int ConfigFile::processLink(boost::shared_ptr<const urdf::Link> link,Vehicle &vehicle,int nlink,int njoint,int nmat, std::vector<Material> &materials){
vehicle.links[nlink].name=link->name;
vehicle.links[nlink].geom.reset( new Geometry);
if(link->visual)
nmat= processVisual(link->visual,vehicle.links[nlink],nmat, materials);
else{
vehicle.links[nlink].geom->type=4;
vehicle.links[nlink].material=-1;
memset(vehicle.links[nlink].position,0,3*sizeof(double));
memset(vehicle.links[nlink].rpy,0,3*sizeof(double));
memset(vehicle.links[nlink].quat,0,4*sizeof(double));
vehicle.links[nlink].quat[3]=1;
}
if(link->collision){
vehicle.links[nlink].cs.reset( new Geometry);
processGeometry(link->collision->geometry.get(),vehicle.links[nlink].cs.get());
}
else
vehicle.links[nlink].cs.reset();
int linkNumber=nlink;
for(uint i=0;i<link->child_joints.size();i++){
processJoint(link->child_joints[i],vehicle.joints[linkNumber],nlink,linkNumber+1);
linkNumber=processLink(link->child_links[i],vehicle,linkNumber+1,linkNumber+1,nmat,materials);
}
return linkNumber;
}
void AdobeDRM::link(const QString& userID, const QString& password)
{
qDebug() << Q_FUNC_INFO;
if (isLinked())
{
emit linkOK();
return;
}
if (!m_proc)
{
emit linkKO(2);
return;
}
m_DRM_ID = userID;
m_DRM_PW = password;
#ifdef Q_WS_QWS
connect(m_client, SIGNAL(workflowDone(unsigned int)), this, SLOT(linkWorkflowDone(unsigned int)), Qt::UniqueConnection);
connect(m_client, SIGNAL(workflowError(int, QString)), this, SLOT(linkWorkflowError(int, QString)), Qt::UniqueConnection);
#endif
QTimer::singleShot(110, this, SLOT(processLink()));
}
void PropertyBrowser::processObject(IScaObject *object)
{
QtProperty *property;
property = m_stringManager->addProperty(PROPERTY_TYPE);
m_stringManager->setReadOnly(property, true);
m_stringManager->setValue(property, object->getTypeName());
addProperty(property, PROPERTY_TYPE);
if (object->getType() != IScaObject::LINK)
{
property = m_stringManager->addProperty(PROPERTY_FILEPATH);
m_stringManager->setValue(property, object->getFile().absoluteFilePath());
addProperty(property, PROPERTY_FILEPATH);
}
property = m_stringManager->addProperty(PROPERTY_ANNOTATION);
m_stringManager->setValue(property, object->getAnnotation());
addProperty(property, PROPERTY_ANNOTATION);
switch (object->getType())
{
case IScaObject::BINARYBLOCK:
processBinaryBlock(static_cast<IScaObjectBinaryBlock *>(object));
break;
case IScaObject::IDENTIFIER:
processIdentifier(static_cast<IScaObjectIdentifier *>(object));
break;
case IScaObject::TEXTBLOCK:
processTextBlock(static_cast<IScaObjectTextBlock *>(object));
break;
case IScaObject::SYMBOL:
processSymbol(static_cast<IScaObjectSymbol *>(object));
break;
case IScaObject::LINE:
processLine(static_cast<IScaObjectLine *>(object));
break;
case IScaObject::LINK:
processLink(static_cast<Link *>(object));
break;
default:
qDebug() << "[PropertyManager]: unknown type while processing, " << object->getType();
break;
}
}
int ConfigFile::processURDFFile(string file, Vehicle &vehicle){
urdf::Model model;
std::string file_fullpath=osgDB::findDataFile(file);
if (file_fullpath==std::string("") || !model.initFile(file_fullpath)){
std::cerr << "Failed to parse urdf file " << file << std::endl;
exit(0);
}
OSG_INFO << "Successfully parsed urdf file " << file << std::endl;
vehicle.nlinks=model.links_.size();
vehicle.links.resize(vehicle.nlinks);
vehicle.njoints=model.joints_.size();
vehicle.joints.resize(vehicle.njoints);
vehicle.nmaterials = model.materials_.size();
vehicle.materials.resize(vehicle.nmaterials);
boost::shared_ptr<const urdf::Link> root = model.getRoot();
processLink(root,vehicle,0,0,0,vehicle.materials);
return 0;
}
void PmlReader::processTag(std::string &tagName, const std::string ¶meter) {
const char tagDeterminant = *tagName.data();
switch (tagDeterminant) {
case 'p':
newPage();
break;
case 'x':
//TODO add close tag processing
newPage();
break;
case 'B':
if (!myState.BoldBlockOn) {
processFontProperty(FONT_BOLD);
}
break;
case 'i':
processFontProperty(FONT_ITALIC);
break;
case 'u':
processFontProperty(FONT_UNDERLINED);
break;
case 'v':
myState.InvisibleText = !myState.InvisibleText;;
break;
case 'c':
processAlignment(ALIGN_CENTER);
break;
case 'r':
processAlignment(ALIGN_RIGHT);
break;
case 'n':
processFontSize(NORMAL);
break;
case 'b':
myState.BoldBlockOn = !myState.BoldBlockOn;
processFontProperty(FONT_BOLD);
break;
case 's':
processFontSize(SMALLER);
break;
case 'l':
processFontSize(LARGER);
break;
case 'k':
myState.SmallCaps = !myState.SmallCaps;
processFontSize(SMALLER);
break;
case 'S':
if (tagName == "Sb") {
processFontProperty(FONT_SUBSCRIPT);
} else if (tagName == "Sp") {
processFontProperty(FONT_SUPERSCRIPT);
} else if (tagName == "Sd") {
//processSidebarLink();
}
break;
case 't':
processIndent();
break;
case 'T':
processIndent(parameter);
myState.IndentBlockOn = false;
break;
case 'w':
//addHorizontalRule(parameter);
break;
case 'F':
processLink(FOOTNOTE, parameter);
break;
case 'q':
processLink(INTERNAL_HYPERLINK, parameter);
break;
case 'Q':
addLinkLabel(parameter);
break;
case 'm':
addImageReference(parameter);
break;
default:
//std::cerr << "PmlReader: unsupported tag: name: " << tagName << " parameter: " << parameter << "\n";
break;
}
}
void CGameWorld::process()
{
TRY_EXCEPT_RECORD(processListener());
TRY_EXCEPT_RECORD(processLink());
TRY_EXCEPT_RECORD(processUser());
}
