void OnlineViewer_impl::load(const char* name_, const char* url)
{
if (!scene->body(name_)){
std::cout << "load(" << url << ")" << std::endl;
OpenHRP::ModelLoader_var ml = hrp::getModelLoader(orb);
OpenHRP::ModelLoader::ModelLoadOption opt;
opt.readImage = true;
opt.AABBdata.length(0);
opt.AABBtype = OpenHRP::ModelLoader::AABB_NUM;
BodyInfo_var binfo = ml->getBodyInfoEx(url, opt);
GLbody *glbody = new GLbody();
hrp::BodyPtr body(glbody);
hrp::loadBodyFromBodyInfo(body, binfo, false, GLlinkFactory);
body->setName(name_);
loadShapeFromBodyInfo(glbody, binfo);
scene->addBody(body);
}
}
void PyLink::addShapeFromFile(std::string url)
{
RTC::Manager* manager = &RTC::Manager::instance();
std::string nameServer = manager->getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
OpenHRP::ModelLoader_var modelloader = hrp::getModelLoader(CosNaming::NamingContext::_duplicate(naming.getRootContext()));
OpenHRP::ModelLoader::ModelLoadOption opt;
opt.readImage = true;
opt.AABBdata.length(0);
opt.AABBtype = OpenHRP::ModelLoader::AABB_NUM;
OpenHRP::BodyInfo_var binfo = modelloader->getBodyInfoEx(url.c_str(), opt);
OpenHRP::LinkInfoSequence_var lis = binfo->links();
loadShapeFromLinkInfo(this, lis[0], binfo, createPyShape);
}
int main(int argc, char *argv[])
{
int wsize=0;
double maxEdgeLen=0.0;
bool useDefaultLights=true;
float bgColor[3]={0,0,0};
for (int i=1; i<argc; i++){
if (strcmp(argv[i], "-size")==0){
wsize = atoi(argv[++i]);
}else if(strcmp(argv[i], "-max-edge-length")==0){
maxEdgeLen = atof(argv[++i]);
}else if(strcmp(argv[i], "-no-default-lights")==0){
useDefaultLights=false;
}else if(strcmp(argv[i], "-bg")==0){
bgColor[0] = atof(argv[++i]);
bgColor[1] = atof(argv[++i]);
bgColor[2] = atof(argv[++i]);
}else if(strcmp(argv[i], "-h")==0 || strcmp(argv[i], "--help")==0){
print_usage(argv[0]);
return 1;
}
}
CORBA::ORB_var orb = CORBA::ORB::_nil();
try {
orb = CORBA::ORB_init(argc, argv);
CORBA::Object_var obj;
obj = orb->resolve_initial_references("RootPOA");
PortableServer::POA_var poa = PortableServer::POA::_narrow(obj);
if(CORBA::is_nil(poa)){
throw std::string("error: failed to narrow root POA.");
}
PortableServer::POAManager_var poaManager = poa->the_POAManager();
if(CORBA::is_nil(poaManager)){
throw std::string("error: failed to narrow root POA manager.");
}
LogManager<OpenHRP::WorldState> log;
GLscene scene(&log);
scene.setBackGroundColor(bgColor);
scene.maxEdgeLen(maxEdgeLen);
OnlineViewer_impl* OnlineViewerImpl
= new OnlineViewer_impl(orb, poa, &scene, &log);
poa->activate_object(OnlineViewerImpl);
OnlineViewer_var OnlineViewer = OnlineViewerImpl->_this();
OnlineViewerImpl->_remove_ref();
obj = orb->resolve_initial_references("NameService");
CosNaming::NamingContext_var namingContext = CosNaming::NamingContext::_narrow(obj);
if(CORBA::is_nil(namingContext)){
throw std::string("error: failed to narrow naming context.");
}
CosNaming::Name name;
name.length(1);
name[0].id = CORBA::string_dup("OnlineViewer");
name[0].kind = CORBA::string_dup("");
namingContext->rebind(name, OnlineViewer);
poaManager->activate();
if (argc >= 2 && argv[1][0] != '-'){
OpenHRP::ModelLoader_var ml = hrp::getModelLoader(namingContext);
if (CORBA::is_nil(ml)){
std::cerr << "openhrp-model-loader is not running" << std::endl;
return 1;
}
OpenHRP::ModelLoader::ModelLoadOption opt;
opt.readImage = true;
opt.AABBdata.length(0);
opt.AABBtype = OpenHRP::ModelLoader::AABB_NUM;
GLbody *glbody = new GLbody();
std::string url = argv[1];
if (argv[1][0] != '/'){
char buf[MAXPATHLEN];
std::string cwd = getcwd(buf, MAXPATHLEN);
url = cwd + '/' + url;
}
hrp::BodyPtr body(glbody);
body->setName("model");
OpenHRP::BodyInfo_var binfo = ml->getBodyInfoEx(url.c_str(), opt);
hrp::loadBodyFromBodyInfo(body, binfo, false, GLlinkFactory);
loadShapeFromBodyInfo(glbody, binfo);
scene.addBody(body);
}
GLlink::useAbsTransformToDraw();
GLbody::useAbsTransformToDraw();
SDLwindow window(&scene, &log);
window.init(wsize, wsize);
if (!useDefaultLights) scene.defaultLights(false);
while(window.oneStep());
}
catch(OpenHRP::ModelLoader::ModelLoaderException ex){
std::cerr << ex.description << std::endl;
}
catch (CORBA::SystemException& ex) {
std::cerr << ex._rep_id() << std::endl;
}
catch (const std::string& error){
std::cerr << error << std::endl;
}
try {
orb->destroy();
}
catch(...){
}
return 0;
}
