// vrmlNodeからSphereオブジェクトを作る
CX3DSphereNode::CX3DSphereNode(jobject vrmlNode)
{
if (!vrmlNode)
{
m_vrmlNode = NULL;
return;
}
CJNIUtil *ju = CJNIUtil::getUtil();
if (!ju->isInstanceOfVRMLNode(vrmlNode))
{
fprintf(stderr, "vrmlNode is not instance of VRMLNode [%s:%d]\n", __FILE__, __LINE__);
exit(1);
}
m_vrmlNode = ju->env()->NewGlobalRef(vrmlNode);
// テンポラリノード（フィールド探査用）
CX3DNode *tmpNode = new CX3DNode(vrmlNode);
if (tmpNode)
{
char *nodeName = tmpNode->getNodeName();
if (nodeName && strcmp(nodeName, "Sphere")==0)
{
int n = tmpNode->countFields();
for (int i=0; i<n; i++)
{
char *pFieldName = tmpNode->getFieldName(i);
if (pFieldName)
{
std::string fieldName = pFieldName;
CVRMLFieldData *data = tmpNode->createFieldValue((char *)(fieldName.c_str()));
if (data)
{
if (strcmp(fieldName.c_str(), "solid") == 0)
{
m_solid.setValue(data);
}
else if (strcmp(fieldName.c_str(), "radius") == 0)
{
m_radius.setValue(data);
}
delete data;
}
}
}
}
delete tmpNode;
}
}
void Test_printFieldsOfBoxNode(CX3DParser& parser, char *vrmlFile)
{
// ---------------------------------------------
// ---------------------------------------------
if (!parser.parse(vrmlFile))
{
fprintf(stderr, "%s parse failed\n", vrmlFile);
return;
}
CX3DParser::printLog("**** Fields of BoxNode ****\n");
// ---------------------------------------------
// ---------------------------------------------
MFNode *pShapeNodes = parser.searchNodesFromAllChildrenOfRoot("Shape");
if (pShapeNodes)
{
for (int i=0; i<pShapeNodes->count(); i++)
{
CX3DShapeNode *pShape = (CX3DShapeNode *)(pShapeNodes->getNode(i));
if (pShape)
{
// --------------------------------------------------------
//
// --------------------------------------------------------
SFNode *geometry = pShape->getGeometry();
CX3DNode *pNode = geometry->getNode();
// ---------------------------------------------
// ---------------------------------------------
if (pNode && pNode->getNodeType() == BOX_NODE)
{
CX3DBoxNode *pBoxNode = (CX3DBoxNode *)pNode;
// ---------------------------------------------
// ---------------------------------------------
SFVec3f *sz = pBoxNode->getSize();
printf("size : (%f, %f, %f)\n", sz->x(), sz->y(), sz->z());
// solid
SFBool *solid = pBoxNode->getSolid();
printf("solid : %s\n", solid->getValue() ? "TRUE" : "FALSE");
}
}
}
delete pShapeNodes;
pShapeNodes = NULL;
}
}
void CX3DHAnimSiteNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z, rot;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
fprintf(fp, "children\n");
MFNode *nodes = getChildren();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
getCenter()->getValue(x, y, z);
fprintf(fp, "center : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getRotation()->getValue(x, y, z, rot);
fprintf(fp, "rotation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getScale()->getValue(x, y, z);
fprintf(fp, "scale : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getScaleOrientation()->getValue(x, y, z, rot);
fprintf(fp, "scaleOrientation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getTranslation()->getValue(x, y, z);
fprintf(fp, "translation : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
}
}
void Test_printChildrenOfRoot(CX3DParser& parser, char *vrmlFile)
{
// ---------------------------------------------
// VRMLファイルをパースする
// ---------------------------------------------
if (!parser.parse(vrmlFile))
{
fprintf(stderr, "%s parse failed\n", vrmlFile);
return;
}
CX3DParser::printLog("**** Children of Root Node ****\n");
// ---------------------------------------------
// ルート直下のノードを得る
// ---------------------------------------------
MFNode *nodes = parser.getChildrenOfRootNode();
if (nodes)
{
// ---------------------------------------------
// ノード名のみ表示
// ---------------------------------------------
for (int i=0; i<nodes->count(); i++)
{
CX3DNode *node = nodes->getNode(i);
if (node)
{
printf("%s\n", node->getNodeName());
}
}
// ---------------------------------------------
// 後始末
// ---------------------------------------------
delete nodes;
nodes = NULL;
}
}
void Test_printDefNode(CX3DParser& parser, char *vrmlFile, char *defName)
{
// ---------------------------------------------
// ---------------------------------------------
if (!parser.parse(vrmlFile))
{
fprintf(stderr, "%s parse failed\n", vrmlFile);
return;
}
CX3DParser::printLog("**** Node contents of defName(%s) ****\n", defName);
// ---------------------------------------------
// ---------------------------------------------
CX3DNode *node = parser.getDefNode(defName);
if (node)
{
node->print();
delete node;
node = NULL;
}
}
void Test_printNodeName(CX3DParser& parser, char *vrmlFile)
{
// ---------------------------------------------
// ---------------------------------------------
if (!parser.parse(vrmlFile))
{
fprintf(stderr, "%s parse failed\n", vrmlFile);
return;
}
CX3DParser::printLog("**** Node names of (%s) ****\n", vrmlFile);
// ---------------------------------------------
// ---------------------------------------------
MFNode *nodes = parser.getChildrenOfRootNode();
if (nodes)
{
// ---------------------------------------------
// ---------------------------------------------
for (int i=0; i<nodes->count(); i++)
{
CX3DNode *node = nodes->getNode(i);
if (node)
{
printf("%s\n", node->getNodeName());
}
}
// ---------------------------------------------
// ---------------------------------------------
delete nodes;
nodes = NULL;
}
}
void CX3DOpenHRPSegmentNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z;
MFNode *nodes;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
fprintf(fp, "children\n");
nodes = getChildren();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
CX3DParser::printIndent(indent+1);
fprintf(fp, "coord\n");
CX3DNode *pCoord = getCoord()->getNode();
if (pCoord) pCoord->print(indent+2);
CX3DParser::printIndent(indent+1);
getCenterOfMass()->getValue(x, y, z);
fprintf(fp, "centerOfMass : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "displacers\n");
nodes = getDisplacers();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "mass (%f)\n", getMass()->getValue());
CX3DParser::printIndent(indent+1);
n = m_momentsOfInertia.count();
fprintf(fp, "momentsOfInertia [%d]\n", n);
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
else { bPartialPrint = false; }
CX3DParser::printIndent(indent+2);
fprintf(fp, "(");
for (i=0; i<n; i++)
{
fprintf(fp, "%f ", m_momentsOfInertia.getValue(i));
}
if (bPartialPrint) fprintf(fp, "...");
fprintf(fp, ")\n");
}
}
// vrmlNodeからOpenHRPSegmentオブジェクトを作る
CX3DOpenHRPSegmentNode::CX3DOpenHRPSegmentNode(jobject vrmlNode)
{
if (!vrmlNode)
{
m_vrmlNode = NULL;
return;
}
CJNIUtil *ju = CJNIUtil::getUtil();
if (!ju->isInstanceOfVRMLNode(vrmlNode))
{
fprintf(stderr, "vrmlNode is not instance of VRMLNode [%s:%d]\n", __FILE__, __LINE__);
exit(1);
}
m_vrmlNode = ju->env()->NewGlobalRef(vrmlNode);
// テンポラリノード（フィールド探査用）
CX3DNode *tmpNode = new CX3DNode(vrmlNode);
if (tmpNode)
{
char *nodeName = tmpNode->getNodeName();
if (nodeName && strcmp(nodeName, "Segment")==0)
{
int n = tmpNode->countFields();
for (int i=0; i<n; i++)
{
char *pFieldName = tmpNode->getFieldName(i);
if (pFieldName)
{
std::string fieldName = pFieldName;
CVRMLFieldData *data = tmpNode->createFieldValue((char *)(fieldName.c_str()));
if (data)
{
if (strcmp(fieldName.c_str(), "children") == 0)
{
m_children.setValue(data);
}
else if (strcmp(fieldName.c_str(), "name") == 0)
{
m_name.setValue(data);
}
else if (strcmp(fieldName.c_str(), "coord") == 0)
{
m_coord.setValue(data);
}
else if (strcmp(fieldName.c_str(), "centerOfMass") == 0)
{
m_centerOfMass.setValue(data);
}
else if (strcmp(fieldName.c_str(), "displacers") == 0)
{
m_displacers.setValue(data);
}
else if (strcmp(fieldName.c_str(), "mass") == 0)
{
m_mass.setValue(data);
}
else if (strcmp(fieldName.c_str(), "momentsOfInertia") == 0)
{
m_momentsOfInertia.setValue(data);
}
delete data;
}
}
}
}
delete tmpNode;
}
}
void CVRMLFieldData::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
CX3DParser::printIndent(indent);
fprintf(fp, "[%s]", CVRMLFieldData::getFieldTypeName(getFieldType()));
switch (getFieldType())
{
case BOOLEAN_DATA:
{
CVRMLBooleanData *boolData = (CVRMLBooleanData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%s\n", boolData->getValue() ? "TRUE" : "FALSE");
}
break;
case INT_DATA:
{
CVRMLIntData *intData = (CVRMLIntData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%d\n", intData->getValue());
}
break;
case FLOAT_DATA:
{
CVRMLFloatData *floatData = (CVRMLFloatData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%f\n", floatData->getValue());
}
break;
case DOUBLE_DATA:
{
CVRMLDoubleData *doubleData = (CVRMLDoubleData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%f\n", doubleData->getValue());
}
break;
case STRING_DATA:
{
CVRMLStringData *stringData = (CVRMLStringData *)this;
fprintf(fp, "\n");
CX3DParser::printIndent(indent);
fprintf(fp, "%s\n", stringData->getValue());
}
break;
case NODE_DATA:
{
CVRMLNodeData *nodeData = (CVRMLNodeData *)this;
fprintf(fp, "\n");
jobject vrmlNode = ((CVRMLNodeData *)nodeData)->getValue();
CX3DNode *node = CX3DNodeFactory::createNode(vrmlNode);
if (node)
{
node->print(indent+1);
delete node;
}
else
{
CX3DParser::printIndent(indent);
fprintf(fp, "NULL\n");
}
}
break;
case BOOLEAN_ARRAY_DATA:
{
CVRMLBooleanArrayData *boolArrayData = (CVRMLBooleanArrayData *)this;
int n = boolArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %s\n", i, boolArrayData->getValue(i) ? "TRUE" : "FALSE");
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case INT_ARRAY_DATA:
{
CVRMLIntArrayData *intArrayData = (CVRMLIntArrayData *)this;
int n = intArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %d\n", i, intArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case FLOAT_ARRAY_DATA:
{
CVRMLFloatArrayData *floatArrayData = (CVRMLFloatArrayData *)this;
int n = floatArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %f\n", i, floatArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case DOUBLE_ARRAY_DATA:
{
CVRMLDoubleArrayData *doubleArrayData = (CVRMLDoubleArrayData *)this;
int n = doubleArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %f\n", i, doubleArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case STRING_ARRAY_DATA:
{
CVRMLStringArrayData *stringArrayData = (CVRMLStringArrayData *)this;
int n = stringArrayData->count();
fprintf(fp, " (n=%d)\n", n);
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
for (int i=0; i<n; i++)
{
CX3DParser::printIndent(indent);
fprintf(fp, "[%d] %s\n", i, stringArrayData->getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent);
fprintf(fp, "...\n");
}
}
break;
case NODE_ARRAY_DATA:
{
CVRMLNodeArrayData *nodeArrayData = (CVRMLNodeArrayData *)this;
int n = nodeArrayData->count();
fprintf(fp, " (n=%d)\n", n);
for (int i=0; i<nodeArrayData->count(); i++)
{
jobject vrmlNode = nodeArrayData->getValue(i);
CX3DNode *node = CX3DNodeFactory::createNode(vrmlNode);
if (node)
{
node->print(indent+1);
delete node;
}
else
{
CX3DParser::printIndent(indent+1);
fprintf(fp, "NULL\n");
}
}
}
break;
}
}
// vrmlNodeからPointLightオブジェクトを作る
CX3DPointLightNode::CX3DPointLightNode(jobject vrmlNode)
{
if (!vrmlNode)
{
m_vrmlNode = NULL;
return;
}
CJNIUtil *ju = CJNIUtil::getUtil();
if (!ju->isInstanceOfVRMLNode(vrmlNode))
{
fprintf(stderr, "vrmlNode is not instance of VRMLNode [%s:%d]\n", __FILE__, __LINE__);
exit(1);
}
m_vrmlNode = ju->env()->NewGlobalRef(vrmlNode);
// テンポラリノード（フィールド探査用）
CX3DNode *tmpNode = new CX3DNode(vrmlNode);
if (tmpNode)
{
char *nodeName = tmpNode->getNodeName();
if (nodeName && strcmp(nodeName, "PointLight")==0)
{
int n = tmpNode->countFields();
for (int i=0; i<n; i++)
{
char *pFieldName = tmpNode->getFieldName(i);
if (pFieldName)
{
std::string fieldName = pFieldName;
CVRMLFieldData *data = tmpNode->createFieldValue((char *)(fieldName.c_str()));
if (data)
{
if (strcmp(fieldName.c_str(), "ambientIntensity") == 0)
{
m_ambientIntensity.setValue(data);
}
else if (strcmp(fieldName.c_str(), "color") == 0)
{
m_color.setValue(data);
}
else if (strcmp(fieldName.c_str(), "intensity") == 0)
{
m_intensity.setValue(data);
}
else if (strcmp(fieldName.c_str(), "location") == 0)
{
m_location.setValue(data);
}
else if (strcmp(fieldName.c_str(), "radius") == 0)
{
m_radius.setValue(data);
}
else if (strcmp(fieldName.c_str(), "attenuation") == 0)
{
m_attenuation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "on") == 0)
{
m_on.setValue(data);
}
else if (strcmp(fieldName.c_str(), "global") == 0)
{
m_global.setValue(data);
}
delete data;
}
}
}
}
delete tmpNode;
}
}
CX3DTextureTransformNode::CX3DTextureTransformNode(jobject vrmlNode)
{
if (!vrmlNode)
{
m_vrmlNode = NULL;
return;
}
CJNIUtil *ju = CJNIUtil::getUtil();
if (!ju->isInstanceOfVRMLNode(vrmlNode))
{
fprintf(stderr, "vrmlNode is not instance of VRMLNode [%s:%d]\n", __FILE__, __LINE__);
exit(1);
}
m_vrmlNode = ju->env()->NewGlobalRef(vrmlNode);
CX3DNode *tmpNode = new CX3DNode(vrmlNode);
if (tmpNode)
{
char *nodeName = tmpNode->getNodeName();
if (nodeName && strcmp(nodeName, "TextureTransform")==0)
{
int n = tmpNode->countFields();
for (int i=0; i<n; i++)
{
char *pFieldName = tmpNode->getFieldName(i);
if (pFieldName)
{
std::string fieldName = pFieldName;
CVRMLFieldData *data = tmpNode->createFieldValue((char *)(fieldName.c_str()));
if (data)
{
if (strcmp(fieldName.c_str(), "center") == 0)
{
m_center.setValue(data);
}
else if (strcmp(fieldName.c_str(), "rotation") == 0)
{
m_rotation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "scale") == 0)
{
m_scale.setValue(data);
}
else if (strcmp(fieldName.c_str(), "translation") == 0)
{
m_translation.setValue(data);
}
delete data;
}
}
}
}
delete tmpNode;
}
}
CX3DViewpointNode::CX3DViewpointNode(jobject vrmlNode)
{
if (!vrmlNode)
{
m_vrmlNode = NULL;
return;
}
CJNIUtil *ju = CJNIUtil::getUtil();
if (!ju->isInstanceOfVRMLNode(vrmlNode))
{
fprintf(stderr, "vrmlNode is not instance of VRMLNode [%s:%d]\n", __FILE__, __LINE__);
exit(1);
}
m_vrmlNode = ju->env()->NewGlobalRef(vrmlNode);
CX3DNode *tmpNode = new CX3DNode(vrmlNode);
if (tmpNode)
{
char *nodeName = tmpNode->getNodeName();
if (nodeName && strcmp(nodeName, "Viewpoint")==0)
{
int n = tmpNode->countFields();
for (int i=0; i<n; i++)
{
char *pFieldName = tmpNode->getFieldName(i);
if (pFieldName)
{
std::string fieldName = pFieldName;
CVRMLFieldData *data = tmpNode->createFieldValue((char *)(fieldName.c_str()));
if (data)
{
if (strcmp(fieldName.c_str(), "fieldOfView") == 0)
{
m_fieldOfView.setValue(data);
}
else if (strcmp(fieldName.c_str(), "jump") == 0)
{
m_jump.setValue(data);
}
else if (strcmp(fieldName.c_str(), "retainUserOffsets") == 0)
{
m_retainUserOffsets.setValue(data);
}
else if (strcmp(fieldName.c_str(), "orientation") == 0)
{
m_orientation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "position") == 0)
{
m_position.setValue(data);
}
else if (strcmp(fieldName.c_str(), "centerOfRotation") == 0)
{
m_centerOfRotation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "description") == 0)
{
m_description.setValue(data);
}
delete data;
}
}
}
}
delete tmpNode;
}
}
CX3DOpenHRPHumanoidNode::CX3DOpenHRPHumanoidNode(jobject vrmlNode)
{
if (!vrmlNode)
{
m_vrmlNode = NULL;
return;
}
CJNIUtil *ju = CJNIUtil::getUtil();
if (!ju->isInstanceOfVRMLNode(vrmlNode))
{
fprintf(stderr, "vrmlNode is not instance of VRMLNode [%s:%d]\n", __FILE__, __LINE__);
exit(1);
}
m_vrmlNode = ju->env()->NewGlobalRef(vrmlNode);
CX3DNode *tmpNode = new CX3DNode(vrmlNode);
if (tmpNode)
{
char *nodeName = tmpNode->getNodeName();
if (nodeName && strcmp(nodeName, "Humanoid")==0)
{
int n = tmpNode->countFields();
for (int i=0; i<n; i++)
{
char *pFieldName = tmpNode->getFieldName(i);
if (pFieldName)
{
std::string fieldName = pFieldName;
CVRMLFieldData *data = tmpNode->createFieldValue((char *)(fieldName.c_str()));
if (data)
{
if (strcmp(fieldName.c_str(), "center") == 0)
{
m_center.setValue(data);
}
else if (strcmp(fieldName.c_str(), "rotation") == 0)
{
m_rotation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "scale") == 0)
{
m_scale.setValue(data);
}
else if (strcmp(fieldName.c_str(), "scaleOrientation") == 0)
{
m_scaleOrientation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "translation") == 0)
{
m_translation.setValue(data);
}
else if (strcmp(fieldName.c_str(), "name") == 0)
{
m_name.setValue(data);
}
else if (strcmp(fieldName.c_str(), "info") == 0)
{
m_info.setValue(data);
}
else if (strcmp(fieldName.c_str(), "joints") == 0)
{
m_joints.setValue(data);
}
else if (strcmp(fieldName.c_str(), "segments") == 0)
{
m_segments.setValue(data);
}
else if (strcmp(fieldName.c_str(), "sites") == 0)
{
m_sites.setValue(data);
}
else if (strcmp(fieldName.c_str(), "version") == 0)
{
m_version.setValue(data);
}
else if (strcmp(fieldName.c_str(), "viewpoints") == 0)
{
m_viewpoints.setValue(data);
}
else if (strcmp(fieldName.c_str(), "humanoidBody") == 0)
{
m_humanoidBody.setValue(data);
}
delete data;
}
}
}
}
delete tmpNode;
}
}
void CX3DOpenHRPHumanoidNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z, rot;
MFNode *nodes;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
getCenter()->getValue(x, y, z);
fprintf(fp, "center : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getRotation()->getValue(x, y, z, rot);
fprintf(fp, "rotation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getScale()->getValue(x, y, z);
fprintf(fp, "scale : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getScaleOrientation()->getValue(x, y, z, rot);
fprintf(fp, "scaleOrientation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getTranslation()->getValue(x, y, z);
fprintf(fp, "translation : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
CX3DParser::printIndent(indent+1);
n = m_info.count();
fprintf(fp, "info [%d]\n", n);
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
else { bPartialPrint = false; }
for (i=0; i<n; i++)
{
CX3DParser::printIndent(indent+2);
fprintf(fp, "%s\n", m_info.getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent+2);
fprintf(fp, "...\n");
}
CX3DParser::printIndent(indent+1);
nodes = getJoints();
n = nodes->count();
fprintf(fp, "joints [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getSegments();
n = nodes->count();
fprintf(fp, "segments [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getSites();
n = nodes->count();
fprintf(fp, "sites [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getHumanoidBody();
n = nodes->count();
fprintf(fp, "humanoidBody [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "version (%s)\n", m_version.getValue());
CX3DParser::printIndent(indent+1);
nodes = getViewpoints();
n = nodes->count();
fprintf(fp, "viewpoints [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
}
}
