//----------------------------------------------------------------------------
void getGraphicsModel40(ifstream &cfg_ptr, dmLink *link)
{
if (getStringParameter40(cfg_ptr, "Graphics_Model", object_name40))
{
GLuint *dlist = new GLuint;
*dlist = glLoadModel(object_name40);
link->setUserData((void *) dlist);
}
}
//----------------------------------------------------------------------------
void getGraphicsModel40(ifstream &cfg_ptr, dmLink *link)
{
if (getStringParameter40(cfg_ptr, "Graphics_Model", object_name40))
{
// For each link, DM can render AT MOST two graphical models (2 .xan files)
// spcified as "model1.xan|model2.xan"
char * pch;
pch = strtok (object_name40,"|");// note: do not put extra spaces
GLuint *dlist = new GLuint;
*dlist = glLoadModel(pch);
link->setUserData((void *) dlist);
//cout<<pch<<endl;
pch = strtok (NULL, "|");
if (pch != NULL)
{
GLuint *dlist2 = new GLuint;
*dlist2 = glLoadModel(pch);
link->setUserData2((void *) dlist2);
}
else
{
GLuint *dlist2 = new GLuint;
*dlist2 = 0;
link->setUserData2((void *) dlist2);
}
//GLuint *dlist = new GLuint;
//*dlist = glLoadModel(object_name40);
//link->setUserData((void *) dlist);
}
}
dmArticulation *Establish_Dummy_Dm_Model(char * xanname )
{
dmArticulation *robot = new dmArticulation();
robot->setName("object");
GLuint *dlist = new GLuint;
*dlist = glLoadModel(xanname);
robot->setUserData((void *) dlist);
CartesianVector pos;
Quaternion quat;
pos[0]=0; pos[1]=0; pos[2]=0;
quat[0]=0; quat[1]=0; quat[2]=0; quat[3]=1.0;
robot->setRefSystem(quat, pos);
return robot;
}
