XERCES_CPP_NAMESPACE_USE
#define ARRAY_SIZE(ARY) ( (int)(sizeof(ARY)/sizeof(ARY[0])) )
#ifdef CONF_DUMP
#define ENABLE_DUMP
#define ENABLE_DUMP1
#endif
#include "ParserDump.h"
void JointParser::parse(DOMNode &target, Eval &eval)
{
char *name = XMLUtils::getAttribute(target, "name");
DUMP1(("name %s\n", name));
m_transform.push();
DOMNode *p = target.getFirstChild();
while (p) {
char *s = XMLString::transcode(p->getNodeName());
// printf("%s\n", s);
if (strcmp(s, "type") == 0) {
char *type = XMLUtils::parseJointType(*p);
DUMP1(("type=\"%s\"\n", type));
Joint *j = 0;
if (strcmp(type, "fixed") == 0) {
j = new FixedJoint(name);
} else if (strcmp(type, "ball") == 0) {
j = new BallJoint(name);
} else if (strcmp(type, "hinge") == 0) {
j = new HingeJoint(name, Vector3d(0, 1, 0));
}
if (j) {
m_joint = j;
}
XMLString::release(&type);
/*
} else if (strcmp(s, "limitOrientation") == 0) {
double *v = XMLUtils::parseLimitOrientation(*p);
if (m_joint) {
delete m_joint;
}
m_joint = new HingeJoint(name, Vector3d(v[0], v[1], v[2]));
*/
} else if (strcmp(s, "translation") == 0) {
double * values = XMLUtils::parseTranslation(*p, eval);
DUMP1(("translation (%f, %f, %f)\n", values[0], values[1], values[2]));
m_transform.curr().push(Vector3d(values[0], values[1], values[2]));
} else if (strcmp(s, "rotation") == 0) {
double *values = XMLUtils::parseRotation(*p);
DUMP1(("rotation (%f, %f, %f, %f)\n", values[0], values[1], values[2], values[3]));
Rotation rot;
rot.setAxisAndAngle(values[0], values[1], values[2], values[3]);
m_transform.curr().push(rot);
} else if (strcmp(s, "axis") == 0) {
double *values = XMLUtils::parseAxis(*p);
DUMP1(("axis (%f, %f, %f)\n", values[0], values[1], values[2]));
if (m_joint) {
if (m_joint->type() == Joint::TYPE_HINGE) {
HingeJoint *hinge = static_cast<HingeJoint*>(m_joint);
hinge->setAxis(values[0], values[1], values[2]);
} else {
DUMP1(("not hinge type joint. axis ingored\n"));
}
} else {
DUMP1(("no joint type"));
}
} else if (strcmp(s, "children") == 0) {
DUMP1(("JOINT TRANSFORM TEST \n"));
TRANSFORM_TEST(m_transform.curr());
parseChildren(*p, eval);
}
p = p->getNextSibling();
XMLString::release(&s);
}
{
Transform &t = m_transform.curr();
const Vector3d &v = t.translation();
if (m_joint) {
m_f.addJoint(m_joint);
DUMP(("Joint : (%f, %f, %f)\n", v.x(), v.y(), v.z()));
m_joint->setAnchor(v.x(), v.y(), v.z());
}
}
m_transform.pop();
char *strs[] = { name,};
for (int i=0; i<ARRAY_SIZE(strs); i++) {
char *p = strs[i];
XMLString::release(&p);
}
}
Joint* JointInteraction::xmlParseJoint(IrrXMLReader* xml, std::string& jointType)
{
bool finished = false;
Constraint* constraint = NULL;
Joint* joint = JointFactory::create(xml->getAttributeValue("type"));
jointType = xml->getAttributeValue("type");
joint->setWorld(world);
joint->setId(atoi(xml->getAttributeValue("id")));
joint->setJointInteractionClass(this);
if (xml->getAttributeValue("active"))
joint->setActive(atoi(xml->getAttributeValue("active")));
while (!finished && xml && xml->read())
{
switch (xml->getNodeType())
{
case EXN_ELEMENT:
if (!strcmp("entities", xml->getNodeName()))
{
xmlParseEntities(xml, joint);
} // else if
else if (!strcmp("anchor", xml->getNodeName()))
{
if (!jointType.compare("ball") || !jointType.compare("Ball") || !jointType.compare("BALL"))
{
BallJoint* ball = dynamic_cast<BallJoint*>(joint);
ball->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // if
else if (!jointType.compare("hinge") || !jointType.compare("Hinge") || !jointType.compare("HINGE"))
{
HingeJoint* hinge = dynamic_cast<HingeJoint*>(joint);
hinge->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // else if
else if (!jointType.compare("universal") || !jointType.compare("Universal") || !jointType.compare("UNIVERSAL"))
{
UniversalJoint* universal = dynamic_cast<UniversalJoint*>(joint);
universal->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // else if
else if (!jointType.compare("hinge2") || !jointType.compare("Hinge2") || !jointType.compare("HINGE2"))
{
Hinge2Joint* hinge2 = dynamic_cast<Hinge2Joint*>(joint);
hinge2->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // else if
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: JOINT-TYPE %s NEEDS NO anchor ELEMENT!!!\n", jointType.c_str());
} // else if
else if (!strcmp("axis", xml->getNodeName()))
{
if (!jointType.compare("hinge") || !jointType.compare("Hinge") || !jointType.compare("HINGE"))
{
HingeJoint* hinge = dynamic_cast<HingeJoint*>(joint);
hinge->setAxis(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
} // if
else if (!jointType.compare("slider") || !jointType.compare("Slider") || !jointType.compare("SLIDER"))
{
SliderJoint* slider = dynamic_cast<SliderJoint*>(joint);
slider->setAxis(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
} // else if
else if (!jointType.compare("universal") || !jointType.compare("Universal") || !jointType.compare("UNIVERSAL")) {
UniversalJoint* universal = dynamic_cast<UniversalJoint*>(joint);
if (atoi(xml->getAttributeValue("index")) == 1)
universal->setAxis1(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else if (atoi(xml->getAttributeValue("index")) == 2)
universal->setAxis2(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: WRONG ATTRIBUTE FOUND IN axis ELEMENT of UniversalJoint!!!\n");
} // else if
else if (!jointType.compare("hinge2") || !jointType.compare("Hinge2") || !jointType.compare("HINGE2")) {
Hinge2Joint* hinge2 = dynamic_cast<Hinge2Joint*>(joint);
if (atoi(xml->getAttributeValue("index")) == 1)
hinge2->setAxis1(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else if (atoi(xml->getAttributeValue("index")) == 2)
hinge2->setAxis2(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: WRONG ATTRIBUTE FOUND IN axis ELEMENT of Hinge2Joint!!!\n");
} // else if
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: JOINT-TYPE %s NEEDS NO axis ELEMENT!!!\n", jointType.c_str());
} // else if
else if (!strcmp("angles", xml->getNodeName()))
{
if (!jointType.compare("hinge") || !jointType.compare("Hinge") || !jointType.compare("HINGE"))
{
HingeJoint* hinge = dynamic_cast<HingeJoint*>(joint);
hinge->setAngles(atof(xml->getAttributeValue("min")), atof(xml->getAttributeValue("max")));
} // if
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: JOINT-TYPE %s HAS NO angles ELEMENT!!!\n", jointType.c_str());
} // else if
else if (!strcmp("positions", xml->getNodeName()))
{
SliderJoint* slider = dynamic_cast<SliderJoint*>(joint);
slider->setPositions(atof(xml->getAttributeValue("min")), atof(xml->getAttributeValue("max")));
} // else if
else if (!strcmp("activateIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::ACTIVATEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
else if (!strcmp("deactivateIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::DEACTIVATEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
else if (!strcmp("activeIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::ACTIVEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
else if (!strcmp("inactiveIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::INACTIVEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
break;
case EXN_ELEMENT_END:
if (!strcmp("joint", xml->getNodeName()))
finished = true;
break;
default:
break;
} // switch
} // while
assert(xml);
return joint;
} // xmlParseJoint