bool BodyLoaderImpl::extractShapeNodeTraverse
(VrmlNode* node, const Affine3& T, const function<bool(VrmlShape* shapeNode, const Affine3& T)>& callback)
{
bool doContinue = true;
if(node->isCategoryOf(PROTO_INSTANCE_NODE)){
VrmlProtoInstance* protoInstance = static_cast<VrmlProtoInstance*>(node);
if(protoInstance->actualNode){
doContinue = extractShapeNodeTraverse(protoInstance->actualNode.get(), T, callback);
}
} else if(node->isCategoryOf(GROUPING_NODE)) {
VrmlGroup* groupNode = static_cast<VrmlGroup*>(node);
Affine3 T2;
VrmlTransform* transformNode = dynamic_cast<VrmlTransform*>(groupNode);
if(transformNode){
T2 = T * transformNode->toAffine3d();
}
VrmlSwitch* switchNode = dynamic_cast<VrmlSwitch*>(node);
if(switchNode){
int whichChoice = switchNode->whichChoice;
if(whichChoice >= 0 && whichChoice < switchNode->countChildren()){
extractShapeNodeTraverse(switchNode->getChild(whichChoice), (transformNode ? T2 : T), callback);
}
} else {
for(int i=0; i < groupNode->countChildren(); ++i){
if(!extractShapeNodeTraverse(groupNode->getChild(i), (transformNode ? T2 : T), callback)){
doContinue = false;
break;
}
}
}
} else if(node->isCategoryOf(SHAPE_NODE)) {
doContinue = callback(static_cast<VrmlShape*>(node), T);
}
return doContinue;
}
void ModelNodeSetImpl::extractChildNodes
(JointNodeSetPtr jointNodeSet, MFNode& childNodes, const ProtoIdSet acceptableProtoIds, const Matrix44& T)
{
for(size_t i = 0; i < childNodes.size(); i++){
VrmlNode* childNode = childNodes[i].get();
const Matrix44* pT;
if(childNode->isCategoryOf(GROUPING_NODE)){
VrmlGroup* groupNode = static_cast<VrmlGroup*>(childNode);
VrmlTransform* transformNode = dynamic_cast<VrmlTransform*>(groupNode);
Matrix44 T2;
if( transformNode ){
Matrix44 Tlocal;
calcTransformMatrix(transformNode, Tlocal);
T2 = T * Tlocal;
pT = &T2;
} else {
pT = &T;
}
extractChildNodes(jointNodeSet, groupNode->getChildren(), acceptableProtoIds, *pT);
} else if(childNode->isCategoryOf(LIGHT_NODE)){
jointNodeSet->lightNodes.push_back(std::make_pair(T,childNode));
} else if(childNode->isCategoryOf(PROTO_INSTANCE_NODE)){
VrmlProtoInstance* protoInstance = static_cast<VrmlProtoInstance*>(childNode);
int id = PROTO_UNDEFINED;
bool doTraverseChildren = false;
ProtoIdSet acceptableChildProtoIds(acceptableProtoIds);
const string& protoName = protoInstance->proto->protoName;
ProtoNameToInfoMap::iterator p = protoNameToInfoMap.find(protoName);
if(p == protoNameToInfoMap.end()){
doTraverseChildren = true;
} else {
id = p->second.id;
if(!acceptableProtoIds.test(id)){
throw ModelNodeSet::Exception(protoName + " node is not in a correct place.");
}
}
messageIndent += 2;
switch(id){
case PROTO_JOINT:
if(T != Matrix44::Identity())
throw ModelNodeSet::Exception(protoName + " node is not in a correct place.");
jointNodeSet->childJointNodeSets.push_back(addJointNodeSet(protoInstance));
break;
case PROTO_SENSOR:
if(T != Matrix44::Identity())
throw ModelNodeSet::Exception(protoName + " node is not in a correct place.");
jointNodeSet->sensorNodes.push_back(protoInstance);
putMessage(protoName + protoInstance->defName);
break;
case PROTO_HARDWARECOMPONENT:
if(T != Matrix44::Identity())
throw ModelNodeSet::Exception(protoName + " node is not in a correct place.");
jointNodeSet->hwcNodes.push_back(protoInstance);
putMessage(protoName + protoInstance->defName);
break;
case PROTO_SEGMENT:
{
jointNodeSet->segmentNodes.push_back(protoInstance);
jointNodeSet->transforms.push_back(T);
putMessage(string("Segment node ") + protoInstance->defName);
doTraverseChildren = true;
acceptableChildProtoIds.reset();
acceptableChildProtoIds.set(PROTO_SENSOR);
}
break;
default:
break;
}
if(doTraverseChildren){
if (protoInstance->fields.count("children")){
MFNode& childNodes = protoInstance->fields["children"].mfNode();
extractChildNodes(jointNodeSet, childNodes, acceptableChildProtoIds, T);
}
}
messageIndent -= 2;
}
}
}
/*!
@if jp
Shape ノード探索のための再帰関数
node以下のシーングラフをたどり、ShapeInfoを生成していく。
生成したShapeInfoはshapes_に追加する。
shapes_に追加した位置(index)を io_shapeIndicesに追加する。
io_shapeIndices は、BodyInfo構築時は LinkInfoのshapeIndices になり、
SceneInfo 構築時は SceneInfo のshapeIndicesになる。
@endif
*/
void ShapeSetInfo_impl::traverseShapeNodes
(VrmlNode* node, const Matrix44& T, TransformedShapeIndexSequence& io_shapeIndices, DblArray12Sequence& inlinedShapeM, const SFString* url)
{
static int inline_count=0;
SFString url_ = *url;
if(node->isCategoryOf(PROTO_INSTANCE_NODE)){
VrmlProtoInstance* protoInstance = static_cast<VrmlProtoInstance*>(node);
if(protoInstance->actualNode){
traverseShapeNodes(protoInstance->actualNode.get(), T, io_shapeIndices, inlinedShapeM, url);
}
} else if(node->isCategoryOf(GROUPING_NODE)) {
VrmlGroup* groupNode = static_cast<VrmlGroup*>(node);
VrmlTransform* transformNode = dynamic_cast<VrmlTransform*>(groupNode);
VrmlInline* inlineNode = NULL;
inlineNode = dynamic_cast<VrmlInline*>(groupNode);
const Matrix44* pT;
if(inlineNode){
if(!inline_count){
int inlinedShapeMIndex = inlinedShapeM.length();
inlinedShapeM.length(inlinedShapeMIndex+1);
int p = 0;
for(int row=0; row < 3; ++row){
for(int col=0; col < 4; ++col){
inlinedShapeM[inlinedShapeMIndex][p++] = T(row, col);
}
}
url_ = inlineNode->urls[0];
}
inline_count++;
for( MFString::iterator ite = inlineNode->urls.begin(); ite != inlineNode->urls.end(); ++ite ){
string filename(deleteURLScheme(*ite));
struct stat statbuff;
time_t mtime = 0;
if( stat( filename.c_str(), &statbuff ) == 0 ){
mtime = statbuff.st_mtime;
}
fileTimeMap.insert(make_pair(filename, mtime));
}
}
Matrix44 T2;
if( transformNode ){
Matrix44 Tlocal;
calcTransformMatrix(transformNode, Tlocal);
T2 = T * Tlocal;
pT = &T2;
} else {
pT = &T;
}
VrmlSwitch* switchNode = dynamic_cast<VrmlSwitch*>(node);
if(switchNode){
int whichChoice = switchNode->whichChoice;
if( whichChoice >= 0 && whichChoice < switchNode->countChildren() )
traverseShapeNodes(switchNode->getChild(whichChoice), *pT, io_shapeIndices, inlinedShapeM, &url_);
}else{
for(int i=0; i < groupNode->countChildren(); ++i){
traverseShapeNodes(groupNode->getChild(i), *pT, io_shapeIndices, inlinedShapeM, &url_);
}
}
if(inlineNode)
inline_count--;
} else if(node->isCategoryOf(SHAPE_NODE)) {
VrmlShape* shapeNode = static_cast<VrmlShape*>(node);
short shapeInfoIndex;
ShapeNodeToShapeInfoIndexMap::iterator p = shapeInfoIndexMap.find(shapeNode);
if(p != shapeInfoIndexMap.end()){
shapeInfoIndex = p->second;
} else {
shapeInfoIndex = createShapeInfo(shapeNode, url);
}
if(shapeInfoIndex >= 0){
long length = io_shapeIndices.length();
io_shapeIndices.length(length + 1);
TransformedShapeIndex& tsi = io_shapeIndices[length];
tsi.shapeIndex = shapeInfoIndex;
int p = 0;
for(int row=0; row < 3; ++row){
for(int col=0; col < 4; ++col){
tsi.transformMatrix[p++] = T(row, col);
}
}
if(inline_count)
tsi.inlinedShapeTransformMatrixIndex=inlinedShapeM.length()-1;
else
tsi.inlinedShapeTransformMatrixIndex=-1;
}
}
}
