void VRMLBodyLoaderImpl::readSurfaceNode(LinkInfo& iLink, VRMLProtoInstance* segmentShapeNode, const Affine3& T)
{
const string& typeName = segmentShapeNode->proto->protoName;
if(isVerbose) putMessage(string("Surface node ") + segmentShapeNode->defName);
iLink.isSurfaceNodeUsed = true;
// check if another Surface node does not appear in the subtree
MFNode& visualNodes = get<MFNode>(segmentShapeNode->fields["visual"]);
ProtoIdSet acceptableProtoIds;
readJointSubNodes(iLink, visualNodes, acceptableProtoIds, T);
MFNode& collisionNodes = get<MFNode>(segmentShapeNode->fields["collision"]);
readJointSubNodes(iLink, collisionNodes, acceptableProtoIds, T);
SgGroup* group;
SgPosTransform* transform = 0;
if(T.isApprox(Affine3::Identity())){
group = iLink.collisionShape;
} else {
transform = new SgPosTransform(T);
group = transform;
}
for(size_t i=0; i < collisionNodes.size(); ++i){
SgNodePtr node = sgConverter.convert(collisionNodes[i]);
if(node){
group->addChild(node);
}
}
if(transform && !transform->empty()){
iLink.collisionShape->addChild(transform);
}
}
void SceneGraphViewImpl::createGraph(SgvItem* item, SgNode* node)
{
SgvItem* oldParent = parentItem;
parentItem = item;
list<SgvItem*> children;
for(int i=0; i<item->childCount(); i++)
children.push_back((SgvItem*)item->child(i));
SgGroup* group = dynamic_cast<SgGroup*>(node);
if(group){
for(SgGroup::const_iterator p = group->begin(); p != group->end(); ++p){
SgvItem* item_ = findItem(parentItem, (*p).get());
if(item_){
createGraph(item_, (*p).get());
children.remove(item_);
}else{
(*p)->accept(*this);
}
}
for(list<SgvItem*>::iterator it = children.begin(); it != children.end(); it++){
removeItem(*it);
}
}
parentItem = oldParent;
}
SgGroup::SgGroup(const SgGroup& org, SgCloneMap& cloneMap)
: SgNode(org)
{
children.reserve(org.numChildren());
for(const_iterator p = org.begin(); p != org.end(); ++p){
addChild(cloneMap.getClone<SgNode>(p->get()), false);
}
isBboxCacheValid = true;
bboxCache = org.bboxCache;
}
SgGroup::SgGroup(const SgGroup& org)
: SgNode(org)
{
children.reserve(org.numChildren());
// shallow copy
for(const_iterator p = org.begin(); p != org.end(); ++p){
addChild(*p, false);
}
isBboxCacheValid = true;
bboxCache = org.bboxCache;
}
