int QilexDoc::doc_new_kinematic_hand(ct_new_kinematic_chain *data)
{
int error = 0;
int tipus = 0;
void * buffer ; //char *buffer;
char *buftemp = (char*)malloc(1024);
SoOutput out;
size_t sizeModel = 0;
SoSeparator *kinechain = new SoSeparator;
SoSeparator *kinetest = new SoSeparator;
Rchain_hand *kineengine = new Rchain_hand();
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
kinechain = readFile(data->QsModelFile.latin1(), tipus);
if (kinechain == NULL) // no object read
{ return 1; }
else // ok, there's no object with the same name
{
error = kineengine->init_dat(data->QsDatFile.latin1()); //
if (error == 0)
{
kinechain->ref();
kinetest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (kinetest==NULL)
{
//we need to put it in a buffer to write the xml file
// if is Ok
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(kinechain);
out.getBuffer(buffer, sizeModel);
kinechain->insertChild(pos_rot, 0);
}
error = doc_insert_kinematic_hand(kineengine, kinechain);
}
}
if (error==0)
{
writeXML_kineelement((char *)buffer, sizeModel, tipus, data, kineengine);
}
return error;
}
int
main(int argc, char ** argv)
{
Widget w = SoXt::init(argc, argv, "SoXtColorEditor");
SoXtExaminerViewer * viewer = new SoXtExaminerViewer(w);
SoSeparator * root;
viewer->setSceneGraph(root = makescene());
viewer->show();
#if WANT_INTEGRATED
SoSeparator * editorscene = new SoSeparator;
SoTranslation * trans = new SoTranslation;
trans->translation.setValue(SbVec3f(2.0f, 0.0f, 0.0f));
SoRotationXYZ * rot = new SoRotationXYZ;
SoMaterial * mat = new SoMaterial;
mat->diffuseColor.setValue(0.8, 0.8, 0.8);
rot->axis = SoRotationXYZ::Y;
rot->angle = 0.5;
editorscene->addChild(trans);
editorscene->addChild(rot);
editorscene->addChild(mat);
SoGuiMaterialEditor * inscene = new SoGuiMaterialEditor;
// inscene->wysiwyg.setValue(TRUE);
inscene->material.setValue(material);
// inscene->color.getValue(); // update field
// material->diffuseColor.connectFrom(&(inscene->color));
editorscene->addChild(inscene);
root->insertChild(editorscene, 0);
#else
SoXtMaterialEditor * editor = new SoXtMaterialEditor;
editor->attach(material);
editor->show();
#endif
SoXt::show(w);
SoXt::mainLoop();
return 0;
}
int QilexDoc::doc_insert_geometric_object(QDomElement geom_element)
{
int error = 0;
const char * buffer;
SbVec3f joinax;
SoTransform *pos_rot = new SoTransform;
float joinangle;
float pos_x, pos_y, pos_z, pos_rx, pos_ry, pos_rz;
QString data, name;
QDomNode node;
QDomElement element;
QDomNodeList list;
SoSeparator *geomelement = new SoSeparator;
SoSeparator *geomtest = new SoSeparator;
name = geom_element.attribute ("name", QString::null);
data = geom_element.attribute ("pos_x", QString::null);
pos_x = data.toFloat();
data = geom_element.attribute ("pos_y", QString::null);
pos_y = data.toFloat();
data = geom_element.attribute ("pos_z", QString::null);
pos_z = data.toFloat();
data = geom_element.attribute ("pos_rx", QString::null);
pos_rx = data.toFloat();
data = geom_element.attribute ("pos_ry", QString::null);
pos_ry = data.toFloat();
data = geom_element.attribute ("pos_rz", QString::null);
pos_rz = data.toFloat();
data = geom_element.attribute ("pos_angle", QString::null);
joinangle = data.toFloat();
joinax.setValue(SbVec3f( pos_x, pos_y, pos_z));
pos_rot->translation.setValue(joinax);
pos_rot->rotation.setValue(SbVec3f(pos_rx, pos_ry, pos_rz), (float) rad((double)joinangle));
list = geom_element.elementsByTagName ("model3d");
if (list.length() == 1)
{
node = list.item(0);
element = node.toElement();
data = element.attribute ("format", QString::null);
// some stuff to take care about the format
data = element.attribute ("size", QString::null);
size_t size = (size_t)data.toULong(0,10);
buffer = new char[size];
data = element.text();
buffer = data.ascii();
SoInput input;
input.setBuffer((void*) buffer, size);
if (input.isValidBuffer())
{
geomelement = SoDB::readAll(&input);
if (geomelement == NULL)
error = 10;
}
else
{error = 8;} // assigno un nombre diferent de 0
}
else
{ error =9; }// assigno un nombre diferent de 0
if (error == 0)
{
geomelement->ref();
geomtest = (SoSeparator*)SoNode::getByName(name.latin1());
if (geomtest==NULL)
{
//we need to put it in a buffer to write the xml file
// if is Ok
geomelement->insertChild(pos_rot, 0);
geomelement->setName(name.latin1());
view->addObjectCell(geomelement);
}
}
return error;
}
int QilexDoc::doc_insert_kinematic_chain(QDomElement kine_element)
{
int error = 0;
const char * buffer;
QDomNodeList list;
Rchain *kineengine = new Rchain;
SoSeparator *kinechain = new SoSeparator;
SoSeparator *kinetest = new SoSeparator;
//Rchain *kineengine = new Rchain;
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
float joinangle;
float pos_x, pos_y, pos_z, pos_rx, pos_ry, pos_rz;
QString data, name;
QDomNode node;
QDomElement element;
name = kine_element.attribute ("name", QString::null);
data = kine_element.attribute ("kineengine", QString::null);
// here put some stuff to select the kinechain engine
data = kine_element.attribute ("pos_x", QString::null);
pos_x = data.toFloat();
data = kine_element.attribute ("pos_y", QString::null);
pos_y = data.toFloat();
data = kine_element.attribute ("pos_z", QString::null);
pos_z = data.toFloat();
data = kine_element.attribute ("pos_rx", QString::null);
pos_rx = data.toFloat();
data = kine_element.attribute ("pos_ry", QString::null);
pos_ry = data.toFloat();
data = kine_element.attribute ("pos_rz", QString::null);
pos_rz = data.toFloat();
data = kine_element.attribute ("pos_angle", QString::null);
joinangle = data.toFloat();
joinax.setValue(SbVec3f( pos_x, pos_y, pos_z));
pos_rot->translation.setValue(joinax);
pos_rot->rotation.setValue(SbVec3f(pos_rx, pos_ry, pos_rz), (float) rad((double)joinangle));
list = kine_element.elementsByTagName ("kinechain");
if (list.length() == 1)
{
node = list.item(0);
element = node.toElement();
error = kineengine->read_element_xml (element);
}
else
{ error =4;} // assigno un nombre diferrent de 0
list = kine_element.elementsByTagName ("model3d");
if (list.length() == 1)
{
node = list.item(0);
element = node.toElement();
data = element.attribute ("format", QString::null);
// some stuff to take care about the format
data = element.attribute ("size", QString::null);
size_t size = (size_t)data.toULong(0,10);
buffer = new char[size];
data = element.text();
buffer = data.ascii();
/* char *buffer2 = new char[size];
for(unsigned i=0;i<size;i++)
buffer2[i] = buffer[i];
*/
SoInput input;
input.setBuffer((void *)buffer, size);
if (input.isValidBuffer())
{
kinechain = SoDB::readAll(&input);
if (kinechain == NULL)
error = 10;
}
else
{error = 8;} // assigno un nombre diferent de 0
}
else
{ error =9; }// assigno un nombre diferent de 0
if (error == 0)
{
kinechain->ref();
kinetest = (SoSeparator*)SoNode::getByName(name.latin1());
if (kinetest==NULL)
{
//we need to put it in a buffer to write the xml file
// if is Ok
kinechain->insertChild(pos_rot, 0);
kinechain->setName(name.latin1());
error = doc_insert_kinematic_chain(kineengine, kinechain);
}
}
else {error = 5;}
return error;
}
int QilexDoc::doc_new_grasping_object(ct_new_grasping_object *data)
{
int error = 0;
int tipus = 0;
void *buffer; //char *buffer;
char *buftemp = (char*)malloc(1024);
size_t sizeModel = 0;;
SoSeparator *object = new SoSeparator;
SoSeparator *objecttest = new SoSeparator;
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
SbVec3f joingrasp0;
SbVec3f joingrasp1;
SbVec3f joingrasp2;
SbVec3f joingrasp3;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->recenter(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
object = readFile(data->QsModelFile.latin1(), tipus);
if (object == NULL) // no object read
{
error = 1 ;
}
else // ok, there's no object with the same name
{
error = read_grasp_points(data);
SoMaterial *bronze = new SoMaterial;
bronze->ambientColor.setValue(0.33,0.22,0.27);
bronze->diffuseColor.setValue(0.78,0.57,0.11);
bronze->specularColor.setValue(0.99,0.94,0.81);
bronze->shininess=0.28;
SoSphere *grasp_sphere = new SoSphere;
grasp_sphere->radius=7.0;
SoFont *font = new SoFont;
font->size.setValue(28);
font->name.setValue("Times-Roman");
SoSeparator *grasp_sep0 = new SoSeparator;
SoTransform *grasp_transf0 = new SoTransform;
SoSeparator *text0 = new SoSeparator;
SoText2 *label_text0 = new SoText2;
SoSeparator *grasp_sep1 = new SoSeparator;
SoTransform *grasp_transf1 = new SoTransform;
SoSeparator *text1 = new SoSeparator;
SoText2 *label_text1 = new SoText2;
SoSeparator *grasp_sep2 = new SoSeparator;
SoTransform *grasp_transf2 = new SoTransform;
SoSeparator *text2 = new SoSeparator;
SoText2 *label_text2 = new SoText2;
SoSeparator *grasp_sep3 = new SoSeparator;
SoTransform *grasp_transf3 = new SoTransform;
SoSeparator *text3 = new SoSeparator;
SoText2 *label_text3 = new SoText2;
//for (int i=0;i<data->num_point;i++)
//{
joingrasp0.setValue(SbVec3f(data->grasp_points[0].px,data->grasp_points[0].py,data->grasp_points[0].pz));
grasp_transf0->translation.setValue(joingrasp0);
grasp_transf0->recenter(joingrasp0);
label_text0->string=" 1";
text0->addChild(font);
text0->addChild(label_text0);
grasp_sep0->addChild(bronze);
grasp_sep0->addChild(grasp_transf0);
grasp_sep0->addChild(grasp_sphere);
grasp_sep0->addChild(text0);
//grasp_sep0->addChild(line0);
joingrasp1.setValue(SbVec3f(data->grasp_points[1].px,data->grasp_points[1].py,data->grasp_points[1].pz));
grasp_transf1->translation.setValue(joingrasp1);
grasp_transf1->recenter(joingrasp1);
label_text1->string=" 2";
text1->addChild(font);
text1->addChild(label_text1);
grasp_sep1->addChild(bronze);
grasp_sep1->addChild(grasp_transf1);
grasp_sep1->addChild(grasp_sphere);
grasp_sep1->addChild(text1);
joingrasp2.setValue(SbVec3f(data->grasp_points[2].px,data->grasp_points[2].py,data->grasp_points[2].pz));
grasp_transf2->translation.setValue(joingrasp2);
grasp_transf2->recenter(joingrasp2);
label_text2->string=" 3";
text2->addChild(font);
text2->addChild(label_text2);
grasp_sep2->addChild(bronze);
grasp_sep2->addChild(grasp_transf2);
grasp_sep2->addChild(grasp_sphere);
grasp_sep2->addChild(text2);
joingrasp3.setValue(SbVec3f(data->grasp_points[3].px,data->grasp_points[3].py,data->grasp_points[3].pz));
grasp_transf3->translation.setValue(joingrasp3);
grasp_transf3->recenter(joingrasp3);
label_text3->string=" 4";
text3->addChild(font);
text3->addChild(label_text3);
grasp_sep3->addChild(bronze);
grasp_sep3->addChild(grasp_transf3);
grasp_sep3->addChild(grasp_sphere);
grasp_sep3->addChild(text3);
//object->addChild(grasp_sep);
//}
if (error == 0)
{
object->ref();
objecttest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (objecttest==NULL)
{
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(object);
out.getBuffer(buffer, sizeModel);
object->setName(data->QsName.latin1());
//grasp_object->addChild(model_object);
object->addChild(grasp_sep0);
object->addChild(grasp_sep1);
object->addChild(grasp_sep2);
object->addChild(grasp_sep3);
object->insertChild(pos_rot, 0);
view->addObjectCell(object);
error = 0;
//writeXML_geomelement((char *)buffer, sizeModel, tipus, data);
//S'ha de canviar!!!!!
}
else
{
object->unref();
error = 3;
}
}
}
return error;
}
int QilexDoc::doc_new_geometric_object(ct_new_geometric_object *data)
{
int error = 0;
int tipus = 0;
void *buffer; //char *buffer;
char *buftemp = (char*)malloc(1024);
size_t sizeModel = 0;;
SoSeparator *object = new SoSeparator;
SoSeparator *objecttest = new SoSeparator;
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->recenter(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
object = readFile(data->QsModelFile.latin1(), tipus);
if (object == NULL) // no object read
{
error = 1 ;
}
else // ok, there's no object with the same name
{
object->ref();
objecttest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (objecttest==NULL)
{
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(object);
out.getBuffer(buffer, sizeModel);
object->setName(data->QsName.latin1());
object->insertChild(pos_rot, 0);
view->addObjectCell(object);
error = 0;
writeXML_geomelement((char *)buffer, sizeModel, tipus, data);
}
else
{
object->unref();
error = 3;
}
}
return error;
}
static float
timeRendering(Options &options,
const SbViewportRegion &vpr,
SoSeparator *&root)
//
//////////////////////////////////////////////////////////////
{
SbTime timeDiff, startTime;
int frameIndex;
SoTransform *sceneTransform;
SoGLRenderAction ra(vpr);
SoNodeList noCacheList;
SoSeparator *newRoot;
// clear the window
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//
// reset autocaching threshold before each experiment
// done by replacing every separator in the scene graph
// with a new one
//
newRoot = (SoSeparator *) replaceSeparators(root);
newRoot->ref();
newRoot->renderCaching = SoSeparator::OFF;
// get a list of separators marked as being touched by the application
newRoot->getByName(NO_CACHE_NAME, noCacheList);
// find the transform node that spins the scene
SoNodeList xformList;
newRoot->getByName(SCENE_XFORM_NAME, xformList);
sceneTransform = (SoTransform *) xformList[0];
if (options.noMaterials) { // nuke material node
removeNodes(newRoot, SoMaterial::getClassTypeId());
removeNodes(newRoot, SoPackedColor::getClassTypeId());
removeNodes(newRoot, SoBaseColor::getClassTypeId());
}
if (options.noXforms) { // nuke transforms
removeNodes(newRoot, SoTransformation::getClassTypeId());
}
if (options.noTextures || options.oneTexture) { // override texture node
removeNodes(newRoot, SoTexture2::getClassTypeId());
if (options.oneTexture) {
// texture node with simple texture
static unsigned char img[] = {
255, 255, 0, 0,
255, 255, 0, 0,
0, 0, 255, 255,
0, 0, 255, 255
};
SoTexture2 *overrideTex = new SoTexture2;
overrideTex->image.setValue(SbVec2s(4, 4), 1, img);
newRoot->insertChild(overrideTex, 1);
}
}
if (options.noFill) { // draw as points
SoDrawStyle *overrideFill = new SoDrawStyle;
overrideFill->style.setValue(SoDrawStyle::POINTS);
overrideFill->lineWidth.setIgnored(TRUE);
overrideFill->linePattern.setIgnored(TRUE);
overrideFill->setOverride(TRUE);
newRoot->insertChild(overrideFill, 0);
// cull backfaces so that extra points don't get drawn
SoShapeHints *cullBackfaces = new SoShapeHints;
cullBackfaces->shapeType = SoShapeHints::SOLID;
cullBackfaces->vertexOrdering = SoShapeHints::COUNTERCLOCKWISE;
cullBackfaces->setOverride(TRUE);
newRoot->insertChild(cullBackfaces, 0);
}
if (options.noVtxXforms) { // draw invisible
SoDrawStyle *overrideVtxXforms = new SoDrawStyle;
overrideVtxXforms->style.setValue(SoDrawStyle::INVISIBLE);
overrideVtxXforms->setOverride(TRUE);
newRoot->insertChild(overrideVtxXforms, 0);
}
if (options.noLights) { // set lighting model to base color
SoLightModel *baseColor = new SoLightModel;
baseColor->model = SoLightModel::BASE_COLOR;
newRoot->insertChild(baseColor, 0);
}
for (frameIndex = 0; ; frameIndex++) {
// wait till autocaching has kicked in then start timing
if (frameIndex == NUM_FRAMES_AUTO_CACHING)
startTime = SbTime::getTimeOfDay();
// stop timing and exit loop when requisite number of
// frames have been drawn
if (frameIndex == options.numFrames + NUM_FRAMES_AUTO_CACHING) {
glFinish();
timeDiff = SbTime::getTimeOfDay() - startTime;
break;
}
// if not frozen, update realTime and destroy labelled caches
if (! options.freeze) {
// update realTime
SoSFTime *realTime = (SoSFTime *) SoDB::getGlobalField("realTime");
realTime->setValue(SbTime::getTimeOfDay());
// touch the separators marked NoCache
for (int i=0; i<noCacheList.getLength(); i++)
((SoSeparator *) noCacheList[i])->getChild(0)->touch();
}
// Rotate the scene
sceneTransform->rotation.setValue(SbVec3f(1, 1, 1),
frameIndex * 2 * M_PI / options.numFrames);
if (! options.noClear)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ra.apply(newRoot);
}
// Get rid of newRoot
newRoot->unref();
return (timeDiff.getValue() / options.numFrames);
}
static SoSeparator *
setUpGraph(const SbViewportRegion &vpReg,
SoInput *sceneInput,
Options &options)
//
//////////////////////////////////////////////////////////////
{
// Create a root separator to hold everything. Turn
// caching off, since the transformation will blow
// it anyway.
SoSeparator *root = new SoSeparator;
root->ref();
root->renderCaching = SoSeparator::OFF;
// Add a camera to view the scene
SoPerspectiveCamera *camera = new SoPerspectiveCamera;
root->addChild(camera);
// Add a transform node to spin the scene
SoTransform *sceneTransform = new SoTransform;
sceneTransform->setName(SCENE_XFORM_NAME);
root->addChild(sceneTransform);
// Read and add input scene graph
SoSeparator *inputRoot = SoDB::readAll(sceneInput);
if (inputRoot == NULL) {
fprintf(stderr, "Cannot read scene graph\n");
root->unref();
exit(1);
}
root->addChild(inputRoot);
SoPath *path;
SoGroup *parent, *group;
SoSearchAction act;
// expand out all File nodes and replace them with groups
// containing the children
SoFile *fileNode;
act.setType(SoFile::getClassTypeId());
act.setInterest(SoSearchAction::FIRST);
act.apply(inputRoot);
while ((path = act.getPath()) != NULL) {
fileNode = (SoFile *) path->getTail();
path->pop();
parent = (SoGroup *) path->getTail();
group = fileNode->copyChildren();
if (group) {
parent->replaceChild(fileNode, group);
// apply action again and continue
act.apply(inputRoot);
}
}
// expand out all node kits and replace them with groups
// containing the children
SoBaseKit *kitNode;
SoChildList *childList;
act.setType(SoBaseKit::getClassTypeId());
act.setInterest(SoSearchAction::FIRST);
act.apply(inputRoot);
while ((path = act.getPath()) != NULL) {
kitNode = (SoBaseKit *) path->getTail();
path->pop();
parent = (SoGroup *) path->getTail();
group = new SoGroup;
childList = kitNode->getChildren();
for (int i=0; i<childList->getLength(); i++)
group->addChild((*childList)[i]);
parent->replaceChild(kitNode, group);
act.apply(inputRoot);
}
// check to see if there are any lights
// if no lights, add a directional light to the scene
act.setType(SoLight::getClassTypeId());
act.setInterest(SoSearchAction::FIRST);
act.apply(inputRoot);
if (act.getPath() == NULL) { // no lights
SoDirectionalLight *light = new SoDirectionalLight;
root->insertChild(light, 1);
}
else
options.hasLights = TRUE;
// check to see if there are any texures in the scene
act.setType(SoTexture2::getClassTypeId());
act.setInterest(SoSearchAction::FIRST);
act.apply(inputRoot);
if (act.getPath() != NULL)
options.hasTextures = TRUE;
camera->viewAll(root, vpReg);
// print out information about the scene graph
int32_t numTris, numLines, numPoints, numNodes;
countPrimitives( inputRoot, numTris, numLines, numPoints, numNodes );
printf("Number of nodes in scene graph: %d\n", numNodes );
printf("Number of triangles in scene graph: %d\n", numTris );
printf("Number of lines in scene graph: %d\n", numLines );
printf("Number of points in scene graph: %d\n\n", numPoints );
// Make the center of rotation the center of
// the scene
SoGetBoundingBoxAction bba(vpReg);
bba.apply(root);
sceneTransform->center = bba.getBoundingBox().getCenter();
return root;
}
