int QilexDoc::doc_new_kinematic_hand(ct_new_kinematic_chain *data) { int error = 0; int tipus = 0; void * buffer ; //char *buffer; char *buftemp = (char*)malloc(1024); SoOutput out; size_t sizeModel = 0; SoSeparator *kinechain = new SoSeparator; SoSeparator *kinetest = new SoSeparator; Rchain_hand *kineengine = new Rchain_hand(); SoTransform *pos_rot = new SoTransform; SbVec3f joinax; joinax.setValue(SbVec3f(data->x,data->y,data->z)); pos_rot->translation.setValue(joinax); pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle)); kinechain = readFile(data->QsModelFile.latin1(), tipus); if (kinechain == NULL) // no object read { return 1; } else // ok, there's no object with the same name { error = kineengine->init_dat(data->QsDatFile.latin1()); // if (error == 0) { kinechain->ref(); kinetest = (SoSeparator*)SoNode::getByName(data->QsName.latin1()); if (kinetest==NULL) { //we need to put it in a buffer to write the xml file // if is Ok SoOutput out; out.setBuffer(buftemp, 1024, reallocCB); SoWriteAction wa1(&out); wa1.apply(kinechain); out.getBuffer(buffer, sizeModel); kinechain->insertChild(pos_rot, 0); } error = doc_insert_kinematic_hand(kineengine, kinechain); } } if (error==0) { writeXML_kineelement((char *)buffer, sizeModel, tipus, data, kineengine); } return error; }
////////////////////////////////////////////////////////////////////////////// // // Description: // Convert the passed path list to a byte stream. // binaryFormat determines whether to copy the data in binary (TRUE) or // ascii (FALSE) format. // // Use: public // void SoByteStream::convert(SoPathList *pathList, SbBool binaryFormat) // ////////////////////////////////////////////////////////////////////////////// { // clear out any old data if (data != NULL) { free(data); data = NULL; numBytes = 0; } if ((pathList == NULL) || (pathList->getLength() == 0)) return; // Write all the paths in the path list into an in-memory buffer SoWriteAction wa; SoOutput *out = wa.getOutput(); out->setBinary(binaryFormat); out->setBuffer(malloc(128), 128, realloc); for (int i = 0; i < pathList->getLength(); i++) { wa.apply((*pathList)[i]); } // Point to the byte stream data void *buf; size_t size; out->getBuffer(buf, size); data = buf; numBytes = (uint32_t) size; isRaw = FALSE; }
int QilexDoc::doc_new_grasping_object(ct_new_grasping_object *data) { int error = 0; int tipus = 0; void *buffer; //char *buffer; char *buftemp = (char*)malloc(1024); size_t sizeModel = 0;; SoSeparator *object = new SoSeparator; SoSeparator *objecttest = new SoSeparator; SoTransform *pos_rot = new SoTransform; SbVec3f joinax; SbVec3f joingrasp0; SbVec3f joingrasp1; SbVec3f joingrasp2; SbVec3f joingrasp3; joinax.setValue(SbVec3f(data->x,data->y,data->z)); pos_rot->translation.setValue(joinax); pos_rot->recenter(joinax); pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle)); object = readFile(data->QsModelFile.latin1(), tipus); if (object == NULL) // no object read { error = 1 ; } else // ok, there's no object with the same name { error = read_grasp_points(data); SoMaterial *bronze = new SoMaterial; bronze->ambientColor.setValue(0.33,0.22,0.27); bronze->diffuseColor.setValue(0.78,0.57,0.11); bronze->specularColor.setValue(0.99,0.94,0.81); bronze->shininess=0.28; SoSphere *grasp_sphere = new SoSphere; grasp_sphere->radius=7.0; SoFont *font = new SoFont; font->size.setValue(28); font->name.setValue("Times-Roman"); SoSeparator *grasp_sep0 = new SoSeparator; SoTransform *grasp_transf0 = new SoTransform; SoSeparator *text0 = new SoSeparator; SoText2 *label_text0 = new SoText2; SoSeparator *grasp_sep1 = new SoSeparator; SoTransform *grasp_transf1 = new SoTransform; SoSeparator *text1 = new SoSeparator; SoText2 *label_text1 = new SoText2; SoSeparator *grasp_sep2 = new SoSeparator; SoTransform *grasp_transf2 = new SoTransform; SoSeparator *text2 = new SoSeparator; SoText2 *label_text2 = new SoText2; SoSeparator *grasp_sep3 = new SoSeparator; SoTransform *grasp_transf3 = new SoTransform; SoSeparator *text3 = new SoSeparator; SoText2 *label_text3 = new SoText2; //for (int i=0;i<data->num_point;i++) //{ joingrasp0.setValue(SbVec3f(data->grasp_points[0].px,data->grasp_points[0].py,data->grasp_points[0].pz)); grasp_transf0->translation.setValue(joingrasp0); grasp_transf0->recenter(joingrasp0); label_text0->string=" 1"; text0->addChild(font); text0->addChild(label_text0); grasp_sep0->addChild(bronze); grasp_sep0->addChild(grasp_transf0); grasp_sep0->addChild(grasp_sphere); grasp_sep0->addChild(text0); //grasp_sep0->addChild(line0); joingrasp1.setValue(SbVec3f(data->grasp_points[1].px,data->grasp_points[1].py,data->grasp_points[1].pz)); grasp_transf1->translation.setValue(joingrasp1); grasp_transf1->recenter(joingrasp1); label_text1->string=" 2"; text1->addChild(font); text1->addChild(label_text1); grasp_sep1->addChild(bronze); grasp_sep1->addChild(grasp_transf1); grasp_sep1->addChild(grasp_sphere); grasp_sep1->addChild(text1); joingrasp2.setValue(SbVec3f(data->grasp_points[2].px,data->grasp_points[2].py,data->grasp_points[2].pz)); grasp_transf2->translation.setValue(joingrasp2); grasp_transf2->recenter(joingrasp2); label_text2->string=" 3"; text2->addChild(font); text2->addChild(label_text2); grasp_sep2->addChild(bronze); grasp_sep2->addChild(grasp_transf2); grasp_sep2->addChild(grasp_sphere); grasp_sep2->addChild(text2); joingrasp3.setValue(SbVec3f(data->grasp_points[3].px,data->grasp_points[3].py,data->grasp_points[3].pz)); grasp_transf3->translation.setValue(joingrasp3); grasp_transf3->recenter(joingrasp3); label_text3->string=" 4"; text3->addChild(font); text3->addChild(label_text3); grasp_sep3->addChild(bronze); grasp_sep3->addChild(grasp_transf3); grasp_sep3->addChild(grasp_sphere); grasp_sep3->addChild(text3); //object->addChild(grasp_sep); //} if (error == 0) { object->ref(); objecttest = (SoSeparator*)SoNode::getByName(data->QsName.latin1()); if (objecttest==NULL) { SoOutput out; out.setBuffer(buftemp, 1024, reallocCB); SoWriteAction wa1(&out); wa1.apply(object); out.getBuffer(buffer, sizeModel); object->setName(data->QsName.latin1()); //grasp_object->addChild(model_object); object->addChild(grasp_sep0); object->addChild(grasp_sep1); object->addChild(grasp_sep2); object->addChild(grasp_sep3); object->insertChild(pos_rot, 0); view->addObjectCell(object); error = 0; //writeXML_geomelement((char *)buffer, sizeModel, tipus, data); //S'ha de canviar!!!!! } else { object->unref(); error = 3; } } } return error; }
int QilexDoc::doc_new_geometric_object(ct_new_geometric_object *data) { int error = 0; int tipus = 0; void *buffer; //char *buffer; char *buftemp = (char*)malloc(1024); size_t sizeModel = 0;; SoSeparator *object = new SoSeparator; SoSeparator *objecttest = new SoSeparator; SoTransform *pos_rot = new SoTransform; SbVec3f joinax; joinax.setValue(SbVec3f(data->x,data->y,data->z)); pos_rot->translation.setValue(joinax); pos_rot->recenter(joinax); pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle)); object = readFile(data->QsModelFile.latin1(), tipus); if (object == NULL) // no object read { error = 1 ; } else // ok, there's no object with the same name { object->ref(); objecttest = (SoSeparator*)SoNode::getByName(data->QsName.latin1()); if (objecttest==NULL) { SoOutput out; out.setBuffer(buftemp, 1024, reallocCB); SoWriteAction wa1(&out); wa1.apply(object); out.getBuffer(buffer, sizeModel); object->setName(data->QsName.latin1()); object->insertChild(pos_rot, 0); view->addObjectCell(object); error = 0; writeXML_geomelement((char *)buffer, sizeModel, tipus, data); } else { object->unref(); error = 3; } } return error; }