~Private()
{
picksepLeft->unref();
picksepRight->unref();
delete sensorCam1;
delete sensorCam2;
}
bool isVisibleFace(int faceIndex, const SbVec2f& pos, Gui::View3DInventorViewer* viewer)
{
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(vp->getRoot());
SoSearchAction searchAction;
searchAction.setType(PartGui::SoBrepFaceSet::getClassTypeId());
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.apply(root);
SoPath* selectionPath = searchAction.getPath();
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setNormalizedPoint(pos);
rp.apply(selectionPath);
root->unref();
SoPickedPoint* pick = rp.getPickedPoint();
if (pick) {
const SoDetail* detail = pick->getDetail();
if (detail && detail->isOfType(SoFaceDetail::getClassTypeId())) {
int index = static_cast<const SoFaceDetail*>(detail)->getPartIndex();
if (faceIndex != index)
return false;
SbVec3f dir = viewer->getViewDirection();
const SbVec3f& nor = pick->getNormal();
if (dir.dot(nor) > 0)
return false; // bottom side points to user
return true;
}
}
return false;
}
int main(int, char **argv)
{
// Initialize Inventor. This returns a main window to use.
// If unsuccessful, exit.
HWND myWindow = SoWin::init("A red cone."); // pass the app name
if (myWindow == NULL) exit(1);
// Make a scene containing a red cone
SoSeparator *root = new SoSeparator;
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoMaterial *myMaterial = new SoMaterial;
root->ref();
root->addChild(myCamera);
root->addChild(new SoDirectionalLight);
myMaterial->diffuseColor.setValue(1.0, 1.0, 0.0); // Red
root->addChild(myMaterial);
root->addChild(new SoCone);
// Create a renderArea in which to see our scene graph.
// The render area will appear within the main window.
SoWinExaminerViewer *myRenderArea = new SoWinExaminerViewer(myWindow);
// Make myCamera see everything.
myCamera->viewAll(root, myRenderArea->getViewportRegion());
// Put our scene in myRenderArea, change the title
myRenderArea->setSceneGraph(root);
myRenderArea->setTitle("A red cone");
myRenderArea->show();
SoWin::show(myWindow); // Display main window
SoWin::mainLoop(); // Main Inventor event loop
delete myRenderArea;
root->unref();
return 0;
}
int main(int, char **argv)
{
// Initialize Inventor. This returns a main window to use.
// If unsuccessful, exit.
HWND myWindow = SoWin::init("A red cone."); // pass the app name
if (myWindow == NULL) exit(1);
// Make a scene containing a red cone
SoSeparator *root = new SoSeparator;
root->ref();
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0);
root->addChild(myMaterial);
root->addChild(new SoCone);
// Set up viewer:
SoWinExaminerViewer *myViewer =new SoWinExaminerViewer(myWindow);
myViewer->setSceneGraph(root);
myViewer->setTitle("Examiner Viewer");
myViewer->show();
SoWin::show(myWindow); // Display main window
SoWin::mainLoop(); // Main Inventor event loop
root->unref();
return 0;
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec2s& pos, const View3DInventorViewer* viewer) const
{
//first get the path to this node and calculate the current transformation
SoSearchAction sa;
sa.setNode(pcRoot);
sa.setSearchingAll(true);
sa.apply(viewer->getSoRenderManager()->getSceneGraph());
if (!sa.getPath())
return nullptr;
SoGetMatrixAction gm(viewer->getSoRenderManager()->getViewportRegion());
gm.apply(sa.getPath());
SoTransform* trans = new SoTransform;
trans->setMatrix(gm.getMatrix());
trans->ref();
// build a temporary scenegraph only keeping this viewproviders nodes and the accumulated
// transformation
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(trans);
root->addChild(pcRoot);
//get the picked point
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setPoint(pos);
rp.setRadius(viewer->getPickRadius());
rp.apply(root);
root->unref();
trans->unref();
SoPickedPoint* pick = rp.getPickedPoint();
return (pick ? new SoPickedPoint(*pick) : 0);
}
int main(int argc, char** argv)
{
QWidget* mainwin = SoQt::init(argc, argv, argv[0]);
SoSeparator* root = new SoSeparator;
root->ref();
InventorRobot robot(root);
if (argc == 1){
//robot.parse("../RobotEditorArmar4.dae");
//robot.parse("/media/sf_host/manikin_creo_4.dae");
std::cout << "Usage collada <collada file> [<inventor export>]" <<std::endl;
return 1;
}
else {
robot.parse(argv[1]);
if (argc==3){
SoWriteAction writeAction;
writeAction.getOutput()->openFile(argv[2]);
writeAction.apply(root);
}
}
SoQtExaminerViewer* viewer = new SoQtExaminerViewer(mainwin);
viewer->setSceneGraph(root);
viewer->show();
// Pop up the main window.
SoQt::show(mainwin);
// Loop until exit.
SoQt::mainLoop();
root->unref();
return 1;
}
int
WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPSTR lpCmdLine,
int nCmdShow)
{
#else // UNIX
int
main(int argc, char ** argv)
{
#endif
// initialize Coin and glut libraries
SoDB::init();
#ifdef _WIN32
int argc = 1;
char * argv[] = { "glutiv.exe", (char *) NULL };
glutInit(&argc, argv);
#else
glutInit(&argc, argv);
#endif
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
SoSeparator * root;
root = new SoSeparator;
root->ref();
SoPerspectiveCamera * camera = new SoPerspectiveCamera;
root->addChild(camera);
root->addChild(new SoDirectionalLight);
root->addChild(createScenegraph());
scenemanager = new SoSceneManager;
scenemanager->setRenderCallback(redraw_cb, (void *)1);
scenemanager->setBackgroundColor(SbColor(0.2f, 0.2f, 0.2f));
scenemanager->activate();
camera->viewAll(root, scenemanager->getViewportRegion());
scenemanager->setSceneGraph(root);
glutInitWindowSize(512, 400);
SbString title("Offscreen Rendering");
glutwin = glutCreateWindow(title.getString());
glutDisplayFunc(expose_cb);
glutReshapeFunc(reshape_cb);
// start main loop processing (with an idle callback)
glutIdleFunc(idle_cb);
glutMainLoop();
root->unref();
delete scenemanager;
return 0;
}
bool CoinRrtWorkspaceVisualization::addConfiguration( const Eigen::VectorXf &c, CoinRrtWorkspaceVisualization::ColorSet colorSet, float nodeSizeFactor )
{
if (c.rows() != robotNodeSet->getSize())
{
VR_ERROR << " Dimensions do not match: " << c.rows() <<"!="<< robotNodeSet->getSize() << endl;
return false;
}
if (!TCPNode)
return false;
float nodeSolutionSize = pathNodeSize*nodeSizeFactor;//15.0;//1.0f
SoMaterial *materialNodeSolution = new SoMaterial();
materialNodeSolution->ambientColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
materialNodeSolution->diffuseColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
SoSphere *sphereNodeSolution = new SoSphere();
sphereNodeSolution->radius.setValue(nodeSolutionSize);
Eigen::VectorXf actConfig;
float x,y,z;
float x2 = 0.0f,y2 = 0.0f,z2 = 0.0f;
SoSeparator *sep = new SoSeparator();
sep->ref();
SoUnits *u = new SoUnits;
u->units = SoUnits::MILLIMETERS;
sep->addChild(u);
// create 3D model for nodes
SoSeparator *s = new SoSeparator();
s->addChild(materialNodeSolution);
SoTranslation *t = new SoTranslation();
// get tcp coords:
robot->setJointValues(robotNodeSet,c);
Eigen::Matrix4f m;
m = TCPNode->getGlobalPose();
x = m(0,3);
y = m(1,3);
z = m(2,3);
t->translation.setValue(x,y,z);
s->addChild(t);
// display a solution node different
s->addChild(sphereNodeSolution);
sep->addChild(s);
visualization->addChild(sep);
sep->unref();
return true;
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec2s& pos, const View3DInventorViewer* viewer) const
{
// for convenience make a pick ray action to get the (potentially) picked entity in the provider
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(pcRoot);
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setPoint(pos);
rp.apply(root);
root->unref();
SoPickedPoint* pick = rp.getPickedPoint();
return (pick ? new SoPickedPoint(*pick) : 0);
}
int
main(int argc, char ** argv)
{
QApplication app(argc, argv);
// Initializes Quarter (and implicitly also Coin and Qt
Quarter::init();
// Make a dead simple scene graph by using the Coin library, only
// containing a single yellow cone under the scenegraph root.
SoSeparator * root = new SoSeparator;
root->ref();
SoBaseColor * col = new SoBaseColor;
col->rgb = SbColor(1, 1, 0);
root->addChild(col);
root->addChild(new SoCone);
// Create a QuarterWidget for displaying a Coin scene graph
QuarterWidget * viewer = new QuarterWidget;
//set default navigation mode file
viewer->setNavigationModeFile();
viewer->setSceneGraph(root);
// Add some background text
SoSeparator * background = create_background();
(void)viewer->getSoRenderManager()->addSuperimposition(background,
SoRenderManager::Superimposition::BACKGROUND);
// Add some super imposed text
SoSeparator * superimposed = create_superimposition();
(void)viewer->getSoRenderManager()->addSuperimposition(superimposed);
// Pop up the QuarterWidget
viewer->show();
// Loop until exit.
app.exec();
// Clean up resources.
root->unref();
delete viewer;
Quarter::clean();
return 0;
}
SoPickedPoint* ViewProviderFace::getPickedPoint(const SbVec2s& pos, const SoQtViewer* viewer) const
{
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getHeadlight());
root->addChild(viewer->getCamera());
root->addChild(this->pcMeshPick);
SoRayPickAction rp(viewer->getViewportRegion());
rp.setPoint(pos);
rp.apply(root);
root->unref();
// returns a copy of the point
SoPickedPoint* pick = rp.getPickedPoint();
//return (pick ? pick->copy() : 0); // needs the same instance of CRT under MS Windows
return (pick ? new SoPickedPoint(*pick) : 0);
}
int main(int, char ** argv)
{
HWND window = SoWin::init("Oil Well");
if (window == NULL) exit(1);
SoWinExaminerViewer * viewer = new SoWinExaminerViewer(window);
viewer->setDecoration(false);
viewer->setSize(SbVec2s(800, 600));
SoSeparator *root = new SoSeparator;
root->ref();
SoSeparator *obelisk = new SoSeparator();
// Define the normals used:
SoNormal *myNormals = new SoNormal;
myNormals->vector.setValues(0, 8, norms);
obelisk->addChild(myNormals);
SoNormalBinding *myNormalBinding = new SoNormalBinding;
myNormalBinding->value = SoNormalBinding::PER_FACE;
obelisk->addChild(myNormalBinding);
// Define material for obelisk
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(.4, .4, .4);
obelisk->addChild(myMaterial);
// Define coordinates for vertices
SoCoordinate3 *myCoords = new SoCoordinate3;
myCoords->point.setValues(0, 28, vertices);
obelisk->addChild(myCoords);
// Define the FaceSet
SoFaceSet *myFaceSet = new SoFaceSet;
myFaceSet->numVertices.setValues(0, 8, numvertices);
obelisk->addChild(myFaceSet);
root->addChild(obelisk);
viewer->setSceneGraph(root);
viewer->setTitle("Oil Well");
viewer->show();
SoWin::show(window);
SoWin::mainLoop();
delete viewer;
root->unref();
return 0;
}
int
main(int argc, char ** argv)
{
QApplication app(argc, argv);
// Initializes Quarter library (and implicitly also the Coin and Qt
// libraries).
Quarter::init();
// Make a dead simple scene graph by using the Coin library, only
// containing a single yellow cone under the scenegraph root.
SoSeparator * root = new SoSeparator;
root->ref();
SoBaseColor * col = new SoBaseColor;
col->rgb = SbColor(1, 1, 0);
root->addChild(col);
root->addChild(new SoCone);
// Create a QuarterWidget for displaying a Coin scene graph
QuarterWidget * viewer = new QuarterWidget;
viewer->setSceneGraph(root);
// make the viewer react to input events similar to the good old
// ExaminerViewer
viewer->setNavigationModeFile(QUrl("coin:///scxml/navigation/examiner.xml"));
// Pop up the QuarterWidget
viewer->show();
// Loop until exit.
app.exec();
// Clean up resources.
root->unref();
delete viewer;
Quarter::clean();
return 0;
}
SoSeparator *
createScenegraph(void)
{
SoSeparator * texroot = new SoSeparator;
texroot->ref();
SoInput in;
in.setBuffer(red_cone_iv, strlen(red_cone_iv));
SoSeparator * result = SoDB::readAll(&in);
if (result == NULL) { exit(1); }
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoRotationXYZ *rot = new SoRotationXYZ;
rot->axis = SoRotationXYZ::X;
rot->angle = M_PI_2;
myCamera->position.setValue(SbVec3f(-0.2, -0.2, 2.0));
myCamera->scaleHeight(0.4);
texroot->addChild(myCamera);
texroot->addChild(new SoDirectionalLight);
texroot->addChild(rot);
texroot->addChild(result);
myCamera->viewAll(texroot, SbViewportRegion());
// Generate the texture map
SoTexture2 *texture = new SoTexture2;
texture->ref();
if (generateTextureMap(texroot, texture, 128, 128))
printf ("Successfully generated texture map\n");
else
printf ("Could not generate texture map\n");
texroot->unref();
// Make a scene with a cube and apply the texture to it
SoSeparator * root = new SoSeparator;
root->addChild(texture);
root->addChild(new SoCube);
return root;
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec3f& pos,const SbVec3f& dir, const View3DInventorViewer* viewer) const
{
// Note: There seems to be a bug with setRay() which causes SoRayPickAction
// to fail to get intersections between the ray and a line
//first get the path to this node and calculate the current setTransformation
SoSearchAction sa;
sa.setNode(pcRoot);
sa.setSearchingAll(true);
sa.apply(viewer->getSoRenderManager()->getSceneGraph());
SoGetMatrixAction gm(viewer->getSoRenderManager()->getViewportRegion());
gm.apply(sa.getPath());
// build a temporary scenegraph only keeping this viewproviders nodes and the accumulated
// transformation
SoTransform* trans = new SoTransform;
trans->ref();
trans->setMatrix(gm.getMatrix());
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(trans);
root->addChild(pcRoot);
//get the picked point
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setRay(pos,dir);
rp.setRadius(viewer->getPickRadius());
rp.apply(root);
root->unref();
trans->unref();
// returns a copy of the point
SoPickedPoint* pick = rp.getPickedPoint();
//return (pick ? pick->copy() : 0); // needs the same instance of CRT under MS Windows
return (pick ? new SoPickedPoint(*pick) : 0);
}
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;
}
// Execute full set of intersection detection operations on all the
// primitives that has been souped up from the scene graph.
void
SoIntersectionDetectionAction::PImpl::doIntersectionTesting(void)
{
if (this->callbacks.empty()) {
SoDebugError::postWarning("SoIntersectionDetectionAction::PImpl::doIntersectionTesting",
"intersection testing invoked, but no callbacks set up");
return;
}
delete this->traverser;
this->traverser = NULL;
if (ida_debug()) {
SoDebugError::postInfo("SoIntersectionDetectionAction::PImpl::doIntersectionTesting",
"total number of shapedata items == %d",
this->shapedata.getLength());
}
const SbOctTreeFuncs funcs = {
NULL /* ptinsidefunc */,
shapeinsideboxfunc,
NULL /* insidespherefunc */,
NULL /* insideplanesfunc */
};
SbBox3f b = this->fullxfbbox.project();
// Add a 1% slack to the bounding box, to avoid problems in
// SbOctTree due to floating point inaccuracies (see assert() in
// SbOctTree::addItem()).
//
// This may be just a temporary hack -- see the FIXME at the
// same place.
SbMatrix m;
m.setTransform(SbVec3f(0, 0, 0), // translation
SbRotation::identity(), // rotation
SbVec3f(1.01f, 1.01f, 1.01f), // scalefactor
SbRotation::identity(), // scaleorientation
SbVec3f(b.getCenter())); // center
b.transform(m);
SbOctTree shapetree(b, funcs);
for (int k = 0; k < this->shapedata.getLength(); k++) {
ShapeData * shape = this->shapedata[k];
if (shape->xfbbox.isEmpty()) { continue; }
shapetree.addItem(shape);
}
if (ida_debug()) { shapetree.debugTree(stderr); }
// For debugging.
unsigned int nrshapeshapeisects = 0;
unsigned int nrselfisects = 0;
const float theepsilon = this->getEpsilon();
for (int i = 0; i < this->shapedata.getLength(); i++) {
ShapeData * shape1 = this->shapedata[i];
// If the shape has no geometry, immediately skip to next
// iteration of for-loop.
if (shape1->xfbbox.isEmpty()) { continue; }
// Remove shapes from octtree as we iterate over the full set, to
// avoid self-intersection and to avoid checks against other
// shapes happening both ways.
shapetree.removeItem(shape1);
// FIXME: shouldn't we also invoke the filter-callback here? 20030403 mortene.
if (this->internalsenabled) {
nrselfisects++;
SbBool cont;
this->doInternalPrimitiveIntersectionTesting(shape1->getPrimitives(), cont);
if (!cont) { goto done; }
}
SbBox3f shapebbox = shape1->xfbbox.project();
if (theepsilon > 0.0f) {
const SbVec3f e(theepsilon, theepsilon, theepsilon);
// Extend bbox in all 6 directions with the epsilon value.
shapebbox.getMin() -= e;
shapebbox.getMax() += e;
}
SbList<void*> candidateshapes;
shapetree.findItems(shapebbox, candidateshapes);
if (ida_debug()) {
SoDebugError::postInfo("SoIntersectionDetectionAction::PImpl::doIntersectionTesting",
"shape %d intersects %d other shapes",
i, candidateshapes.getLength());
// debug, dump to .iv-file the "master" shape bbox given by i,
// plus ditto for all intersected shapes
#if 0
if (i == 4) {
SoSeparator * root = new SoSeparator;
root->ref();
root->addChild(make_scene_graph(shape1->xfbbox, "mastershape"));
for (int j = 0; j < candidateshapes.getLength(); j++) {
ShapeData * s = (ShapeData * )candidateshapes[j];
SbString str;
str.sprintf("%d", j);
root->addChild(make_scene_graph(s->xfbbox, str.getString()));
}
SoOutput out;
SbBool ok = out.openFile("/tmp/shapechk.iv");
assert(ok);
SoWriteAction wa(&out);
wa.apply(root);
root->unref();
}
#endif // debug
}
SbXfBox3f xfboxchk;
if (theepsilon > 0.0f) { xfboxchk = expand_SbXfBox3f(shape1->xfbbox, theepsilon); }
else { xfboxchk = shape1->xfbbox; }
for (int j = 0; j < candidateshapes.getLength(); j++) {
ShapeData * shape2 = static_cast<ShapeData *>(candidateshapes[j]);
if (!xfboxchk.intersect(shape2->xfbbox)) {
if (ida_debug()) {
SoDebugError::postInfo("SoIntersectionDetectionAction::PImpl::doIntersectionTesting",
"shape %d intersecting %d is a miss when tried with SbXfBox3f::intersect(SbXfBox3f)",
i, j);
}
continue;
}
if (!this->filtercb ||
this->filtercb(this->filterclosure, shape1->path, shape2->path)) {
nrshapeshapeisects++;
SbBool cont;
this->doPrimitiveIntersectionTesting(shape1->getPrimitives(), shape2->getPrimitives(), cont);
if (!cont) { goto done; }
}
}
}
done:
if (ida_debug()) {
SoDebugError::postInfo("SoIntersectionDetectionAction::PImpl::doIntersectionTesting",
"shape-shape intersections: %d, shape self-intersections: %d",
nrshapeshapeisects, nrselfisects);
}
}
// detach/attach any sensors, callbacks, and/or field connections.
// Called by: start/end of SoBaseKit::readInstance
// and on new copy by: start/end of SoBaseKit::copy.
// Classes that redefine must call setUpConnections(TRUE,TRUE)
// at end of constructor.
// Returns the state of the node when this was called.
SbBool
SoDragPointDragger::setUpConnections( SbBool onOff, SbBool doItAlways )
{
if ( !doItAlways && connectionsSetUp == onOff)
return onOff;
if ( onOff ) {
// We connect AFTER base class.
SoDragger::setUpConnections( onOff, FALSE );
// SET Parts and callbacks on CHLD DRAGGERS
// Create the translate1Draggers...
SoSeparator *dummySep = new SoSeparator;
dummySep->ref();
SoDragger *xD, *yD, *zD;
xD = (SoDragger *) getAnyPart("xTranslator",FALSE);
yD = (SoDragger *) getAnyPart("yTranslator",FALSE);
zD = (SoDragger *) getAnyPart("zTranslator",FALSE);
if (xD) {
xD->setPartAsDefault("translator","dragPointXTranslatorTranslator");
xD->setPartAsDefault("translatorActive",
"dragPointXTranslatorTranslatorActive");
xD->setPartAsDefault("feedback", dummySep );
xD->setPartAsDefault("feedbackActive", dummySep );
registerChildDragger( xD );
}
if (yD) {
yD->setPartAsDefault("translator","dragPointYTranslatorTranslator");
yD->setPartAsDefault("translatorActive",
"dragPointYTranslatorTranslatorActive");
yD->setPartAsDefault("feedback", dummySep );
yD->setPartAsDefault("feedbackActive", dummySep );
registerChildDragger( yD );
}
if (zD) {
zD->setPartAsDefault("translator","dragPointZTranslatorTranslator");
zD->setPartAsDefault("translatorActive",
"dragPointZTranslatorTranslatorActive");
zD->setPartAsDefault("feedback", dummySep );
zD->setPartAsDefault("feedbackActive", dummySep );
registerChildDragger( zD );
}
// Create the translate2Draggers...
SoDragger *yzD, *xzD, *xyD;
yzD = (SoDragger *) getAnyPart("yzTranslator",FALSE);
xzD = (SoDragger *) getAnyPart("xzTranslator",FALSE);
xyD = (SoDragger *) getAnyPart("xyTranslator",FALSE);
if (yzD) {
yzD->setPartAsDefault("translator",
"dragPointYZTranslatorTranslator");
yzD->setPartAsDefault("translatorActive",
"dragPointYZTranslatorTranslatorActive");
yzD->setPartAsDefault("feedback", dummySep );
yzD->setPartAsDefault("feedbackActive", dummySep );
yzD->setPartAsDefault("xAxisFeedback", dummySep );
yzD->setPartAsDefault("yAxisFeedback", dummySep );
registerChildDragger( yzD );
}
if (xzD) {
xzD->setPartAsDefault("translator",
"dragPointXZTranslatorTranslator");
xzD->setPartAsDefault("translatorActive",
"dragPointXZTranslatorTranslatorActive");
xzD->setPartAsDefault("feedback", dummySep );
xzD->setPartAsDefault("feedbackActive", dummySep );
xzD->setPartAsDefault("xAxisFeedback", dummySep );
xzD->setPartAsDefault("yAxisFeedback", dummySep );
registerChildDragger( xzD );
}
if (xyD) {
xyD->setPartAsDefault("translator",
"dragPointXYTranslatorTranslator");
xyD->setPartAsDefault("translatorActive",
"dragPointXYTranslatorTranslatorActive");
xyD->setPartAsDefault("feedback", dummySep );
xyD->setPartAsDefault("feedbackActive", dummySep );
xyD->setPartAsDefault("xAxisFeedback", dummySep );
xyD->setPartAsDefault("yAxisFeedback", dummySep );
registerChildDragger( xyD );
}
dummySep->unref();
// Call the sensor CBs to make things are up-to-date.
fieldSensorCB( this, NULL );
// Connect the field sensors
if (fieldSensor->getAttachedField() != &translation)
fieldSensor->attach( &translation );
}
else {
// We disconnect BEFORE base class.
// Remove callbacks from CHLD DRAGGERS
SoDragger *xD, *yD, *zD;
xD = (SoDragger *) getAnyPart("xTranslator",FALSE);
yD = (SoDragger *) getAnyPart("yTranslator",FALSE);
zD = (SoDragger *) getAnyPart("zTranslator",FALSE);
if (xD)
unregisterChildDragger( xD );
if (yD)
unregisterChildDragger( yD );
if (zD)
unregisterChildDragger( zD );
SoDragger *yzD, *xzD, *xyD;
yzD = (SoDragger *) getAnyPart("yzTranslator",FALSE);
xzD = (SoDragger *) getAnyPart("xzTranslator",FALSE);
xyD = (SoDragger *) getAnyPart("xyTranslator",FALSE);
if (yzD)
unregisterChildDragger( yzD );
if (xzD)
unregisterChildDragger( xzD );
if (xyD)
unregisterChildDragger( xyD );
// Disconnect the field sensors.
if (fieldSensor->getAttachedField())
fieldSensor->detach();
SoDragger::setUpConnections( onOff, FALSE );
}
return !(connectionsSetUp = onOff);
}
PyObject* Application::sExport(PyObject * /*self*/, PyObject *args,PyObject * /*kwd*/)
{
PyObject* object;
char* Name;
if (!PyArg_ParseTuple(args, "Oet",&object,"utf-8",&Name))
return NULL;
std::string Utf8Name = std::string(Name);
PyMem_Free(Name);
PY_TRY {
App::Document* doc = 0;
Py::Sequence list(object);
for (Py::Sequence::iterator it = list.begin(); it != list.end(); ++it) {
PyObject* item = (*it).ptr();
if (PyObject_TypeCheck(item, &(App::DocumentObjectPy::Type))) {
App::DocumentObject* obj = static_cast<App::DocumentObjectPy*>(item)->getDocumentObjectPtr();
doc = obj->getDocument();
break;
}
}
QString fileName = QString::fromUtf8(Utf8Name.c_str());
QFileInfo fi;
fi.setFile(fileName);
QString ext = fi.suffix().toLower();
if (ext == QLatin1String("iv") || ext == QLatin1String("wrl") ||
ext == QLatin1String("vrml") || ext == QLatin1String("wrz")) {
// build up the graph
SoSeparator* sep = new SoSeparator();
sep->ref();
for (Py::Sequence::iterator it = list.begin(); it != list.end(); ++it) {
PyObject* item = (*it).ptr();
if (PyObject_TypeCheck(item, &(App::DocumentObjectPy::Type))) {
App::DocumentObject* obj = static_cast<App::DocumentObjectPy*>(item)->getDocumentObjectPtr();
Gui::ViewProvider* vp = Gui::Application::Instance->getViewProvider(obj);
if (vp) {
sep->addChild(vp->getRoot());
}
}
}
SoGetPrimitiveCountAction action;
action.setCanApproximate(true);
action.apply(sep);
bool binary = false;
if (action.getTriangleCount() > 100000 ||
action.getPointCount() > 30000 ||
action.getLineCount() > 10000)
binary = true;
SoFCDB::writeToFile(sep, Utf8Name.c_str(), binary);
sep->unref();
}
else if (ext == QLatin1String("pdf")) {
// get the view that belongs to the found document
Gui::Document* gui_doc = Application::Instance->getDocument(doc);
if (gui_doc) {
Gui::MDIView* view = gui_doc->getActiveView();
if (view) {
View3DInventor* view3d = qobject_cast<View3DInventor*>(view);
if (view3d)
view3d->viewAll();
QPrinter printer(QPrinter::ScreenResolution);
printer.setOutputFormat(QPrinter::PdfFormat);
printer.setOutputFileName(fileName);
view->print(&printer);
}
}
}
else {
Base::Console().Error("File type '%s' not supported\n", ext.toLatin1().constData());
}
} PY_CATCH;
Py_Return;
}
bool CoinRrtWorkspaceVisualization::addCSpacePath(CSpacePathPtr path, CoinRrtWorkspaceVisualization::ColorSet colorSet)
{
if (!path || !robotNodeSet || !TCPNode || !robot)
return false;
if (path->getDimension() != robotNodeSet->getSize())
{
VR_ERROR << " Dimensions do not match: " << path->getDimension() <<"!="<< robotNodeSet->getSize()<<endl;
return false;
}
float nodeSolutionSize = pathNodeSize;//15.0;//1.0f
float lineSolutionSize = pathLineSize;//4.0;
SoMaterial *materialNodeSolution = new SoMaterial();
SoMaterial *materialLineSolution = new SoMaterial();
materialNodeSolution->ambientColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
materialNodeSolution->diffuseColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
materialLineSolution->ambientColor.setValue(colors[colorSet].lineR,colors[colorSet].lineG,colors[colorSet].lineB);
materialLineSolution->diffuseColor.setValue(colors[colorSet].lineR,colors[colorSet].lineG,colors[colorSet].lineB);
SoSphere *sphereNodeSolution = new SoSphere();
sphereNodeSolution->radius.setValue(nodeSolutionSize);
SoDrawStyle *lineSolutionStyle = new SoDrawStyle();
lineSolutionStyle->lineWidth.setValue(lineSolutionSize);
Eigen::VectorXf actConfig;
Eigen::VectorXf parentConfig;
float x,y,z;
float x2 = 0.0f,y2 = 0.0f,z2 = 0.0f;
SoSeparator *sep = new SoSeparator();
sep->ref();
SoUnits *u = new SoUnits;
u->units = SoUnits::MILLIMETERS;
sep->addChild(u);
SoComplexity *comple;
comple = new SoComplexity();
comple->value = pathRenderComplexity;
sep->addChild(comple);
for (unsigned int i = 0; i < path->getNrOfPoints(); i++)
{
actConfig = path->getPoint(i);
// create 3D model for nodes
SoSeparator *s = new SoSeparator();
s->addChild(materialNodeSolution);
SoTranslation *t = new SoTranslation();
if (cspace->hasExclusiveRobotAccess())
CSpace::lock();
// get tcp coords:
robot->setJointValues(robotNodeSet,actConfig);
Eigen::Matrix4f m;
m = TCPNode->getGlobalPose();
x = m(0,3);
y = m(1,3);
z = m(2,3);
if (cspace->hasExclusiveRobotAccess())
CSpace::unlock();
t->translation.setValue(x,y,z);
s->addChild(t);
// display a solution node different
s->addChild(sphereNodeSolution);
sep->addChild(s);
if (i>0) // lines for all configurations
{
// create line to parent
SoSeparator *s2 = new SoSeparator();
SbVec3f points[2];
points[0].setValue(x2,y2,z2);
points[1].setValue(x,y,z);
s2->addChild(lineSolutionStyle);
s2->addChild(materialLineSolution);
SoCoordinate3* coordinate3 = new SoCoordinate3;
coordinate3->point.set1Value(0,points[0]);
coordinate3->point.set1Value(1,points[1]);
s2->addChild(coordinate3);
SoLineSet* lineSet = new SoLineSet;
lineSet->numVertices.setValue(2);
lineSet->startIndex.setValue(0);
s2->addChild(lineSet);
sep->addChild(s2);
}
x2 = x;
y2 = y;
z2 = z;
parentConfig = actConfig;
} // for
visualization->addChild(sep);
sep->unref();
return true;
}
bool CoinRrtWorkspaceVisualization::addTree(CSpaceTreePtr tree, CoinRrtWorkspaceVisualization::ColorSet colorSet)
{
if (!tree)
return false;
if (tree->getDimension() != robotNodeSet->getSize())
{
VR_ERROR << " Dimensions do not match: " << tree->getDimension() <<"!="<< robotNodeSet->getSize()<<endl;
return false;
}
if (!TCPNode)
return false;
Eigen::VectorXf actConfig;
Eigen::VectorXf parentConfig;
CSpaceNodePtr actualNode;
CSpaceNodePtr parentNode;
int parentid;
SoMaterial *materialNode = new SoMaterial();
SoMaterial *materialLine = new SoMaterial();
materialLine->ambientColor.setValue(colors[colorSet].lineR,colors[colorSet].lineG,colors[colorSet].lineB);
materialLine->diffuseColor.setValue(colors[colorSet].lineR,colors[colorSet].lineG,colors[colorSet].lineB);
materialNode->ambientColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
materialNode->diffuseColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
std::map<int,SoMaterial*> statusMaterials;
std::map<int,ColorSet>::iterator it = treeNodeStatusColor.begin();
bool considerStatus = false;
while (it != treeNodeStatusColor.end())
{
SoMaterial *materialNodeStatus = new SoMaterial();
materialNodeStatus->ambientColor.setValue(colors[it->second].nodeR,colors[it->second].nodeG,colors[it->second].nodeB);
materialNodeStatus->diffuseColor.setValue(colors[it->second].nodeR,colors[it->second].nodeG,colors[it->second].nodeB);
statusMaterials[it->first] = materialNodeStatus;
considerStatus = true;
it++;
}
SoSphere *sphereNode = new SoSphere();
sphereNode->radius.setValue(treeNodeSize);
SoDrawStyle *lineStyle = new SoDrawStyle();
lineStyle->lineWidth.setValue(treeLineSize);
SoSeparator *sep = new SoSeparator();
sep->ref();
SoUnits *u = new SoUnits;
u->units = SoUnits::MILLIMETERS;
sep->addChild(u);
SoComplexity *comple;
comple = new SoComplexity();
comple->value = treeRenderComplexity;
sep->addChild(comple);
std::vector<CSpaceNodePtr> nodes = tree->getNodes();
// pre-compute tcp positions
bool updateVisMode = robot->getUpdateVisualizationStatus();
robot->setUpdateVisualization(false);
std::map<CSpaceNodePtr,Eigen::Vector3f> tcpCoords;
Eigen::Vector3f p;
Eigen::Vector3f p2;
for (unsigned int i = 0; i < nodes.size(); i++)
{
actualNode = nodes[i];
// get tcp coords:
robot->setJointValues(robotNodeSet,actualNode->configuration);
Eigen::Matrix4f m;
m = TCPNode->getGlobalPose();
p(0) = m(0,3);
p(1) = m(1,3);
p(2) = m(2,3);
tcpCoords[actualNode] = p;
}
for (unsigned int i = 0; i < nodes.size(); i++)
{
actualNode = nodes[i];
parentid = actualNode->parentID;
// create 3D model for nodes
SoSeparator *s = new SoSeparator();
if (considerStatus && statusMaterials.find(actualNode->status)!=statusMaterials.end())
s->addChild(statusMaterials[actualNode->status]);
else
s->addChild(materialNode);
// get tcp coords
p = tcpCoords[actualNode];
SoTranslation *t = new SoTranslation();
t->translation.setValue(p(0),p(1),p(2));
s->addChild(t);
s->addChild(sphereNode);
sep->addChild(s);
// not for the start node! startNode->parentID < 0
if (parentid >= 0) // lines for all configurations
{
// create line to parent
SoSeparator *s2 = new SoSeparator();
parentNode = tree->getNode(parentid);
if (parentNode)
{
// get tcp coords
p2 = tcpCoords[parentNode];
s2->addChild(lineStyle);
s2->addChild(materialLine);
SbVec3f points[2];
points[0].setValue(p(0),p(1),p(2));
points[1].setValue(p2(0),p2(1),p2(2));
SoCoordinate3* coordinate3 = new SoCoordinate3;
coordinate3->point.set1Value(0,points[0]);
coordinate3->point.set1Value(1,points[1]);
s2->addChild(coordinate3);
SoLineSet* lineSet = new SoLineSet;
lineSet->numVertices.setValue(2);
lineSet->startIndex.setValue(0);
s2->addChild(lineSet);
sep->addChild(s2);
}
}
}
visualization->addChild(sep);
sep->unref();
robot->setUpdateVisualization(updateVisMode);
return true;
}
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;
}
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);
}
int main(int argc, char** argv)
{
// init Inventor
HWND w = SoWin::init(argv[0]);
SoWinExaminerViewer * v = new SoWinExaminerViewer(w);
//Preguntar donde iria
SoViewportRegion::initClass();
// Iniciamos la escena
SoSeparator *root = new SoSeparator;
root->ref();
root->addChild(new SoUnits);
Pointers * mypointers= new Pointers();
//De este separador colgará la escena que se carga de
//fichero, así como las cámaras y luces encargadas de
//mostrarla
SoSeparator *ojo_izq= new SoSeparator;
//Partimos la pantalla
SoViewportRegion *vp1 = new SoViewportRegion();
vp1->height=0.4f;
vp1->width=0.2f;
vp1->y_pos=0.6f;
vp1->x_pos=0.0f;
vp1->onTop=TRUE;
ojo_izq->addChild(vp1);
//Introducimos una nueva cámara. Esta cámara pintará
//los draggers siempre en la misma posición
SoFrustumCamera *cam = new SoFrustumCamera();
ojo_izq->addChild(cam);
SoSeparator * escena = new SoSeparator;
LightControl * luces;
luces = new LightControl(escena);
CheckStick * mystickcontrol;
mypointers->lights=luces;
mypointers->viewer=v;
SoSeparator *habitacion=new SoSeparator;
SoTransform * centrar = new SoTransform;
//centrar->translation.setValue(60.0f,-60.0f,60.0f);
centrar->translation.setValue(0,-1.f,0.5f);
//centrar->scaleFactor.setValue(0.0001f,0.0001f,0.0001f);//bateria wena
//centrar->scaleFactor.setValue(3.f,3.f,3.f);
habitacion->addChild(centrar);
//Desplazamiento de la pantalla
// model
SoFile *model = new SoFile;
if (argc > 1) model->name.setValue(argv[1]);
else model->name.setValue("drumconparedes.wrl");
habitacion->addChild(model);
escena->addChild(habitacion);
SoSeparator * esqueleto= new SoSeparator;
DrawCoin::CrearEsqueleto(esqueleto);
mystickcontrol=new CheckStick(DrawCoin::t_cabeza,DrawCoin::t_mano_izq,DrawCoin::t_mano_der);
mypointers->sticks=mystickcontrol;
escena->addChild(esqueleto);
ojo_izq->addChild (escena);
//Colocamos la camara de modo que pueda ver toda la escena
cam->viewAll(escena,vp1->getViewportRegion());
//cam->position.setValue(0.0f,10.0f,-10.f);
//cam->orientation.setValue(SbVec3f(0.0f,-1.f,1.f),0);
//De este separador colgará la escena que se carga de
//fichero, así como las cámaras y luces encargadas de
//mostrarla
SoSeparator *ojo_der= new SoSeparator;
root->addChild (ojo_der);
root->addChild (ojo_izq);
//Partimos la pantalla
SoViewportRegion *vp2 = new SoViewportRegion();
vp2->height=1.0f;
vp2->width=1.0f;
vp2->x_pos=0.0f;
vp2->onTop=FALSE;
ojo_der->addChild(vp2);
//Introducimos una nueva cámara. Esta cámara pintará
//los draggers siempre en la misma posición
SoFrustumCamera * cam2;
cam2 = new SoFrustumCamera();
mypointers->camera2=cam2;
//cam2->farDistance = 3.f;
ojo_der->addChild(cam2);
SoTransform * cabeza;
SoRotation * rotacion;
cabeza=DrawCoin::Get_Cabeza_Pos();
rotacion=DrawCoin::Get_Cabeza_Rot();
cam2->position.connectFrom(&cabeza->translation);
cam2->orientation.connectFrom(&rotacion->rotation);
ojo_der->addChild (escena);
//Colocamos la camara de modo que pueda ver toda la escena
cam2->viewAll(escena,vp2->getViewportRegion());
cam2->viewportMapping = SoCamera::LEAVE_ALONE;
cam2->position.setValue(0.0f,0.0f,0.0f);
int Data_Of_Thread = 1;
HANDLE Handle_Of_Thread;
Handle_Of_Thread = CreateThread( NULL, 0, Thread, &Data_Of_Thread, 0, NULL);
if ( Handle_Of_Thread == NULL) ExitProcess(Data_Of_Thread);
//Creamos un sensor encargado del render
SoTimerSensor* rendertimer = new SoTimerSensor(renderCallback,(void *)mypointers);
rendertimer->setInterval(FPS);
rendertimer->schedule();
SoEventCallback *eventCB = new SoEventCallback;
eventCB->addEventCallback(SoKeyboardEvent::getClassTypeId(),handle_keyboard,(void*)mypointers);
root->addChild(eventCB);
v->setBackgroundColor(SbColor(0.0f, 0.2f, 0.3f));
v->setFeedbackVisibility(TRUE);
v->setSceneGraph(root);
//v->setViewing(FALSE);
v->setTitle("Kinect Tracking");
v->setAutoRedraw(FALSE);
///v->setDecoration(FALSE);
SoWin::show(w);
SoWin::mainLoop();
root->unref();
delete v;
return 0;
}
/**
* Read from SoInput and convert to OSG.
* This is a method used by readNode(string,options) and readNode(istream,options).
*/
osgDB::ReaderWriter::ReadResult
ReaderWriterIV::readNodeFromSoInput(SoInput &input,
std::string &fileName, const osgDB::ReaderWriter::Options *options) const
{
// Parse options and add search paths to SoInput
const osgDB::FilePathList *searchPaths = options ? &options->getDatabasePathList() : NULL;
if (options)
addSearchPaths(searchPaths);
// Create the inventor scenegraph by reading from SoInput
SoSeparator* rootIVNode = SoDB::readAll(&input);
// Remove recently appened search paths
if (options)
removeSearchPaths(searchPaths);
// Close the file
input.closeFile();
// Perform conversion
ReadResult result;
if (rootIVNode)
{
rootIVNode->ref();
// Convert the inventor scenegraph to an osg scenegraph
ConvertFromInventor convertIV;
convertIV.preprocess(rootIVNode);
result = convertIV.convert(rootIVNode);
rootIVNode->unref();
} else
result = ReadResult::FILE_NOT_HANDLED;
// Notify
if (result.success()) {
if (fileName.length())
{
OSG_NOTICE << "osgDB::ReaderWriterIV::readNode() "
<< "File " << fileName
<< " loaded successfully." << std::endl;
}
else
{
OSG_NOTICE << "osgDB::ReaderWriterIV::readNode() "
<< "Stream loaded successfully." << std::endl;
}
} else {
if (fileName.length())
{
OSG_WARN << "osgDB::ReaderWriterIV::readNode() "
<< "Failed to load file " << fileName
<< "." << std::endl;
}
else
{
OSG_WARN << "osgDB::ReaderWriterIV::readNode() "
<< "Failed to load stream." << std::endl;
}
}
return result;
}
IVElement::IVElement(string ivfile, KthReal sc) {
for(int i=0;i<3;i++){
position[i]= 0.0f;
orientation[i]=0.0f;
}
orientation[2]=1.0f;
orientation[3]=0.0f;
scale=sc;
trans= new SoTranslation;
rot = new SoRotation;
sca = new SoScale();
color = new SoMaterial;
posVec = new SoSFVec3f;
trans->translation.connectFrom(posVec);
posVec->setValue((float)position[0],(float)position[1],(float)position[2]);
rotVec = new SoSFRotation;
rotVec->setValue(SbVec3f((float)orientation[0],(float)orientation[1],
(float)orientation[2]),(float)orientation[3]);
rot->rotation.connectFrom(rotVec);
scaVec= new SoSFVec3f;
scaVec->setValue((float)scale,(float)scale,(float)scale);
sca->scaleFactor.connectFrom(scaVec);
SoInput input;
ivmodel = new SoSeparator;
ivmodel->ref();
ivmodel->addChild(sca);
if(input.openFile(ivfile.c_str()))
ivmodel->addChild(SoDB::readAll(&input));
else
{
//ivmodel->addChild(new SoSphere());
static const char *str[] = {
"#VRML V1.0 ascii\n",
"DEF pointgoal Separator {\n",
" Separator {\n",
" MaterialBinding { value PER_PART }\n",
" Coordinate3 {\n",
" point [\n",
" 0.0 0.0 0.0\n",
" ]\n",
" }\n",
" DrawStyle { pointSize 5 }\n",
" PointSet { }\n",
" }\n",
"}\n",
NULL
};
input.setStringArray(str);
SoSeparator *sep = SoDB::readAll(&input);
sep->ref();
while (sep->getNumChildren() > 0)
{
ivmodel->addChild(sep->getChild(0));
sep->removeChild(0);
}
sep->unref();
}
ivmodel->ref();
}
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;
}
SoLevelOfDetail* UMDSoMeasureTool::getLOD() {
// hier wird ein LevelOfDetail-Knoten zurueckgegeben;
// dieser beinhaltet drei Kinder mit jeweils verschiedener Font-Groesse;
// ausserdem wird ein unsichtbarer Wuerfel in den jeweiligen Kinderknoten eingehaengt,
// der dafuer verantwortlich ist, wann welcher Kinderknoten verwendet wird (zur Bestimmung
// der screenArea)
SoLevelOfDetail* lod = new SoLevelOfDetail;
lod->ref();
float areas[2] = {4000, 2000};
lod->screenArea.setValues(0, 2, areas);
SoSeparator* sphereSep = new SoSeparator;
sphereSep->ref();
// der Wrfel wird immer zusammen mit dem Text bewegt
_textTrafo = new SoTransform;
sphereSep->addChild(_textTrafo);
// hier der unsichtbare Wuerfel
SoDrawStyle* style = new SoDrawStyle;
sphereSep->addChild(style);
style->style.setValue(SoDrawStyle::INVISIBLE);
// der Wrfel darf nicht selektierbar sein
SoPickStyle* pickstyle = new SoPickStyle;
sphereSep->addChild(pickstyle);
pickstyle->style.setValue(SoPickStyle::UNPICKABLE);
_sphere = new SoSphere;
_sphere->ref();
sphereSep->addChild(_sphere);
_sphere->radius = 10*scale.getValue();
//cube->height = 10*90;
//cube->depth = 10*90;
// es folgen die einzelnen Kinder vom LevelOfDetail-Knoten,
// die die unterschiedlichen Font-Groessen beinhalten
SoGroup* group1 = new SoGroup;
lod->addChild(group1);
SoFont* font1 = new SoFont;
group1->addChild(font1);
font1->size = 18;
font1->name.setValue("Helvetica"); // Arial
group1->addChild(sphereSep);
SoGroup* group2 = new SoGroup;
lod->addChild(group2);
SoFont* font2 = new SoFont;
group2->addChild(font2);
font2->size = 12;
font2->name.setValue("Helvetica");
group2->addChild(sphereSep);
SoGroup* group3 = new SoGroup;
lod->addChild(group3);
SoFont* font3 = new SoFont;
group3->addChild(font3);
font3->size = 10;
font3->name.setValue("Helvetica");
group3->addChild(sphereSep);
// ab einer gewissen Entfernung werden die Werkzeuge
// einfach als Linie dargestellt;
// so bleiben sie auf jeden Fall sichtbar
SoDrawStyle* lineStyle = new SoDrawStyle;
group3->addChild(lineStyle);
lineStyle->style.setValue(SoDrawStyle::LINES);
lineStyle->lineWidth.setValue(1);
sphereSep->unref();
lod->unrefNoDelete();
return lod;
}
