ATVector3D ATVector3D::crossProduct(ATVector3D atv1, ATVector3D atv2)
{
float x = atv1.getY()*atv2.getZ() - atv1.getZ()*atv2.getY();
float y = atv1.getZ()*atv2.getX() - atv1.getX()*atv2.getZ();
float z = atv1.getX()*atv2.getY() - atv1.getY()*atv2.getX();
ATVector3D atv(x, y, z);
return atv;
}
ATVector3D ATVector3D::subtractTwoVectors(ATVector3D atv1, ATVector3D atv2)
{
float x = atv1.x - atv2.x;
float y = atv1.y - atv2.y;
float z = atv1.z - atv2.z;
ATVector3D atv(x, y, z);
return atv;
}
int main( int argc, char **argv )
{
// use an ArgumentParser object to manage the program arguments.
osg::ArgumentParser arguments(&argc,argv);
// set up the usage document, in case we need to print out how to use this program.
arguments.getApplicationUsage()->setApplicationName(arguments.getApplicationName());
arguments.getApplicationUsage()->setDescription(arguments.getApplicationName()+" is a utility for converting between various input and output databases formats.");
arguments.getApplicationUsage()->setCommandLineUsage(arguments.getApplicationName()+" [options] filename ...");
arguments.getApplicationUsage()->addCommandLineOption("-h or --help","Display command line parameters");
arguments.getApplicationUsage()->addCommandLineOption("--help-env","Display environmental variables available");
//arguments.getApplicationUsage()->addCommandLineOption("--formats","List supported file formats");
//arguments.getApplicationUsage()->addCommandLineOption("--plugins","List database olugins");
// if user request help write it out to cout.
if (arguments.read("-h") || arguments.read("--help"))
{
osg::setNotifyLevel(osg::NOTICE);
usage( arguments.getApplicationName().c_str(), 0 );
//arguments.getApplicationUsage()->write(std::cout);
return 1;
}
if (arguments.read("--help-env"))
{
arguments.getApplicationUsage()->write(std::cout, osg::ApplicationUsage::ENVIRONMENTAL_VARIABLE);
return 1;
}
if (arguments.read("--plugins"))
{
osgDB::FileNameList plugins = osgDB::listAllAvailablePlugins();
for(osgDB::FileNameList::iterator itr = plugins.begin();
itr != plugins.end();
++itr)
{
std::cout<<"Plugin "<<*itr<<std::endl;
}
return 0;
}
std::string plugin;
if (arguments.read("--plugin", plugin))
{
osgDB::outputPluginDetails(std::cout, plugin);
return 0;
}
std::string ext;
if (arguments.read("--format", ext))
{
plugin = osgDB::Registry::instance()->createLibraryNameForExtension(ext);
osgDB::outputPluginDetails(std::cout, plugin);
return 0;
}
if (arguments.read("--formats"))
{
osgDB::FileNameList plugins = osgDB::listAllAvailablePlugins();
for(osgDB::FileNameList::iterator itr = plugins.begin();
itr != plugins.end();
++itr)
{
osgDB::outputPluginDetails(std::cout,*itr);
}
return 0;
}
if (arguments.argc()<=1)
{
arguments.getApplicationUsage()->write(std::cout,osg::ApplicationUsage::COMMAND_LINE_OPTION);
return 1;
}
FileNameList fileNames;
OrientationConverter oc;
bool do_convert = false;
if (arguments.read("--use-world-frame"))
{
oc.useWorldFrame(true);
}
std::string str;
while (arguments.read("-O",str))
{
osgDB::ReaderWriter::Options* options = new osgDB::ReaderWriter::Options;
options->setOptionString(str);
osgDB::Registry::instance()->setOptions(options);
}
while (arguments.read("-e",ext))
{
std::string libName = osgDB::Registry::instance()->createLibraryNameForExtension(ext);
osgDB::Registry::instance()->loadLibrary(libName);
}
std::string libName;
while (arguments.read("-l",libName))
{
osgDB::Registry::instance()->loadLibrary(libName);
}
while (arguments.read("-o",str))
{
osg::Vec3 from, to;
if( sscanf( str.c_str(), "%f,%f,%f-%f,%f,%f",
&from[0], &from[1], &from[2],
&to[0], &to[1], &to[2] )
!= 6 )
{
float degrees;
osg::Vec3 axis;
// Try deg-axis format
if( sscanf( str.c_str(), "%f-%f,%f,%f",
°rees, &axis[0], &axis[1], &axis[2] ) != 4 )
{
usage( argv[0], "Orientation argument format incorrect." );
return 1;
}
else
{
oc.setRotation( degrees, axis );
do_convert = true;
}
}
else
{
oc.setRotation( from, to );
do_convert = true;
}
}
while (arguments.read("-s",str))
{
osg::Vec3 scale(0,0,0);
if( sscanf( str.c_str(), "%f,%f,%f",
&scale[0], &scale[1], &scale[2] ) != 3 )
{
usage( argv[0], "Scale argument format incorrect." );
return 1;
}
oc.setScale( scale );
do_convert = true;
}
float simplifyPercent = 1.0;
bool do_simplify = false;
while ( arguments.read( "--simplify",str ) )
{
float nsimp = 1.0;
if( sscanf( str.c_str(), "%f",
&nsimp ) != 1 )
{
usage( argv[0], "Scale argument format incorrect." );
return 1;
}
std::cout << str << " " << nsimp << std::endl;
simplifyPercent = nsimp;
osg::notify( osg::INFO ) << "Simplifying with percentage: " << simplifyPercent << std::endl;
do_simplify = true;
}
while (arguments.read("-t",str))
{
osg::Vec3 trans(0,0,0);
if( sscanf( str.c_str(), "%f,%f,%f",
&trans[0], &trans[1], &trans[2] ) != 3 )
{
usage( argv[0], "Translation argument format incorrect." );
return 1;
}
oc.setTranslation( trans );
do_convert = true;
}
FixTransparencyVisitor::FixTransparencyMode fixTransparencyMode = FixTransparencyVisitor::NO_TRANSPARANCY_FIXING;
std::string fixString;
while(arguments.read("--fix-transparency")) fixTransparencyMode = FixTransparencyVisitor::MAKE_OPAQUE_TEXTURE_STATESET_OPAQUE;
while(arguments.read("--fix-transparency-mode",fixString))
{
if (fixString=="MAKE_OPAQUE_TEXTURE_STATESET_OPAQUE") fixTransparencyMode = FixTransparencyVisitor::MAKE_OPAQUE_TEXTURE_STATESET_OPAQUE;
if (fixString=="MAKE_ALL_STATESET_OPAQUE") fixTransparencyMode = FixTransparencyVisitor::MAKE_ALL_STATESET_OPAQUE;
};
bool pruneStateSet = false;
while(arguments.read("--prune-StateSet")) pruneStateSet = true;
osg::Texture::InternalFormatMode internalFormatMode = osg::Texture::USE_IMAGE_DATA_FORMAT;
while(arguments.read("--compressed") || arguments.read("--compressed-arb")) { internalFormatMode = osg::Texture::USE_ARB_COMPRESSION; }
while(arguments.read("--compressed-dxt1")) { internalFormatMode = osg::Texture::USE_S3TC_DXT1_COMPRESSION; }
while(arguments.read("--compressed-dxt3")) { internalFormatMode = osg::Texture::USE_S3TC_DXT3_COMPRESSION; }
while(arguments.read("--compressed-dxt5")) { internalFormatMode = osg::Texture::USE_S3TC_DXT5_COMPRESSION; }
bool smooth = false;
while(arguments.read("--smooth")) { smooth = true; }
bool addMissingColours = false;
while(arguments.read("--addMissingColours") || arguments.read("--addMissingColors")) { addMissingColours = true; }
bool do_overallNormal = false;
while(arguments.read("--overallNormal") || arguments.read("--overallNormal")) { do_overallNormal = true; }
bool enableObjectCache = false;
while(arguments.read("--enable-object-cache")) { enableObjectCache = true; }
// any option left unread are converted into errors to write out later.
arguments.reportRemainingOptionsAsUnrecognized();
// report any errors if they have occurred when parsing the program arguments.
if (arguments.errors())
{
arguments.writeErrorMessages(std::cout);
return 1;
}
for(int pos=1;pos<arguments.argc();++pos)
{
if (!arguments.isOption(pos))
{
fileNames.push_back(arguments[pos]);
}
}
if (enableObjectCache)
{
if (osgDB::Registry::instance()->getOptions()==0) osgDB::Registry::instance()->setOptions(new osgDB::Options());
osgDB::Registry::instance()->getOptions()->setObjectCacheHint(osgDB::Options::CACHE_ALL);
}
std::string fileNameOut("converted.osg");
if (fileNames.size()>1)
{
fileNameOut = fileNames.back();
fileNames.pop_back();
}
osg::Timer_t startTick = osg::Timer::instance()->tick();
osg::ref_ptr<osg::Node> root = osgDB::readNodeFiles(fileNames);
if (root.valid())
{
osg::Timer_t endTick = osg::Timer::instance()->tick();
osg::notify(osg::INFO)<<"Time to load files "<<osg::Timer::instance()->delta_m(startTick, endTick)<<" ms"<<std::endl;
}
if (pruneStateSet)
{
PruneStateSetVisitor pssv;
root->accept(pssv);
}
if (fixTransparencyMode != FixTransparencyVisitor::NO_TRANSPARANCY_FIXING)
{
FixTransparencyVisitor atv(fixTransparencyMode);
root->accept(atv);
}
if ( root.valid() )
{
if (smooth)
{
osgUtil::SmoothingVisitor sv;
root->accept(sv);
}
if (addMissingColours)
{
AddMissingColoursToGeometryVisitor av;
root->accept(av);
}
// optimize the scene graph, remove redundant nodes and state etc.
osgUtil::Optimizer optimizer;
optimizer.optimize(root.get());
if( do_convert )
root = oc.convert( root.get() );
if (internalFormatMode != osg::Texture::USE_IMAGE_DATA_FORMAT)
{
std::string ext = osgDB::getFileExtension(fileNameOut);
CompressTexturesVisitor ctv(internalFormatMode);
root->accept(ctv);
ctv.compress();
osgDB::ReaderWriter::Options *options = osgDB::Registry::instance()->getOptions();
if (ext!="ive" || (options && options->getOptionString().find("noTexturesInIVEFile")!=std::string::npos))
{
ctv.write(osgDB::getFilePath(fileNameOut));
}
}
// scrub normals
if ( do_overallNormal )
{
DefaultNormalsGeometryVisitor dngv;
root->accept( dngv );
}
// apply any user-specified simplification
if ( do_simplify )
{
osgUtil::Simplifier simple;
simple.setSmoothing( smooth );
osg::notify( osg::ALWAYS ) << " smoothing: " << smooth << std::endl;
simple.setSampleRatio( simplifyPercent );
root->accept( simple );
}
osgDB::ReaderWriter::WriteResult result = osgDB::Registry::instance()->writeNode(*root,fileNameOut,osgDB::Registry::instance()->getOptions());
if (result.success())
{
osg::notify(osg::NOTICE)<<"Data written to '"<<fileNameOut<<"'."<< std::endl;
}
else if (result.message().empty())
{
osg::notify(osg::NOTICE)<<"Warning: file write to '"<<fileNameOut<<"' not supported."<< std::endl;
}
else
{
osg::notify(osg::NOTICE)<<result.message()<< std::endl;
}
}
else
{
osg::notify(osg::NOTICE)<<"Error no data loaded."<< std::endl;
return 1;
}
return 0;
}
int main( int argc, char **argv )
{
// use an ArgumentParser object to manage the program arguments.
osg::ArgumentParser arguments(&argc,argv);
// set up the usage document, in case we need to print out how to use this program.
arguments.getApplicationUsage()->setApplicationName(arguments.getApplicationName());
arguments.getApplicationUsage()->setDescription(arguments.getApplicationName()+" is a utility for converting between various input and output databases formats.");
arguments.getApplicationUsage()->setCommandLineUsage(arguments.getApplicationName()+" [options] filename ...");
arguments.getApplicationUsage()->addCommandLineOption("-h or --help","Display command line parameters");
arguments.getApplicationUsage()->addCommandLineOption("--help-env","Display environmental variables available");
//arguments.getApplicationUsage()->addCommandLineOption("--formats","List supported file formats");
//arguments.getApplicationUsage()->addCommandLineOption("--plugins","List database olugins");
// if user request help write it out to cout.
if (arguments.read("-h") || arguments.read("--help"))
{
osg::setNotifyLevel(osg::NOTICE);
usage( arguments.getApplicationName().c_str(), 0 );
//arguments.getApplicationUsage()->write(std::cout);
return 1;
}
if (arguments.read("--help-env"))
{
arguments.getApplicationUsage()->write(std::cout, osg::ApplicationUsage::ENVIRONMENTAL_VARIABLE);
return 1;
}
if (arguments.read("--plugins"))
{
osgDB::FileNameList plugins = osgDB::listAllAvailablePlugins();
for(osgDB::FileNameList::iterator itr = plugins.begin();
itr != plugins.end();
++itr)
{
std::cout<<"Plugin "<<*itr<<std::endl;
}
return 0;
}
std::string plugin;
if (arguments.read("--plugin", plugin))
{
osgDB::outputPluginDetails(std::cout, plugin);
return 0;
}
std::string ext;
if (arguments.read("--format", ext))
{
plugin = osgDB::Registry::instance()->createLibraryNameForExtension(ext);
osgDB::outputPluginDetails(std::cout, plugin);
return 0;
}
if (arguments.read("--formats"))
{
osgDB::FileNameList plugins = osgDB::listAllAvailablePlugins();
for(osgDB::FileNameList::iterator itr = plugins.begin();
itr != plugins.end();
++itr)
{
osgDB::outputPluginDetails(std::cout,*itr);
}
return 0;
}
if (arguments.argc()<=1)
{
arguments.getApplicationUsage()->write(std::cout,osg::ApplicationUsage::COMMAND_LINE_OPTION);
return 1;
}
FileNameList fileNames;
OrientationConverter oc;
bool do_convert = false;
if (arguments.read("--use-world-frame"))
{
oc.useWorldFrame(true);
}
std::string str;
while (arguments.read("-O",str))
{
osgDB::ReaderWriter::Options* options = new osgDB::ReaderWriter::Options;
options->setOptionString(str);
osgDB::Registry::instance()->setOptions(options);
}
while (arguments.read("-e",ext))
{
std::string libName = osgDB::Registry::instance()->createLibraryNameForExtension(ext);
osgDB::Registry::instance()->loadLibrary(libName);
}
std::string libName;
while (arguments.read("-l",libName))
{
osgDB::Registry::instance()->loadLibrary(libName);
}
while (arguments.read("-o",str))
{
osg::Vec3 from, to;
if( sscanf( str.c_str(), "%f,%f,%f-%f,%f,%f",
&from[0], &from[1], &from[2],
&to[0], &to[1], &to[2] )
!= 6 )
{
float degrees;
osg::Vec3 axis;
// Try deg-axis format
if( sscanf( str.c_str(), "%f-%f,%f,%f",
°rees, &axis[0], &axis[1], &axis[2] ) != 4 )
{
usage( argv[0], "Orientation argument format incorrect." );
return 1;
}
else
{
oc.setRotation( degrees, axis );
do_convert = true;
}
}
else
{
oc.setRotation( from, to );
do_convert = true;
}
}
while (arguments.read("-s",str))
{
osg::Vec3 scale(0,0,0);
if( sscanf( str.c_str(), "%f,%f,%f",
&scale[0], &scale[1], &scale[2] ) != 3 )
{
usage( argv[0], "Scale argument format incorrect." );
return 1;
}
oc.setScale( scale );
do_convert = true;
}
float simplifyPercent = 1.0;
bool do_simplify = false;
while ( arguments.read( "--simplify",str ) )
{
float nsimp = 1.0;
if( sscanf( str.c_str(), "%f",
&nsimp ) != 1 )
{
usage( argv[0], "Scale argument format incorrect." );
return 1;
}
std::cout << str << " " << nsimp << std::endl;
simplifyPercent = nsimp;
osg::notify( osg::INFO ) << "Simplifying with percentage: " << simplifyPercent << std::endl;
do_simplify = true;
}
while (arguments.read("-t",str))
{
osg::Vec3 trans(0,0,0);
if( sscanf( str.c_str(), "%f,%f,%f",
&trans[0], &trans[1], &trans[2] ) != 3 )
{
usage( argv[0], "Translation argument format incorrect." );
return 1;
}
oc.setTranslation( trans );
do_convert = true;
}
FixTransparencyVisitor::FixTransparencyMode fixTransparencyMode = FixTransparencyVisitor::NO_TRANSPARANCY_FIXING;
std::string fixString;
while(arguments.read("--fix-transparency")) fixTransparencyMode = FixTransparencyVisitor::MAKE_OPAQUE_TEXTURE_STATESET_OPAQUE;
while(arguments.read("--fix-transparency-mode",fixString))
{
if (fixString=="MAKE_OPAQUE_TEXTURE_STATESET_OPAQUE") fixTransparencyMode = FixTransparencyVisitor::MAKE_OPAQUE_TEXTURE_STATESET_OPAQUE;
if (fixString=="MAKE_ALL_STATESET_OPAQUE") fixTransparencyMode = FixTransparencyVisitor::MAKE_ALL_STATESET_OPAQUE;
};
bool pruneStateSet = false;
while(arguments.read("--prune-StateSet")) pruneStateSet = true;
osg::Texture::InternalFormatMode internalFormatMode = osg::Texture::USE_IMAGE_DATA_FORMAT;
while(arguments.read("--compressed") || arguments.read("--compressed-arb")) { internalFormatMode = osg::Texture::USE_ARB_COMPRESSION; }
while(arguments.read("--compressed-dxt1")) { internalFormatMode = osg::Texture::USE_S3TC_DXT1_COMPRESSION; }
while(arguments.read("--compressed-dxt3")) { internalFormatMode = osg::Texture::USE_S3TC_DXT3_COMPRESSION; }
while(arguments.read("--compressed-dxt5")) { internalFormatMode = osg::Texture::USE_S3TC_DXT5_COMPRESSION; }
bool smooth = false;
while(arguments.read("--smooth")) { smooth = true; }
bool addMissingColours = false;
while(arguments.read("--addMissingColours") || arguments.read("--addMissingColors")) { addMissingColours = true; }
bool do_overallNormal = false;
while(arguments.read("--overallNormal") || arguments.read("--overallNormal")) { do_overallNormal = true; }
bool enableObjectCache = false;
while(arguments.read("--enable-object-cache")) { enableObjectCache = true; }
// any option left unread are converted into errors to write out later.
arguments.reportRemainingOptionsAsUnrecognized();
// report any errors if they have occurred when parsing the program arguments.
if (arguments.errors())
{
arguments.writeErrorMessages(std::cout);
return 1;
}
for(int pos=1;pos<arguments.argc();++pos)
{
if (!arguments.isOption(pos))
{
fileNames.push_back(arguments[pos]);
}
}
if (enableObjectCache)
{
if (osgDB::Registry::instance()->getOptions()==0) osgDB::Registry::instance()->setOptions(new osgDB::Options());
osgDB::Registry::instance()->getOptions()->setObjectCacheHint(osgDB::Options::CACHE_ALL);
}
std::string fileNameOut("converted.osg");
if (fileNames.size()>1)
{
fileNameOut = fileNames.back();
fileNames.pop_back();
}
osg::Timer_t startTick = osg::Timer::instance()->tick();
osg::ref_ptr<osg::Node> root = osgDB::readNodeFiles(fileNames);
if (root.valid())
{
osg::Timer_t endTick = osg::Timer::instance()->tick();
osg::notify(osg::INFO)<<"Time to load files "<<osg::Timer::instance()->delta_m(startTick, endTick)<<" ms"<<std::endl;
}
if (pruneStateSet)
{
PruneStateSetVisitor pssv;
root->accept(pssv);
}
if (fixTransparencyMode != FixTransparencyVisitor::NO_TRANSPARANCY_FIXING)
{
FixTransparencyVisitor atv(fixTransparencyMode);
root->accept(atv);
}
if ( root.valid() )
{
if (smooth)
{
osgUtil::SmoothingVisitor sv;
root->accept(sv);
}
if (addMissingColours)
{
AddMissingColoursToGeometryVisitor av;
root->accept(av);
}
auto to_lower = std::bind(&boost::to_lower_copy<std::string>,std::placeholders::_1,std::locale());
// all names to lower
Utils::CommonVisitor<osg::Node> names_lower(
[=](osg::Node& n)->void {
n.setName(to_lower(n.getName()));
});
root->accept(names_lower);
// optimize the scene graph, remove rendundent nodes and state etc.
osgUtil::Optimizer optimizer;
FindNodeVisitor::nodeNamesList list_name;
for(int i=0; i<sizeof(do_not_optimize::names)/sizeof(do_not_optimize::names[0]);++i)
{
list_name.push_back(do_not_optimize::names[i]);
}
FindNodeVisitor findNodes(list_name,FindNodeVisitor::not_exact);
root->accept(findNodes);
const FindNodeVisitor::nodeListType& wln_list = findNodes.getNodeList();
for(auto it = wln_list.begin(); it != wln_list.end(); ++it )
{
optimizer.setPermissibleOptimizationsForObject(*it,0);
}
optimizer.optimize(root.get(),
osgUtil::Optimizer::FLATTEN_STATIC_TRANSFORMS |
osgUtil::Optimizer::REMOVE_REDUNDANT_NODES |
osgUtil::Optimizer::SHARE_DUPLICATE_STATE |
osgUtil::Optimizer::MERGE_GEOMETRY |
osgUtil::Optimizer::MERGE_GEODES |
osgUtil::Optimizer::STATIC_OBJECT_DETECTION );
boost::filesystem::path pathFileOut(fileNameOut);
std::string base_file_name = pathFileOut.parent_path().string() + "/" + pathFileOut.stem().string();
cg::point_3 offset;
bool res = generateBulletFile(base_file_name + ".bullet", root, offset);
if (res)
{
osg::notify(osg::NOTICE)<<"Data written to '"<< base_file_name + ".bullet"<<"'."<< std::endl;
}
else
{
osg::notify(osg::NOTICE)<< "Error Occurred While Writing to "<< base_file_name + ".bullet"<< std::endl;
}
osg::Group* newroot = dynamic_cast<osg::Group*>(findFirstNode(root,"Root"));
if(newroot==nullptr)
{
newroot = new osg::Group;
newroot->setName("Root");
newroot->addChild( root );
root = newroot;
}
std::ofstream filelogic( base_file_name + ".stbin", std::ios_base::binary );
std::ofstream logfile ( base_file_name + std::string("_structure") + ".txt" );
heilVisitor hv(filelogic, logfile, offset);
hv.apply(*root.get());
if( do_convert )
root = oc.convert( root.get() );
FIXME(Without textures useless)
#if 0
const std::string name = pathFileOut.stem().string();
osgDB::FilePathList fpl_;
fpl_.push_back(pathFileOut.parent_path().string() + "/");
std::string mat_file_name = osgDB::findFileInPath(name+".dae.mat.xml", /*fpl.*/fpl_,osgDB::CASE_INSENSITIVE);
MaterialVisitor::namesList nl;
nl.push_back("building");
nl.push_back("default");
nl.push_back("tree");
nl.push_back("ground");
nl.push_back("concrete");
nl.push_back("mountain");
nl.push_back("sea");
nl.push_back("railing");
nl.push_back("panorama");
nl.push_back("plane");
//nl.push_back("rotor"); /// �ללללללללללללל נאסךמלוםעאנטע� ט הטםאלטקוסךטי ףבתועס�
MaterialVisitor mv ( nl, std::bind(&creators::createMaterial,sp::_1,sp::_2,name,sp::_3,sp::_4),creators::computeAttributes,mat::reader::read(mat_file_name));
root->accept(mv);
#endif
if (internalFormatMode != osg::Texture::USE_IMAGE_DATA_FORMAT)
{
std::string ext = osgDB::getFileExtension(fileNameOut);
CompressTexturesVisitor ctv(internalFormatMode);
root->accept(ctv);
ctv.compress();
osgDB::ReaderWriter::Options *options = osgDB::Registry::instance()->getOptions();
if (ext!="ive" || (options && options->getOptionString().find("noTexturesInIVEFile")!=std::string::npos))
{
ctv.write(osgDB::getFilePath(fileNameOut));
}
}
// scrub normals
if ( do_overallNormal )
{
DefaultNormalsGeometryVisitor dngv;
root->accept( dngv );
}
// apply any user-specified simplification
if ( do_simplify )
{
osgUtil::Simplifier simple;
simple.setSmoothing( smooth );
osg::notify( osg::ALWAYS ) << " smoothing: " << smooth << std::endl;
simple.setSampleRatio( simplifyPercent );
root->accept( simple );
}
osgDB::ReaderWriter::WriteResult result = osgDB::Registry::instance()->writeNode(*root,fileNameOut,osgDB::Registry::instance()->getOptions());
if (result.success())
{
osg::notify(osg::NOTICE)<<"Data written to '"<<fileNameOut<<"'."<< std::endl;
}
else if (result.message().empty())
{
osg::notify(osg::NOTICE)<<"Warning: file write to '"<<fileNameOut<<"' not supported."<< std::endl;
}
else
{
osg::notify(osg::NOTICE)<<result.message()<< std::endl;
}
}
else
{
int main()
{
PairWiseMove move;
Dimension atvsize(1,1);
Dimension coptersize(1,1);
Dimension searchSize(2,2);
VirtualQuadCopter copter(coptersize,searchSize,4,4);
VirtualATV atv(atvsize, 0, 0);
Map mapp;
Route atvRoute;
//atvRoute.push_back(WayPoint(1, 1));
Route * result = move.generatePairRoute(atvRoute, atv, copter, mapp )->first;
bool error = false;
if(result->getSize() == 1){ //Quad must move te atv
if(!(result->getWaypoint(0)->x == 0 && result->getWaypoint(0)->y == 0)){
error = true;
std::cout << "Quad must move to atv waypoint ERROR" << std::endl;
}
std::cout << "Quad must move te atv SUCCES" << std::endl;
}
else{
std::cout << "Quad must move te atv size ERROR" << std::endl;
}
copter = VirtualQuadCopter(coptersize,searchSize,0,0);
atv = VirtualATV(atvsize, 0, 0);
atvRoute.clearRoute();
atvRoute.pushWayPoint( new WayPoint(1, 1));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!(result->getSize() == 0)){ //Atv is just in range of quadsight
error = true;
std::cout << "Atv is just in range of quadsight ERROR"<< std::endl;
}else{
std::cout << "Atv is just in range of quadsight SUCCES"<< std::endl;
}
atvRoute.clearRoute();
atvRoute.pushWayPoint( new WayPoint(2, 2));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(result->getSize() == 1){ //Atv is just out range of quadsight
if(!(result->getWaypoint(0)->x == 2 && result->getWaypoint(0)->y == 2)){
error = true;
std::cout << "Atv is just out range of quadsight waypoint ERROR"<< std::endl;
}
std::cout << "Atv is just out range of quadsight SUCCES" << std::endl;
}
else{
std::cout << "Atv is just out range of quadsight size ERROR"<< std::endl;
}
atvRoute.clearRoute();
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!result->getSize() == 0){//Empty atv route returns...
error = true;
std::cout << "Empty atv route returns empty pair route ERROR"<< std::endl;
}else{
std::cout << "Empty atv route returns empty pair route SUCCES"<< std::endl;
}
copter.goTo(1, 4);
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!result->getSize() == 1){//Empty atv route returns...
error = true;
std::cout << "Empty atv route returns sync waypoint size ERROR"<< std::endl;
}
else{
if(result->getWaypoint(0)->x == 0 && result->getWaypoint(0)->y == 0){
std::cout << "Empty atv route returns sync waypoint SUCCES"<< std::endl;
}
else{
error = true;
std::cout << "Empty atv route returns sync waypoint waypoint ERROR"<< std::endl;
}
}
copter.goTo(0,0);
atvRoute.pushWayPoint(new WayPoint(1, 2));
atvRoute.pushWayPoint(new WayPoint(2, 3));
atvRoute.pushWayPoint(new WayPoint(4, 2));
atvRoute.pushWayPoint(new WayPoint(5, 3));
atvRoute.pushWayPoint(new WayPoint(-1, -1));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(result->getSize() == 3){//Longer route
std::cout << "Long route size: Good, SUCCES" << std::endl;
if(!(result->getWaypoint(0)->x == 1 && result->getWaypoint(0)->y == 2)){
error = true;
std::cout << " Point 1,2 ERROR" << std::endl;
}
else{
std::cout << " Point 1,2 SUCCES" << std::endl;
}
if(!(result->getWaypoint(1)->x == 4 && result->getWaypoint(1)->y == 2)){
error = true;
std::cout << " Point 4,2 ERROR" << std::endl;
}
else{
std::cout << " Point 4,2 SUCCES" << std::endl;
}
if(!(result->getWaypoint(2)->x == -1 && result->getWaypoint(2)->y == -1)){
error = true;
std::cout << " Point -1,-1 ERROR" << std::endl;
}
else{
std::cout << " Point -1,-1 SUCCES" << std::endl;
}
}
else{
error = true;
std::cout << "Long route size: fault, ERROR" << std::endl;
}
return error;
}
