SceneInfo_impl.cpp
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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 #include "SceneInfo_impl.h"
00016 
00017 #include <map>
00018 #include <vector>
00019 #include <iostream>
00020 #include <boost/bind.hpp>
00021 
00022 #include <hrpCorba/ViewSimulator.hh>
00023 #include <hrpUtil/EasyScanner.h>
00024 #include <hrpUtil/VrmlNodes.h>
00025 #include <hrpUtil/VrmlParser.h>
00026 
00027 #include "VrmlUtil.h"
00028 
00029 
00030 using namespace std;
00031 using namespace boost;
00032 
00033 SceneInfo_impl::SceneInfo_impl(PortableServer::POA_ptr poa) :
00034     ShapeSetInfo_impl(poa)
00035 {
00036 
00037 }
00038 
00039 
00040 SceneInfo_impl::~SceneInfo_impl()
00041 {
00042     
00043 }
00044 
00045 
00046 const std::string& SceneInfo_impl::topUrl()
00047 {
00048     return url_;
00049 }
00050 
00051 
00052 char* SceneInfo_impl::url()
00053 {
00054     return CORBA::string_dup(url_.c_str());
00055 }
00056 
00057 
00058 TransformedShapeIndexSequence* SceneInfo_impl::shapeIndices()
00059 {
00060     return new TransformedShapeIndexSequence(shapeIndices_);
00061 }
00062 
00063 
00064 void SceneInfo_impl::load(const std::string& url)
00065 {
00066     string filename(deleteURLScheme(url));
00067 
00068     // URL文字列の' \' 区切り子を'/' に置き換え  Windows ファイルパス対応  
00069     string url2;
00070     url2 = filename;
00071     replace( url2, string("\\"), string("/") );
00072     filename = url2;
00073     url_ = CORBA::string_dup(url2.c_str());
00074 
00075     try {
00076         VrmlParser parser;
00077         parser.load(filename);
00078 
00079         Matrix44 E(Matrix44::Identity());
00080 
00081         while(VrmlNodePtr node = parser.readNode()){
00082             if(!node->isCategoryOf(PROTO_DEF_NODE)){
00083                 applyTriangleMeshShaper(node);
00084                 traverseShapeNodes(node.get(), E, shapeIndices_, inlinedShapeTransformMatrices_, &topUrl());
00085             }
00086         }
00087     } catch(EasyScanner::Exception& ex){
00088         cout << ex.getFullMessage() << endl;
00089         throw ModelLoader::ModelLoaderException(ex.getFullMessage().c_str());
00090     }
00091 }


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:56