPG, get_current_socket(), check_get_params(GETPARAM_COLOR_IMAGE));
close_current_socket();
//print_time(1);
break;
} else if (check_get_params("yuyv") == 1) { // GET:yuyv
read_camera(IMAGE_TYPE_YUYV, get_current_socket(), 0);
close_current_socket();
break;
}
}
}
}
APP_EXIT:
printf("Exiting...\n");
close_camera();
close_current_socket();
close_main_socket();
return 0;
}
