void
StepRepeat::initialize(QXmlStreamReader& xml)
{
m_stepRef = getStringAttribute(xml, "StepRepeat", "stepRef");
m_x = getDoubleAttribute(xml, "StepRepeat", "x");
m_y = getDoubleAttribute(xml, "StepRepeat", "y");
m_nx = getNonNegativeIntAttribute(xml, "StepRepeat", "nx");
m_ny = getNonNegativeIntAttribute(xml, "StepRepeat", "ny");
m_dx = getNonNegativeDoubleAttribute(xml, "StepRepeat", "dx");
m_dy = getNonNegativeDoubleAttribute(xml, "StepRepeat", "dy");
m_angle = getDoubleAttribute(xml, "StepRepeat", "angle");
m_mirror = getBoolAttribute(xml, "mirror");
}
bool cAlarmServer::loadAlarmConfig(const UtlString& alarmFile, const UtlString& groupFile)
{
// load global alarm config from alarm-config.xml
OsSysLog::add(FAC_ALARM, PRI_DEBUG, "Loading alarm config files '%s' '%s'",
alarmFile.data(), groupFile.data());
// Load the alarm configuration file
TiXmlDocument alarmDoc(alarmFile);
TiXmlHandle alarmDocHandle( &alarmDoc );
if (!alarmDoc.LoadFile())
{
UtlString errorMsg;
XmlErrorMsg( alarmDoc, errorMsg );
OsSysLog::add(FAC_ALARM, PRI_ERR, "Failed to load alarm config file: %s", errorMsg.data());
return false;
}
TiXmlHandle alarmDocH( &alarmDoc );
TiXmlHandle alarmServerHandle = alarmDocH.FirstChildElement("alarm_server");
// Load the alarm group configuration file
TiXmlDocument groupDoc(groupFile);
TiXmlHandle groupDocHandle( &groupDoc );
if (!groupDoc.LoadFile())
{
UtlString errorMsg;
XmlErrorMsg( groupDoc, errorMsg );
OsSysLog::add(FAC_ALARM, PRI_ERR, "Failed to load alarm group config file: %s", errorMsg.data());
return false;
}
TiXmlHandle groupDocH( &groupDoc );
TiXmlHandle groupServerHandle = groupDocH.FirstChildElement("alarm_groups");
// Continue to process the alarm configuration file
TiXmlElement* settingsElement = alarmServerHandle.FirstChildElement("settings").Element();
if (!settingsElement)
{
OsSysLog::add(FAC_ALARM, PRI_ERR,
"No <settings> element in alarm config file '%s'",
alarmFile.data());
return false;
}
TiXmlElement* langElement = settingsElement->FirstChildElement("language");
if (langElement)
{
textContentShallow(mLanguage, langElement);
OsSysLog::add(FAC_ALARM, PRI_INFO, "Language for alarm notifications: %s", mLanguage.data());
}
//load alarm action settings
TiXmlElement* alarmActionsElement = settingsElement->FirstChildElement("actions");
if (alarmActionsElement)
{
TiXmlElement* element = alarmActionsElement->FirstChildElement("log");
if (getBoolAttribute(element, "enabled"))
{
LogNotifier* pLogNotifier = new LogNotifier();
if (mpNotifiers[cAlarmData::eActionLog])
{
delete mpNotifiers[cAlarmData::eActionLog];
}
mpNotifiers[cAlarmData::eActionLog] = pLogNotifier;
if (pLogNotifier)
{
pLogNotifier->init(element, NULL);
gbActions[cAlarmData::eActionLog] = true;
}
}
// Alarm email notifications
element = alarmActionsElement->FirstChildElement("email");
if (getBoolAttribute(element, "enabled"))
{
EmailNotifier* pEmailNotifier = new EmailNotifier();
if (mpNotifiers[cAlarmData::eActionEmail])
{
delete mpNotifiers[cAlarmData::eActionEmail];
}
mpNotifiers[cAlarmData::eActionEmail] = pEmailNotifier;
if (pEmailNotifier)
{
TiXmlElement* groupElement = groupServerHandle.FirstChildElement("definitions").Element();
pEmailNotifier->init(element, groupElement);
gbActions[cAlarmData::eActionEmail] = true;
}
}
element = alarmActionsElement->FirstChildElement("sms");
if (getBoolAttribute(element, "enabled"))
{
SmsNotifier* pSmsNotifier = new SmsNotifier();
if (mpNotifiers[cAlarmData::eActionSms])
{
delete mpNotifiers[cAlarmData::eActionSms];
}
mpNotifiers[cAlarmData::eActionSms] = pSmsNotifier;
if (pSmsNotifier)
{
TiXmlElement* groupElement = groupServerHandle.FirstChildElement("definitions").Element();
pSmsNotifier->init(element, groupElement);
gbActions[cAlarmData::eActionSms] = true;
}
}
// Alarm SNMPv2 trap notifications
element = alarmActionsElement->FirstChildElement("trap");
if (getBoolAttribute(element, "enabled"))
{
TrapNotifier* pTrapNotifier = new TrapNotifier();
if (mpNotifiers[cAlarmData::eActionTrap])
{
delete mpNotifiers[cAlarmData::eActionTrap];
}
mpNotifiers[cAlarmData::eActionTrap] = pTrapNotifier;
if (pTrapNotifier)
{
TiXmlElement* groupElement = groupServerHandle.FirstChildElement("definitions").Element();
pTrapNotifier->init(element, groupElement);
gbActions[cAlarmData::eActionTrap] = true;
}
}
else
{
// The trap notification of alarms is disabled.
// So, delete the notifier
if (mpNotifiers[cAlarmData::eActionTrap])
{
delete mpNotifiers[cAlarmData::eActionTrap];
mpNotifiers[cAlarmData::eActionTrap] = 0;
}
gbActions[cAlarmData::eActionTrap] = false;
}
}
return true;
}
bool cAlarmServer::loadAlarmData(TiXmlElement* element, cAlarmData* data)
{
UtlString codeStr;
UtlString idStr;
UtlString compStr("");
UtlString sevStr("minor");
UtlString resStr("");
UtlString groupName("disabled");
bool actEmail = true;
bool actSms = true;
bool actLog = true;
bool actTrap = true;
int filtMax = INT_MAX;
int filtMin = 0;
if (element && data)
{
idStr = element->Attribute("id");
if (idStr.isNull())
{
OsSysLog::add(FAC_ALARM, PRI_ERR,"code=%s: alarm ID is required", codeStr.data());
return false;
}
TiXmlElement* codeElement = element->FirstChildElement("code");
if ( !codeElement )
{
OsSysLog::add(FAC_ALARM, PRI_ERR,
"id=%s: alarm code is required", element->Attribute("id"));
return false;
}
textContentShallow(codeStr, codeElement);
codeElement = element->FirstChildElement("severity");
if ( codeElement )
{
textContentShallow(sevStr, codeElement);
}
else
{
OsSysLog::add(FAC_ALARM, PRI_WARNING,
"id=%s: no severity; assuming %s", idStr.data(), sevStr.data());
}
codeElement = element->FirstChildElement("component");
if ( codeElement )
{
textContentShallow(compStr, codeElement);
}
else
{
OsSysLog::add(FAC_ALARM, PRI_WARNING,"id=%s: no component; set to null", idStr.data());
}
codeElement = element->FirstChildElement("action");
actLog = getBoolAttribute(codeElement, "log", true);
if ( codeElement )
{
// Get the alarm group name used for both regular emails and SMS emails.
groupName = codeElement->Attribute("email");
if (strcmp(groupName.data(), "disabled") == 0)
{
// All regular/SMS notifications for this alarm type must be disabled.
actEmail = false;
actSms = false;
actTrap = false;
}
}
codeElement = element->FirstChildElement("filter");
filtMax = getIntAttribute(codeElement, "max_reports", INT_MAX);
filtMin = getIntAttribute(codeElement, "min_threshold");
}
else
{
return false;
}
data->setAlarmId(idStr);
data->setCode(codeStr);
data->setSeverity(sevToSyslogPri(sevStr));
data->setComponent(compStr);
data->setShortTitle(idStr); // default fallback title is internal id
data->setDescription(idStr); // default fallback description is internal id
data->setResolution(resStr);
data->actions[cAlarmData::eActionLog] = actLog;
data->actions[cAlarmData::eActionEmail] = actEmail;
data->actions[cAlarmData::eActionSms] = actSms;
data->actions[cAlarmData::eActionTrap] = actTrap;
data->group_name = groupName;
data->max_report = filtMax;
data->min_threshold = filtMin;
data->resetCount();
return true;
}
void SBCollisionManager::start()
{
#ifndef SB_NO_ODE_PHYSICS
_singleChrCapsuleMode = getBoolAttribute("singleChrCapsuleMode");
float jointBVLenRadRatio = (float)(getDoubleAttribute("jointBVLenRadRatio"));
SR_CLIP(jointBVLenRadRatio, 0.001f, 1000.0f);
_jointBVLenRadRatio = jointBVLenRadRatio;
SBScene* scene = SmartBody::SBScene::getScene();
SBSteerManager* steerManager = scene->getSteerManager();
_characterRadius = (float) steerManager->getDoubleAttribute("initialConditions.radius");
double sceneScale = scene->getDoubleAttribute("scale");
if (sceneScale != 0.0)
{
_characterRadius *= (float) (1.0 / sceneScale);
}
_positions.clear();
_velocities.clear();
if (!collisionSpace)
{
collisionSpace = new ODECollisionSpace();
}
const std::vector<std::string>& characterNames = scene->getCharacterNames();
for (std::vector<std::string>::const_iterator iter = characterNames.begin();
iter != characterNames.end();
iter++)
{
_positions.insert(std::pair<std::string, SrVec>((*iter), SrVec()));
_velocities.insert(std::pair<std::string, SrVec>((*iter), SrVec()));
SBCharacter* character = scene->getCharacter(*iter);
if (!character->getGeomObject() || character->getGeomObject()->geomType() == "null") // no collision geometry setup for the character
{
if(_singleChrCapsuleMode)
{
//SBGeomObject* obj = new SBGeomCapsule()
SrBox bbox = character->getBoundingBox();
float yoffset = bbox.getMinimum().y - character->get_world_offset().get_translation().y;
SrVec size = SrVec(0,_characterRadius,0);
SBGeomObject* obj = createCollisionObject(character->getGeomObjectName(),"capsule",size,SrVec(0,yoffset,0),SrVec(0,yoffset+character->getHeight(),0));
obj->attachToObj(character);
addObjectToCollisionSpace(character->getGeomObjectName());
//new SBGeomCapsule(SrVec(0,yoffset,0),SrVec(0,yoffset+character->getHeight(),0),_characterRadius);
//character->setGeomObject(obj);
//collisionSpace->addCollisionObjects(obj);
}
else // create collision capsules based on skel bones
{
LOG(character->getName().c_str());
SkSkeleton* sk = character->getSkeleton();
const std::vector<SkJoint*>& origJnts = sk->joints();
sk->update_global_matrices();
std::vector<SkJoint*> jnt_excld_list;
for(unsigned int i=0; i<origJnts.size(); i++)
{
SkJoint* j = origJnts[i];
SrString jname(j->jointName().c_str());
if(jname.search("world_offset")>=0) { jnt_excld_list.push_back(j); continue; } // skip world_offset
if(jname.search("face")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("brow")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("eye")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("nose")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("lid")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("jaw")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("tongue")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("lip")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("cheek")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("finger")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("thumb")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("index")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("middle")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("pinky")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("ring")>=0) { jnt_excld_list.push_back(j); continue; }
}
std::string chrName = character->getGeomObjectName();
float chrHeight = character->getHeight();
for(unsigned int i=0; i<origJnts.size(); i++)
{
SkJoint* j = origJnts[i];
if(isJointExcluded(j, jnt_excld_list)) continue;
SrString jname(j->jointName().c_str());
for(int k=0; k<j->num_children(); k++)
{
SkJoint* j_ch = j->child(k);
if(isJointExcluded(j_ch, jnt_excld_list)) continue;
const SrVec& offset = j_ch->offset();
float offset_len = offset.norm();
float radius = offset_len / jointBVLenRadRatio;
if(offset_len < 0.03*chrHeight) continue; // skip short bones
std::string colObjName = chrName + ":" + j->jointName();
if(k>0) colObjName = colObjName + ":" + boost::lexical_cast<std::string>(k);
SBGeomObject* obj = createCollisionObject(colObjName,"capsule",SrVec(0, radius, 0),SrVec::null,offset);
LOG("SBColMan: col primitive added: %s, len: %f, radius: %f", colObjName.c_str(), offset_len, radius);
obj->attachToObj(dynamic_cast<SBTransformObjInterface*>(j));
addObjectToCollisionSpace(colObjName);
}
}
}
}
}
const std::vector<std::string>& pawnNames = scene->getPawnNames();
for (std::vector<std::string>::const_iterator iter = pawnNames.begin();
iter != pawnNames.end(); iter++)
{
SBPawn* pawn = scene->getPawn(*iter);
if(pawn->getGeomObject()->geomType() != "null")
{
//SBGeomObject* obj = pawn->getGeomObject();
SBGeomObject* obj = createCollisionObject(pawn->getGeomObjectName(),pawn->getGeomObject()->geomType(),pawn->getGeomObject()->getGeomSize(),SrVec::null,SrVec::null);
obj->attachToObj(pawn);
addObjectToCollisionSpace(pawn->getGeomObjectName());
}
}
#endif
}
