diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index b5c85f29cb9e11fdc735b04b9299de4b7a11c5c7..66f52c756fc5f59aee90d744163bbbe86c8ef961 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -104,6 +104,7 @@ namespace VirtualRobot {
// create new CoinVisualizationNode if no error occurred
visualizationNode.reset(new CoinVisualizationNode(coinVisualization));
+ visualizationNode->primitives = primitives;
coinVisualization->unref();
diff --git a/VirtualRobot/Visualization/VisualizationFactory.h b/VirtualRobot/Visualization/VisualizationFactory.h
index 72728fd79ad2606d1550cb0c7ca3cf170c835f94..95e12b9cb85a2604c0c9b9b984957274513681f0 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.h
+++ b/VirtualRobot/Visualization/VisualizationFactory.h
@@ -101,7 +101,7 @@ public:
virtual VisualizationNodePtr getVisualizationFromPrimitives(const std::vector<PrimitivePtr> &primitives, bool boundingBox = false){return VisualizationNodePtr();}
virtual VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false){return VisualizationNodePtr();}
- virtual VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false){return VisualizationNodePtr();};
+ virtual VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false){return VisualizationNodePtr();}
/*!
A box, dimensions are given in mm.
*/
diff --git a/VirtualRobot/XML/BaseIO.cpp b/VirtualRobot/XML/BaseIO.cpp
index d5a558f8bc1d8a08f0c746cf4b8327b73e6a317a..15d9bbbb8e2effba20a1776f7841c86924cdd6c1 100644
--- a/VirtualRobot/XML/BaseIO.cpp
+++ b/VirtualRobot/XML/BaseIO.cpp
@@ -751,57 +751,8 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
//makeAbsolutePath(basePath,visuFile);
}
- rapidxml::xml_node<> *visuPrimitivesXMLNode = visuXMLNode->first_node("primitives",0,false);
- if (visuPrimitivesXMLNode)
- {
- THROW_VR_EXCEPTION_IF(visuFileXMLNode, "Multiple visualization sources defined (file and primitives)" << endl)
- rapidxml::xml_node<> *primitiveXMLNode = visuPrimitivesXMLNode->first_node();
-
- while (primitiveXMLNode)
- {
- //extract info
- std::string pName = primitiveXMLNode->name();
- getLowerCase(pName);
- VisualizationFactory::PrimitivePtr primitive;
-
- float lenFactor = 1.f;
- if (hasUnitsAttribute(primitiveXMLNode))
- {
- Units u = getUnitsAttribute(primitiveXMLNode,Units::eLength);
- if (u.isMeter())
- {
- lenFactor = 1000.f;
- }
- }
-
- if (pName == "box")
- {
- VisualizationFactory::Box *box = new VisualizationFactory::Box;
- box->width = convertToFloat(primitiveXMLNode->first_attribute("width",0,false)->value()) * lenFactor;
- box->height = convertToFloat(primitiveXMLNode->first_attribute("height",0,false)->value()) * lenFactor;
- box->depth = convertToFloat(primitiveXMLNode->first_attribute("depth",0,false)->value()) * lenFactor;
- primitive.reset(box);
- } else if (pName == "sphere")
- {
- VisualizationFactory::Sphere *sphere = new VisualizationFactory::Sphere;
- sphere->radius = convertToFloat(primitiveXMLNode->first_attribute("radius",0,false)->value()) * lenFactor;
- primitive.reset(sphere);
- } else
- {
- VR_ERROR << "Unknown primitive type \"" << pName << "\"; skipping";
- }
-
- if (primitive)
- {
- Eigen::Matrix4f transform;
- processTransformNode(primitiveXMLNode->first_node("transform",0,false), "transform", transform);
- primitive->transform = transform;
- primitives.push_back(primitive);
- }
-
- primitiveXMLNode = primitiveXMLNode->next_sibling();
- }
- }
+ primitives = processPrimitives(visuXMLNode);
+ THROW_VR_EXCEPTION_IF(primitives.size() != 0 && visuFileXMLNode, "Multiple visualization sources defined (file and primitives)" << endl);
if (visuFile!="")
{
@@ -815,7 +766,6 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
{
VisualizationFactoryPtr visualizationFactory = VisualizationFactory::first(NULL);
visualizationNode = visualizationFactory->getVisualizationFromPrimitives(primitives);
- visualizationNode->primitives = primitives;
}
@@ -884,13 +834,14 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
return visualizationNode;
}
-
CollisionModelPtr BaseIO::processCollisionTag(rapidxml::xml_node<char> *colXMLNode, const std::string &tagName, const std::string &basePath)
{
rapidxml::xml_attribute<> *attr;
std::string collisionFile = "";
std::string collisionFileType = "";
+ VisualizationNodePtr visualizationNode;
CollisionModelPtr collisionModel;
+ std::vector<VisualizationFactory::PrimitivePtr> primitives;
bool enableCol = true;
bool bbox = false;
@@ -925,26 +876,98 @@ CollisionModelPtr BaseIO::processCollisionTag(rapidxml::xml_node<char> *colXMLNo
}
}
+ primitives = processPrimitives(colXMLNode);
+ THROW_VR_EXCEPTION_IF(primitives.size() != 0 && colFileXMLNode, "Multiple collision model sources defined (file and primitives)" << endl);
+
if (collisionFile!="")
{
VisualizationFactoryPtr visualizationFactory = VisualizationFactory::fromName(collisionFileType, NULL);
- VisualizationNodePtr visualizationNode;
if (visualizationFactory)
visualizationNode = visualizationFactory->getVisualizationFromFile(collisionFile, bbox);
else
VR_WARNING << "VisualizationFactory of type '" << collisionFileType << "' not present. Ignoring Visualization data in Robot Node <" << tagName << ">" << endl;
- if (visualizationNode)
- {
- std::string colModelName = tagName;
- colModelName += "_ColModel";
- // todo: ID?
- collisionModel.reset(new CollisionModel(visualizationNode,colModelName,CollisionCheckerPtr()));
- }
- }
+
+ } else if (primitives.size() != 0)
+ {
+ VisualizationFactoryPtr visualizationFactory = VisualizationFactory::first(NULL);
+ visualizationNode = visualizationFactory->getVisualizationFromPrimitives(primitives);
+ }
+
+ if (visualizationNode)
+ {
+ std::string colModelName = tagName;
+ colModelName += "_ColModel";
+ // todo: ID?
+ collisionModel.reset(new CollisionModel(visualizationNode,colModelName,CollisionCheckerPtr()));
+ }
}
return collisionModel;
}
+std::vector<VisualizationFactory::PrimitivePtr> BaseIO::processPrimitives(rapidxml::xml_node<char> *primitivesXMLNode)
+{
+ std::vector<VisualizationFactory::PrimitivePtr> result;
+ rapidxml::xml_node<> *node;
+
+ if (!primitivesXMLNode)
+ return result;
+
+ if (primitivesXMLNode->name() == "primitives")
+ node = primitivesXMLNode;
+ else
+ node = primitivesXMLNode->first_node("primitives",0,false);
+
+ if (!node)
+ return result;
+
+ rapidxml::xml_node<> *primitiveXMLNode = node->first_node();
+
+ while (primitiveXMLNode)
+ {
+ std::string pName = primitiveXMLNode->name();
+ getLowerCase(pName);
+ VisualizationFactory::PrimitivePtr primitive;
+
+ float lenFactor = 1.f;
+ if (hasUnitsAttribute(primitiveXMLNode))
+ {
+ Units u = getUnitsAttribute(primitiveXMLNode,Units::eLength);
+ if (u.isMeter())
+ {
+ lenFactor = 1000.f;
+ }
+ }
+
+ if (pName == "box")
+ {
+ VisualizationFactory::Box *box = new VisualizationFactory::Box;
+ box->width = convertToFloat(primitiveXMLNode->first_attribute("width",0,false)->value()) * lenFactor;
+ box->height = convertToFloat(primitiveXMLNode->first_attribute("height",0,false)->value()) * lenFactor;
+ box->depth = convertToFloat(primitiveXMLNode->first_attribute("depth",0,false)->value()) * lenFactor;
+ primitive.reset(box);
+ } else if (pName == "sphere")
+ {
+ VisualizationFactory::Sphere *sphere = new VisualizationFactory::Sphere;
+ sphere->radius = convertToFloat(primitiveXMLNode->first_attribute("radius",0,false)->value()) * lenFactor;
+ primitive.reset(sphere);
+ } else
+ {
+ VR_ERROR << "Unknown primitive type \"" << pName << "\"; skipping";
+ }
+
+ if (primitive)
+ {
+ Eigen::Matrix4f transform;
+ processTransformNode(primitiveXMLNode->first_node("transform",0,false), "transform", transform);
+ primitive->transform = transform;
+ result.push_back(primitive);
+ }
+
+ primitiveXMLNode = primitiveXMLNode->next_sibling();
+ }
+
+ return result;
+}
void BaseIO::processPhysicsTag(rapidxml::xml_node<char> *physicsXMLNode, const std::string &nodeName, SceneObject::Physics &physics)
{
diff --git a/VirtualRobot/XML/BaseIO.h b/VirtualRobot/XML/BaseIO.h
index fcf1bdc8ba7dfcd89ef04db9f803936428950cd7..cdbd551a7b0ea53a78638d81745bfdfbbcdc8738 100644
--- a/VirtualRobot/XML/BaseIO.h
+++ b/VirtualRobot/XML/BaseIO.h
@@ -89,6 +89,7 @@ public:
static VisualizationNodePtr processVisualizationTag(rapidxml::xml_node<char> *visuXMLNode, const std::string &tagName, const std::string &basePath, bool &useAsColModel);
static CollisionModelPtr processCollisionTag(rapidxml::xml_node<char> *colXMLNode, const std::string &tagName, const std::string &basePath);
+ static std::vector<VisualizationFactory::PrimitivePtr> processPrimitives(rapidxml::xml_node<char> *primitivesXMLNode);
static void processPhysicsTag(rapidxml::xml_node<char> *physicsXMLNode, const std::string &nodeName, SceneObject::Physics &physics);
static RobotNodeSetPtr processRobotNodeSet(rapidxml::xml_node<char>* setXMLNode, RobotPtr robo, const std::string& robotRootNode, int& robotNodeSetCounter );
static TrajectoryPtr processTrajectory(rapidxml::xml_node<char> *trajectoryXMLNode,std::vector<RobotPtr> &robots);