openhrp3: ShapeSetInfo_impl.h Source File

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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00009 
00015 #ifndef OPENHRP_MODEL_LOADER_SHAPE_SET_INFO_INPL_H_INCLUDED
00016 #define OPENHRP_MODEL_LOADER_SHAPE_SET_INFO_INPL_H_INCLUDED
00017 
00018 #include <string>
00019 #include <hrpCorba/ORBwrap.h>
00020 #include <hrpCorba/ModelLoader.hh>
00021 #include <hrpUtil/TriangleMeshShaper.h>
00022 #include <hrpUtil/VrmlNodes.h>
00023 #include <hrpUtil/Eigen3d.h>
00024 #include <hrpUtil/Eigen4d.h>
00025 #include <hrpCollision/ColdetModel.h>
00026 
00027 using namespace OpenHRP;
00028 using namespace hrp;
00029 
00030 class ShapeSetInfo_impl : public virtual POA_OpenHRP::ShapeSetInfo
00031 {
00032 public:
00033                 
00034     ShapeSetInfo_impl(PortableServer::POA_ptr poa);
00035     virtual ~ShapeSetInfo_impl();
00036 
00037     virtual PortableServer::POA_ptr _default_POA();
00038                 
00039     virtual ShapeInfoSequence* shapes();
00040     virtual AppearanceInfoSequence* appearances();
00041     virtual MaterialInfoSequence* materials();
00042     virtual TextureInfoSequence* textures();
00043 
00044 protected:
00045 
00046     void applyTriangleMeshShaper(VrmlNodePtr node);
00047     static void putMessage(const std::string& message);
00048     std::string& replace(std::string& str, const std::string& sb, const std::string& sa);
00049     void traverseShapeNodes(VrmlNode* node, const Matrix44& T, TransformedShapeIndexSequence& io_shapeIndices, DblArray12Sequence& inlinedShapeM, const SFString* url = NULL);
00050     virtual const std::string& topUrl() = 0;
00051     void setColdetModel(ColdetModelPtr& coldetModel, TransformedShapeIndexSequence shapeIndices, const Matrix44& Tparent, int& vertexIndex, int& triangleIndex);
00052     void saveOriginalData();
00053     void restoreOriginalData();
00054     void createAppearanceInfo();
00055     void setBoundingBoxData(const Vector3& boxSize, int shapeIndex);
00056     bool checkFileUpdateTime();
00057     bool readImage;
00058 
00059 private:
00060         
00061     PortableServer::POA_var poa;
00062                 
00063     ShapeInfoSequence  shapes_;
00064     AppearanceInfoSequence appearances_;
00065     MaterialInfoSequence materials_;
00066     TextureInfoSequence textures_;
00067 
00068     ShapeInfoSequence  originShapes_;
00069     AppearanceInfoSequence originAppearances_;
00070     MaterialInfoSequence originMaterials_;
00071 
00072     TriangleMeshShaper triangleMeshShaper;
00073         
00074     typedef std::map<VrmlShapePtr, int> ShapeNodeToShapeInfoIndexMap;
00075     ShapeNodeToShapeInfoIndexMap shapeInfoIndexMap;
00076 
00077     std::map<std::string, time_t> fileTimeMap;
00078 
00079     int createShapeInfo(VrmlShape* shapeNode, const SFString* url);
00080     void setTriangleMesh(ShapeInfo& shapeInfo, VrmlIndexedFaceSet* triangleMesh);
00081     void setPrimitiveProperties(ShapeInfo& shapeInfo, VrmlShape* shapeNode);
00082     int createAppearanceInfo(ShapeInfo& shapeInfo, VrmlShape* shapeNode, VrmlIndexedFaceSet* faceSet, const SFString *url);
00083     void setColors(AppearanceInfo& appInfo, VrmlIndexedFaceSet* triangleMesh);
00084     void setNormals(AppearanceInfo& appInfo, VrmlIndexedFaceSet* triangleMesh);
00085     void setTexCoords(AppearanceInfo& appInfo, VrmlIndexedFaceSet* triangleMesh);
00086     int createMaterialInfo(VrmlMaterialPtr& materialNode);
00087     int createTextureInfo(VrmlTexturePtr& textureNode, const SFString *url);
00088     void createTextureTransformMatrix(AppearanceInfo& appInfo, VrmlTextureTransformPtr& textureTransform );
00089     std::string getModelFileDirPath(const std::string& url);
00090     void setColdetModelTriangles(ColdetModelPtr& coldetModel, const TransformedShapeIndex& tsi, const Matrix44& Tparent, int& vertexIndex, int& triangleIndex);
00091 
00092     friend class BodyInfo_impl;
00093     friend class SceneInfo_impl;
00094 #ifdef OPENHRP_COLLADA_FOUND
00095     friend class ColladaReader;
00096     friend class BodyInfoCollada_impl;
00097     friend class SceneInfoCollada_impl;
00098 #endif
00099 };
00100 #endif