bool XmlODESettings::GetSettings(ODESimulator& sim)
{
string globals="globals";
TiXmlElement* c = e->FirstChildElement(globals);
if(c) {
printf("Parsing globals...\n");
//parse globals: gravity, etc
Vector3 gravity;
if(c->QueryValueAttribute("gravity",&gravity)==TIXML_SUCCESS)
sim.SetGravity(gravity);
double worldERP,worldCFM;
if(c->QueryValueAttribute("ERP",&worldERP)==TIXML_SUCCESS)
sim.SetERP(worldERP);
if(c->QueryValueAttribute("CFM",&worldCFM)==TIXML_SUCCESS)
sim.SetCFM(worldCFM);
int maxContacts;
if(c->QueryValueAttribute("maxContacts",&maxContacts)==TIXML_SUCCESS)
sim.GetSettings().maxContacts = maxContacts;
int rigidObjectCollisions,robotSelfCollisions,robotRobotCollisions;
if(c->QueryValueAttribute("rigidObjectCollisions",&rigidObjectCollisions)==TIXML_SUCCESS)
sim.GetSettings().rigidObjectCollisions = rigidObjectCollisions;
if(c->QueryValueAttribute("robotSelfCollisions",&robotSelfCollisions)==TIXML_SUCCESS)
sim.GetSettings().robotSelfCollisions = robotSelfCollisions;
if(c->QueryValueAttribute("robotRobotCollisions",&robotRobotCollisions)==TIXML_SUCCESS)
sim.GetSettings().robotRobotCollisions = robotRobotCollisions;
}
else c=e->FirstChildElement();
while(c!=NULL) {
const char* name=c->Value();
printf("Parsing element %s\n",name);
if(0 == strcmp(name,"env")) {
int index;
if(c->QueryValueAttribute("index",&index)==TIXML_SUCCESS) {
Assert(index < (int)sim.numEnvs());
TiXmlElement* eg=c->FirstChildElement("geometry");
if(eg) {
XmlODEGeometry g(eg);
if(!g.Get(*sim.envMesh(index))) {
fprintf(stderr,"Error reading environment geometry from XML\n");
return false;
}
}
}
else {
fprintf(stderr,"Error reading environment index from XML file\n");
return false;
}
}
else if(0 == strcmp(name,"object")) {
int index;
if(c->QueryValueAttribute("index",&index)==TIXML_SUCCESS) {
Assert(index < (int)sim.numObjects());
TiXmlElement* eg=c->FirstChildElement("geometry");
if(eg) {
XmlODEGeometry g(eg);
if(!g.Get(*sim.object(index)->triMesh())) {
fprintf(stderr,"Error reading object geometry from XML\n");
return false;
}
}
}
else {
fprintf(stderr,"Error reading object index from XML file\n");
return false;
}
}
else if(0 == strcmp(name,"robot")) {
int index,bodyIndex=-1;
if(c->QueryValueAttribute("index",&index)==TIXML_SUCCESS) {
Assert(index < (int)sim.numRobots());
if(c->QueryValueAttribute("body",&bodyIndex)==TIXML_SUCCESS) {
}
else bodyIndex=-1;
ODERobot* robot=sim.robot(index);
TiXmlElement* eg=c->FirstChildElement("geometry");
if(eg) {
XmlODEGeometry g(eg);
if(bodyIndex < 0) {
for(size_t i=0;i<robot->robot.links.size();i++) {
if(robot->triMesh(i))
g.Get(*robot->triMesh(i));
}
}
else {
Assert(bodyIndex < (int)robot->robot.links.size());
if(robot->triMesh(bodyIndex))
g.Get(*robot->triMesh(bodyIndex));
}
}
}
else {
fprintf(stderr,"Error reading robot index from XML file\n");
return false;
}
}
c=c->NextSiblingElement();
}
return true;
}
bool XmlODESettings::GetSettings(ODESimulator& sim)
{
string globals="globals";
TiXmlElement* c = e->FirstChildElement(globals);
if(c) {
printf("Parsing globals...\n");
//parse globals: gravity, etc
Vector3 gravity;
if(c->QueryValueAttribute("gravity",&gravity)==TIXML_SUCCESS)
sim.SetGravity(gravity);
double worldERP,worldCFM;
if(c->QueryValueAttribute("ERP",&worldERP)==TIXML_SUCCESS)
sim.SetERP(worldERP);
if(c->QueryValueAttribute("CFM",&worldCFM)==TIXML_SUCCESS)
sim.SetCFM(worldCFM);
int maxContacts;
if(c->QueryValueAttribute("maxContacts",&maxContacts)==TIXML_SUCCESS)
sim.GetSettings().maxContacts = maxContacts;
int boundaryLayer,rigidObjectCollisions,robotSelfCollisions,robotRobotCollisions;
if(c->QueryValueAttribute("boundaryLayer",&boundaryLayer)==TIXML_SUCCESS) {
printf("XML simulator: warning, boundary layer settings don't have an effect\n");
sim.GetSettings().boundaryLayerCollisions = boundaryLayer;
}
if(c->QueryValueAttribute("rigidObjectCollisions",&rigidObjectCollisions)==TIXML_SUCCESS)
sim.GetSettings().rigidObjectCollisions = rigidObjectCollisions;
if(c->QueryValueAttribute("robotSelfCollisions",&robotSelfCollisions)==TIXML_SUCCESS)
sim.GetSettings().robotSelfCollisions = robotSelfCollisions;
if(c->QueryValueAttribute("robotRobotCollisions",&robotRobotCollisions)==TIXML_SUCCESS)
sim.GetSettings().robotRobotCollisions = robotRobotCollisions;
}
else c=e->FirstChildElement();
while(c!=NULL) {
const char* name=c->Value();
printf("Parsing element %s\n",name);
if(0 == strcmp(name,"terrain")) {
int index;
if(c->QueryValueAttribute("index",&index)==TIXML_SUCCESS) {
Assert(index < (int)sim.numEnvs());
TiXmlElement* eg=c->FirstChildElement("geometry");
if(eg) {
XmlODEGeometry g(eg);
if(!g.Get(*sim.envGeom(index))) {
fprintf(stderr,"Error reading terrain geometry from XML\n");
return false;
}
}
}
else {
fprintf(stderr,"Error reading terrain index from XML file\n");
return false;
}
}
else if(0 == strcmp(name,"object")) {
int index;
if(c->QueryValueAttribute("index",&index)==TIXML_SUCCESS) {
Assert(index < (int)sim.numObjects());
TiXmlElement* eg=c->FirstChildElement("geometry");
if(eg) {
XmlODEGeometry g(eg);
if(!g.Get(*sim.object(index)->triMesh())) {
fprintf(stderr,"Error reading object geometry from XML\n");
return false;
}
}
TiXmlElement *ev=c->FirstChildElement("velocity");
if(ev) {
Vector3 v,w;
if(ev->QueryValueAttribute("linear",&v) != TIXML_SUCCESS)
v.setZero();
if(ev->QueryValueAttribute("angular",&w) != TIXML_SUCCESS)
w.setZero();
cout<<"Setting velocity "<<w<<", "<<v<<endl;
sim.object(index)->SetVelocity(w,v);
}
}
else {
fprintf(stderr,"Error reading object index from XML file\n");
return false;
}
}
else if(0 == strcmp(name,"robot")) {
int index,bodyIndex=-1;
if(c->QueryValueAttribute("index",&index)==TIXML_SUCCESS) {
Assert(index < (int)sim.numRobots());
if(c->QueryValueAttribute("body",&bodyIndex)==TIXML_SUCCESS) {
}
else bodyIndex=-1;
ODERobot* robot=sim.robot(index);
TiXmlElement* eg=c->FirstChildElement("geometry");
if(eg) {
XmlODEGeometry g(eg);
if(bodyIndex < 0) {
for(size_t i=0;i<robot->robot.links.size();i++) {
if(robot->triMesh(i))
g.Get(*robot->triMesh(i));
}
}
else {
Assert(bodyIndex < (int)robot->robot.links.size());
if(robot->triMesh(bodyIndex))
g.Get(*robot->triMesh(bodyIndex));
}
}
}
else {
fprintf(stderr,"Error reading robot index from XML file\n");
return false;
}
}
c=c->NextSiblingElement();
}
return true;
}
