VrmlWriter.cpp
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00001 
00005 #include "VrmlWriter.h"
00006 
00007 
00008 using namespace std;
00009 using namespace boost;
00010 using namespace hrp;
00011 
00012 
00013 
00014 VrmlWriter::TNodeMethodMap VrmlWriter::nodeMethodMap;
00015 
00016 
00017 std::ostream& operator<<(std::ostream& out, VrmlWriter::TIndent& indent)
00018 {
00019   return out << indent.spaces;
00020 }
00021 
00022 inline const char* boolstr(bool v)
00023 {
00024   if(v){
00025     return "TRUE";
00026   } else {
00027     return "FALSE";
00028   }
00029 }
00030 
00031 ostream& operator<<(std::ostream& out, SFVec3f& v)
00032 {
00033   return out << v[0] << " " << v[1] << " " << v[2];
00034 }
00035 
00036 
00037 ostream& operator<<(std::ostream& out, SFVec4f& v)
00038 {
00039   return out << v[0] << " " << v[1] << " " << v[2] << " " << v[3];
00040 }
00041 
00042 
00043 template <class MFValues> void VrmlWriter::writeMFValues(MFValues values, int numColumn)
00044 {
00045   out << ++indent << "[\n";
00046   ++indent;
00047 
00048   out << indent;
00049   int col = 0;
00050   int n = values.size();
00051   for(int i=0; i < n; i++){
00052     out << values[i] << " ";
00053     col++;
00054     if(col == numColumn){
00055       col = 0;
00056       out << "\n";
00057       if(i < n-1){
00058         out << indent;
00059       }
00060     }
00061   }
00062 
00063   out << --indent << "]\n";
00064   --indent;
00065 }
00066 
00067 
00068 void VrmlWriter::writeMFInt32SeparatedByMinusValue(MFInt32& values)
00069 {
00070   out << ++indent << "[\n";
00071   ++indent;
00072 
00073   out << indent;
00074   int n = values.size();
00075   for(int i=0; i < n; i++){
00076     out << values[i] << " ";
00077     if(values[i] < 0){
00078       out << "\n";
00079       if(i < n-1){
00080         out << indent;
00081       }
00082     }
00083   }
00084   
00085   out << --indent << "]\n";
00086   --indent;
00087 }
00088 
00089 
00090 VrmlWriter::VrmlWriter(std::ostream& out) : out(out)
00091 {
00092   if(nodeMethodMap.empty()){
00093     registerNodeMethodMap();
00094   }
00095 
00096 }
00097 
00098 
00099 void VrmlWriter::registerNodeMethodMap()
00100 {
00101   registNodeMethod(typeid(VrmlGroup),          &VrmlWriter::writeGroupNode);
00102   registNodeMethod(typeid(VrmlTransform),      &VrmlWriter::writeTransformNode);
00103   registNodeMethod(typeid(VrmlShape),          &VrmlWriter::writeShapeNode);
00104   registNodeMethod(typeid(VrmlIndexedFaceSet), &VrmlWriter::writeIndexedFaceSetNode);
00105 }
00106 
00107 
00108 VrmlWriterNodeMethod VrmlWriter::getNodeMethod(VrmlNodePtr node)
00109 {
00110   TNodeMethodMap::iterator p = nodeMethodMap.find(typeid(*node).name()); 
00111   if(p != nodeMethodMap.end()){
00112     return p->second; 
00113   } else {
00114     return 0; 
00115   }
00116 }
00117 
00118 void VrmlWriter::writeHeader()
00119 {
00120   out << "#VRML V2.0 utf8\n";
00121 }
00122 
00123 
00124 bool VrmlWriter::writeNode(VrmlNodePtr node)
00125 {
00126   indent.clear();
00127   out << "\n";
00128   writeNodeIter(node);
00129   return true;
00130 }
00131 
00132 
00133 void VrmlWriter::writeNodeIter(VrmlNodePtr node)
00134 {
00135   VrmlWriterNodeMethod method = getNodeMethod(node);
00136   if(method){
00137     (this->*method)(node);
00138   }
00139 }
00140 
00141 
00142 void VrmlWriter::beginNode(const char* nodename, VrmlNodePtr node)
00143 {
00144   out << indent;
00145   if(node->defName.empty()){
00146     out << nodename << " {\n";
00147   } else {
00148     out << "DEF " << node->defName << " " << nodename << " {\n";
00149   }
00150   ++indent;
00151 }
00152 
00153 
00154 void VrmlWriter::endNode()
00155 {
00156   out << --indent << "}\n";
00157 }
00158 
00159 
00160 void VrmlWriter::writeGroupNode(VrmlNodePtr node)
00161 {
00162   VrmlGroupPtr group = static_pointer_cast<VrmlGroup>(node);
00163 
00164   beginNode("Group", group);
00165   writeGroupFields(group);
00166   endNode();
00167 }
00168 
00169 
00170 void VrmlWriter::writeGroupFields(VrmlGroupPtr group)
00171 {
00172   if(group->bboxSize[0] >= 0){
00173     out << indent << "bboxCenter " << group->bboxCenter << "\n";
00174     out << indent << "bboxSize " << group->bboxSize << "\n";
00175   }
00176 
00177   if(!group->children.empty()){
00178     out << indent << "children [\n";
00179     ++indent;
00180     for(size_t i=0; i < group->children.size(); i++){
00181       writeNodeIter(group->children[i]);
00182     }
00183     out << --indent << "]\n";
00184   }
00185 }
00186 
00187 
00188 void VrmlWriter::writeTransformNode(VrmlNodePtr node)
00189 {
00190   VrmlTransformPtr trans = static_pointer_cast<VrmlTransform>(node);
00191 
00192   beginNode("Transform", trans);
00193 
00194   out << indent << "center " << trans->center << "\n";
00195   out << indent << "rotation " << trans->rotation << "\n";
00196   out << indent << "scale " << trans->scale << "\n";
00197   out << indent << "scaleOrientation " << trans->scaleOrientation << "\n";
00198   out << indent << "translation " << trans->translation << "\n";
00199 
00200   writeGroupFields(trans);
00201 
00202   endNode();
00203 }
00204 
00205 
00206 void VrmlWriter::writeShapeNode(VrmlNodePtr node)
00207 {
00208   VrmlShapePtr shape = static_pointer_cast<VrmlShape>(node);
00209 
00210   beginNode("Shape", shape);
00211 
00212   if(shape->appearance){
00213     out << indent << "appearance\n";
00214     ++indent;
00215     writeAppearanceNode(shape->appearance);
00216     --indent;
00217   }
00218   if(shape->geometry){
00219     out << indent << "geometry\n";
00220     VrmlWriterNodeMethod method = getNodeMethod(shape->geometry);
00221     if(method){
00222       ++indent;
00223       (this->*method)(shape->geometry);
00224       --indent;
00225     }
00226   }
00227 
00228   endNode();
00229 }
00230 
00231 
00232 void VrmlWriter::writeAppearanceNode(VrmlAppearancePtr appearance)
00233 {
00234   beginNode("Appearance", appearance);
00235 
00236   if(appearance->material){
00237     out << indent << "material\n";
00238     ++indent;
00239     writeMaterialNode(appearance->material);
00240     --indent;
00241   }
00242 
00243   endNode();
00244 }
00245 
00246 
00247 void VrmlWriter::writeMaterialNode(VrmlMaterialPtr material)
00248 {
00249   beginNode("Material", material);
00250 
00251   out << indent << "ambientIntensity " << material->ambientIntensity << "\n";
00252   out << indent << "diffuseColor " << material->diffuseColor << "\n";
00253   out << indent << "emissiveColor " << material->emissiveColor << "\n";
00254   out << indent << "shininess " << material->shininess << "\n";
00255   out << indent << "specularColor " << material->specularColor << "\n";
00256   out << indent << "transparency " << material->transparency << "\n";
00257 
00258   endNode();
00259 }
00260 
00261 
00262 void VrmlWriter::writeIndexedFaceSetNode(VrmlNodePtr node)
00263 {
00264   VrmlIndexedFaceSetPtr faceset = static_pointer_cast<VrmlIndexedFaceSet>(node);
00265 
00266   beginNode("IndexedFaceSet", faceset);
00267 
00268   if(faceset->coord){
00269     out << indent << "coord\n";
00270     ++indent;
00271     writeCoordinateNode(faceset->coord);
00272     --indent;
00273   }
00274   if(!faceset->coordIndex.empty()){
00275     out << indent << "coordIndex\n";
00276     writeMFInt32SeparatedByMinusValue(faceset->coordIndex);
00277   }
00278 
00279   out << indent << "ccw " << boolstr(faceset->ccw) << "\n";
00280   out << indent << "convex " << boolstr(faceset->convex) << "\n";
00281   out << indent << "creaseAngle " << faceset->creaseAngle << "\n";
00282   out << indent << "solid " << boolstr(faceset->solid) << "\n";
00283 
00284   endNode();
00285 }
00286 
00287 
00288 void VrmlWriter::writeCoordinateNode(VrmlCoordinatePtr coord)
00289 {
00290   beginNode("Coordinate", coord);
00291 
00292   if(!coord->point.empty()){
00293     out << indent << "point\n";
00294     writeMFValues(coord->point, 1);
00295   }
00296 
00297   endNode();
00298 }


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:57