ArViz: Reduce include files in CoinVisualizer.cpp

source/RobotAPI/components/ArViz/CMakeLists.txt

@@ -29,6 +29,7 @@ set(SOURCES
 
     Coin/Visualizer.cpp
     Coin/RegisterVisualizationTypes.cpp
+    Coin/ExportVRML.cpp
 
     Introspection/ElementJsonSerializers.cpp
     Introspection/exceptions.cpp
@@ -66,6 +67,7 @@ set(HEADERS
     Coin/VisualizationObject.h
 
     Coin/Visualizer.h
+    Coin/ExportVRML.h
 
     # Client
     Client/Layer.h

source/RobotAPI/components/ArViz/Coin/ExportVRML.cpp

+#include "ExportVRML.h"
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <Inventor/actions/SoWriteAction.h>
+#include <Inventor/actions/SoToVRML2Action.h>
+#include <Inventor/nodes/SoFile.h>
+#include <Inventor/nodes/SoSeparator.h>
+#include <Inventor/VRMLnodes/SoVRMLGroup.h>
+
+namespace armarx::viz::coin
+{
+
+static SoGroup* convertSoFileChildren(SoGroup* orig)
+{
+    if (!orig)
+    {
+        return new SoGroup;
+    }
+
+    SoGroup* storeResult;
+
+    if (orig->getTypeId() == SoSeparator::getClassTypeId())
+    {
+        storeResult = new SoSeparator;
+    }
+    else
+    {
+        storeResult = new SoGroup;
+    }
+
+    storeResult->ref();
+
+    if (orig->getTypeId().isDerivedFrom(SoGroup::getClassTypeId()))
+    {
+        // process group node
+        for (int i = 0; i < orig->getNumChildren(); i++)
+        {
+            SoNode* n1 = orig->getChild(i);
+
+            if (n1->getTypeId().isDerivedFrom(SoGroup::getClassTypeId()))
+            {
+                // convert group
+                SoGroup* n2 = (SoGroup*)n1;
+                SoGroup* gr1 = convertSoFileChildren(n2);
+                storeResult->addChild(gr1);
+            }
+            else if (n1->getTypeId() == SoFile::getClassTypeId())
+            {
+                // really load file!!
+                SoFile* fn = (SoFile*)n1;
+                SoGroup* fileChildren;
+                fileChildren = fn->copyChildren();
+                storeResult->addChild(fileChildren);
+            }
+            else
+            {
+                // just copy child node
+                storeResult->addChild(n1);
+            }
+        }
+    }
+
+    storeResult->unrefNoDelete();
+    return storeResult;
+}
+
+void exportToVRML(SoNode* node, std::string const& exportFilePath)
+{
+    SoOutput* so = new SoOutput();
+    if (!so->openFile(exportFilePath.c_str()))
+    {
+        ARMARX_ERROR << "Could not open file " << exportFilePath << " for writing.";
+        return;
+    }
+
+    so->setHeaderString("#VRML V2.0 utf8");
+
+    SoGroup* n = new SoGroup;
+    n->ref();
+    n->addChild(node);
+    SoGroup* newVisu = convertSoFileChildren(n);
+    newVisu->ref();
+
+    SoToVRML2Action tovrml2;
+    tovrml2.apply(newVisu);
+    SoVRMLGroup* newroot = tovrml2.getVRML2SceneGraph();
+    newroot->ref();
+    SoWriteAction wra(so);
+    wra.apply(newroot);
+    newroot->unref();
+
+    so->closeFile();
+
+    newVisu->unref();
+    n->unref();
+}
+
+}

source/RobotAPI/components/ArViz/Coin/ExportVRML.h

+#pragma once
+
+#include <Inventor/nodes/SoNode.h>
+
+#include <string>
+
+namespace armarx::viz::coin
+{
+
+    void exportToVRML(SoNode* node, std::string const& exportFilePath);
+
+}

source/RobotAPI/components/ArViz/Coin/Visualizer.cpp

 #include "Visualizer.h"
 
-#include "VisualizationRobot.h"
-#include "VisualizationObject.h"
+#include "ExportVRML.h"
 
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/util/CPPUtility/GetTypeString.h>
 
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
-#include <VirtualRobot/Visualization/VisualizationFactory.h>
-
-#include <Inventor/nodes/SoUnits.h>
-#include <Inventor/actions/SoWriteAction.h>
-#include <Inventor/actions/SoToVRML2Action.h>
-#include <Inventor/VRMLnodes/SoVRMLGroup.h>
-
-
-#include <thread>
+#include <Inventor/SoPath.h>
 
 namespace armarx::viz
 {
+namespace coin
+{
+    void clearRobotCache();
+    void clearObjectCache();
+}
+
     struct CoinVisualizerWrapper : IceUtil::Shared
     {
         class CoinVisualizer* this_;
@@ -625,34 +621,6 @@ namespace armarx::viz
 
     void CoinVisualizer::exportToVRML(const std::string& exportFilePath)
     {
-
-
-        SoOutput* so = new SoOutput();
-        if (!so->openFile(exportFilePath.c_str()))
-        {
-            ARMARX_ERROR << "Could not open file " << exportFilePath << " for writing." << std::endl;
-            return;
-        }
-
-        so->setHeaderString("#VRML V2.0 utf8");
-
-        SoGroup* n = new SoGroup;
-        n->ref();
-        n->addChild(root);
-        SoGroup* newVisu = VirtualRobot::CoinVisualizationFactory::convertSoFileChildren(n);
-        newVisu->ref();
-
-        SoToVRML2Action tovrml2;
-        tovrml2.apply(newVisu);
-        SoVRMLGroup* newroot = tovrml2.getVRML2SceneGraph();
-        newroot->ref();
-        SoWriteAction wra(so);
-        wra.apply(newroot);
-        newroot->unref();
-
-        so->closeFile();
-
-        newVisu->unref();
-        n->unref();
+        coin::exportToVRML(root, exportFilePath);
     }
 }