bool SceneParser::addElement(struct basicxmlnode * elementNode, Scene * scene){
if (!elementNode) {
std::cout << "SceneParser::addElement: empty element node \n";
return false;
}
// find out element type
if (std::string(elementNode->tag) == "Plane") {
return addPlane(elementNode, scene);
}
else if (std::string(elementNode->tag) == "CirclePlane") {
return addCirclePlane(elementNode, scene);
}
else if (std::string(elementNode->tag) == "Sphere") {
return addSphere(elementNode, scene);
}
else if (std::string(elementNode->tag) == "Triangle") {
return addTriangle(elementNode, scene);
}
else if (std::string(elementNode->tag) == "Quadric") {
return addQuadric(elementNode, scene);
}
else if (std::string(elementNode->tag) == "Torus") {
return addTorus(elementNode, scene);
}
else if (std::string(elementNode->tag) == "TriangleMesh") {
return addTriangleMesh(elementNode, scene);
}
else {
std::cout << "SceneParser::addElement: do not know how to generate \"" << elementNode->tag << "\"\n";
return false;
}
}
Box(Eigen::Vector4d ¢er, Eigen::Vector4d& u, Eigen::Vector4d &v,
Eigen::Vector4d &w, unsigned int id, unsigned int matId,
double uWidth, double vWidth, double wWidth)
: QuadricCollection(center, id, matId), u(u), v(v), w(w) {
BOOST_ASSERT_MSG(u[3] == 0 && v[3] == 0 && w[3] == 0, "u,v,w must have"
" fourth coordinate equal to zero!");// Got u:\n"
// << u << "v:\n" << v << "w:\n" << w)
// Prepare rotation matrix
Eigen::Matrix4d R;
R.row(0) = u;
R.row(1) = v;
R.row(2) = w;
R.row(3) = Eigen::Vector4d(0, 0, 0, 1);
/* Make all the planes forming the box (centered at origin).
Plane normals will be unit vectors pointing in positive/negative
x, y, z directions. The points x on the plane with normal
n = (a,b,c), distance d to origin satisfy n.p -d = 0,
or x^T Q x = 0 where
Q = |0 0 0 a/2|
|0 0 0 b/2|
|0 0 0 c/2|
|a/2 b/2 c/2 -d|
We define planes w.r.t. x, y, z axes, then rotate to u,v,w
*/
Eigen::Matrix4d posWPlane, negWPlane, posUPlane, negUPlane,
posVPlane, negVPlane;
posWPlane = negWPlane = posUPlane = negUPlane = posVPlane = negVPlane
= Eigen::Matrix4d::Zero();
posUPlane.row(3) = posUPlane.col(3) = Eigen::Vector4d(0.5, 0, 0, -uWidth/2.0);
negUPlane.row(3) = negUPlane.col(3) = Eigen::Vector4d(-0.5, 0, 0, -uWidth/2.0);
posVPlane.row(3) = posVPlane.col(3) = Eigen::Vector4d(0, 0.5, 0, -vWidth/2.0);
negVPlane.row(3) = negVPlane.col(3) = Eigen::Vector4d(0, -0.5, 0, -vWidth/2.0);
posWPlane.row(3) = posWPlane.col(3) = Eigen::Vector4d(0, 0, 0.5, -wWidth/2.0);
negWPlane.row(3) = negWPlane.col(3) = Eigen::Vector4d(0, 0, -0.5, -wWidth/2.0);
addQuadric(R.transpose() * posWPlane * R);
addQuadric(R.transpose() * negWPlane * R);
addQuadric(R.transpose() * posUPlane * R);
addQuadric(R.transpose() * negUPlane * R);
addQuadric(R.transpose() * posVPlane * R);
addQuadric(R.transpose() * negVPlane * R);
}
