hrplib/hrpUtil/VrmlWriter.h

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 */

#ifndef OPENHRP_UTIL_VRML_WRITER_INCLUDED
#define OPENHRP_UTIL_VRML_WRITER_INCLUDED

#include "config.h"
#include "VrmlNodes.h"

#include <map>
#include <string>
#include <ostream>


namespace hrp {

    class VrmlWriter;

    typedef void (VrmlWriter::*VrmlWriterNodeMethod)(VrmlNodePtr node);


    class HRP_UTIL_EXPORT VrmlWriter
    {
    public:
        VrmlWriter(std::ostream& out);
  
        void writeHeader();
        bool writeNode(VrmlNodePtr node);

        struct TIndent {
            void clear() { n = 0; spaces.resize(n); }
            TIndent& operator++() { n += 2; spaces.resize(n, ' '); return *this; }
            TIndent& operator--() { 
                n -= 2;
                if(n < 0) { n = 0; }
                spaces.resize(n, ' '); return *this; 
            }
            std::string spaces;
            int n;
        };

    private:
        std::ostream& out;

        TIndent indent;

        typedef std::map<std::string, VrmlWriterNodeMethod> TNodeMethodMap;
        typedef std::pair<std::string, VrmlWriterNodeMethod> TNodeMethodPair;

        static TNodeMethodMap nodeMethodMap;

        static void registNodeMethod(const std::type_info& t, VrmlWriterNodeMethod method) {
            nodeMethodMap.insert(TNodeMethodPair(t.name(), method)); 
        }
        static VrmlWriterNodeMethod getNodeMethod(VrmlNodePtr node);

        static void registerNodeMethodMap();

        template <class MFValues> void writeMFValues(MFValues values, int numColumn);
        void writeMFInt32SeparatedByMinusValue(MFInt32& values);

        void writeNodeIter(VrmlNodePtr node);
        void beginNode(const char* nodename, VrmlNodePtr node);
        void endNode();
        void writeGroupNode(VrmlNodePtr node);
        void writeGroupFields(VrmlGroupPtr group);
        void writeTransformNode(VrmlNodePtr node);
        void writeShapeNode(VrmlNodePtr node);
        void writeAppearanceNode(VrmlAppearancePtr appearance);
        void writeMaterialNode(VrmlMaterialPtr material);
        void writeIndexedFaceSetNode(VrmlNodePtr node);
        void writeCoordinateNode(VrmlCoordinatePtr coord);

    };

};


#endif